From b99cbec73ae865f7014e563b887e707083b6ce8e Mon Sep 17 00:00:00 2001
From: Katharina Xenia Kufieta <katharina.kufieta@gmail.com>
Date: Mon, 11 Mar 2024 14:02:33 -0400
Subject: [PATCH 1/6] CloudSLAM API changes

---
 proto/viam/app/cloudslam/v1/cloud_slam.proto | 10 +++++++++-
 proto/viam/service/slam/v1/slam.proto        | 11 +++++++++++
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/proto/viam/app/cloudslam/v1/cloud_slam.proto b/proto/viam/app/cloudslam/v1/cloud_slam.proto
index 5c7ce028c..e3bce34e6 100644
--- a/proto/viam/app/cloudslam/v1/cloud_slam.proto
+++ b/proto/viam/app/cloudslam/v1/cloud_slam.proto
@@ -30,8 +30,16 @@ message StartMappingSessionRequest {
   string robot_id = 6;
   CaptureInterval capture_interval = 7;
   repeated SensorInfo sensors = 8;
-  google.protobuf.Struct slam_algorithm_params = 10;
+  google.protobuf.Struct slam_config = 10;
   string existing_map_version = 11;
+  Module module = 12;
+}
+
+message Module {
+  string type = 1;
+  string name = 2;
+  string module_id = 3;
+  string version = 4;
 }
 
 message SensorInfo {
diff --git a/proto/viam/service/slam/v1/slam.proto b/proto/viam/service/slam/v1/slam.proto
index 013fc81a0..bb9a9902e 100644
--- a/proto/viam/service/slam/v1/slam.proto
+++ b/proto/viam/service/slam/v1/slam.proto
@@ -142,3 +142,14 @@ enum SensorType {
   SENSOR_TYPE_CAMERA = 1;
   SENSOR_TYPE_MOVEMENT_SENSOR = 2;
 }
+
+message SensorInfo {
+  string name = 1;
+  SensorType type = 2;
+}
+
+enum SensorType {
+  SENSOR_TYPE_UNSPECIFIED = 0;
+  SENSOR_TYPE_CAMERA = 1;
+  SENSOR_TYPE_MOVEMENT_SENSOR = 2;
+}
\ No newline at end of file

From 9c848a291e8ca39b36e5c8b2710088c71b41adf3 Mon Sep 17 00:00:00 2001
From: Katharina Xenia Kufieta <katharina.kufieta@gmail.com>
Date: Mon, 11 Mar 2024 14:03:32 -0400
Subject: [PATCH 2/6] Add newline

---
 proto/viam/service/slam/v1/slam.proto | 11 -----------
 1 file changed, 11 deletions(-)

diff --git a/proto/viam/service/slam/v1/slam.proto b/proto/viam/service/slam/v1/slam.proto
index bb9a9902e..013fc81a0 100644
--- a/proto/viam/service/slam/v1/slam.proto
+++ b/proto/viam/service/slam/v1/slam.proto
@@ -142,14 +142,3 @@ enum SensorType {
   SENSOR_TYPE_CAMERA = 1;
   SENSOR_TYPE_MOVEMENT_SENSOR = 2;
 }
-
-message SensorInfo {
-  string name = 1;
-  SensorType type = 2;
-}
-
-enum SensorType {
-  SENSOR_TYPE_UNSPECIFIED = 0;
-  SENSOR_TYPE_CAMERA = 1;
-  SENSOR_TYPE_MOVEMENT_SENSOR = 2;
-}
\ No newline at end of file

From 61019bb6ebde80a482ea80d4220324ba0c47fbbb Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Mon, 11 Mar 2024 20:47:16 +0000
Subject: [PATCH 3/6] Built new protos from 799ba4d

---
 app/cloudslam/v1/cloud_slam.pb.go             | 694 ++++++++++--------
 component/arm/v1/arm.pb.gw.go                 |  14 +-
 component/audioinput/v1/audioinput.pb.gw.go   |  10 +-
 component/encoder/v1/encoder.pb.gw.go         |  10 +-
 component/generic/v1/generic.pb.gw.go         |  10 +-
 component/gripper/v1/gripper.pb.gw.go         |  10 +-
 .../movementsensor/v1/movementsensor.pb.gw.go |  14 +-
 gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts    |  48 +-
 gen/js/app/cloudslam/v1/cloud_slam_pb.js      | 313 +++++++-
 service/slam/v1/slam.pb.gw.go                 |   6 +-
 10 files changed, 781 insertions(+), 348 deletions(-)

diff --git a/app/cloudslam/v1/cloud_slam.pb.go b/app/cloudslam/v1/cloud_slam.pb.go
index bccc830de..4530593b8 100644
--- a/app/cloudslam/v1/cloud_slam.pb.go
+++ b/app/cloudslam/v1/cloud_slam.pb.go
@@ -83,15 +83,16 @@ type StartMappingSessionRequest struct {
 	// Version to use for slam, defaults stable
 	SlamVersion string `protobuf:"bytes,1,opt,name=slam_version,json=slamVersion,proto3" json:"slam_version,omitempty"`
 	// Version to use for viam, defaults stable
-	ViamServerVersion   string           `protobuf:"bytes,2,opt,name=viam_server_version,json=viamServerVersion,proto3" json:"viam_server_version,omitempty"`
-	MapName             string           `protobuf:"bytes,3,opt,name=map_name,json=mapName,proto3" json:"map_name,omitempty"`
-	OrganizationId      string           `protobuf:"bytes,4,opt,name=organization_id,json=organizationId,proto3" json:"organization_id,omitempty"`
-	LocationId          string           `protobuf:"bytes,5,opt,name=location_id,json=locationId,proto3" json:"location_id,omitempty"`
-	RobotId             string           `protobuf:"bytes,6,opt,name=robot_id,json=robotId,proto3" json:"robot_id,omitempty"`
-	CaptureInterval     *CaptureInterval `protobuf:"bytes,7,opt,name=capture_interval,json=captureInterval,proto3" json:"capture_interval,omitempty"`
-	Sensors             []*SensorInfo    `protobuf:"bytes,8,rep,name=sensors,proto3" json:"sensors,omitempty"`
-	SlamAlgorithmParams *structpb.Struct `protobuf:"bytes,10,opt,name=slam_algorithm_params,json=slamAlgorithmParams,proto3" json:"slam_algorithm_params,omitempty"`
-	ExistingMapVersion  string           `protobuf:"bytes,11,opt,name=existing_map_version,json=existingMapVersion,proto3" json:"existing_map_version,omitempty"`
+	ViamServerVersion  string           `protobuf:"bytes,2,opt,name=viam_server_version,json=viamServerVersion,proto3" json:"viam_server_version,omitempty"`
+	MapName            string           `protobuf:"bytes,3,opt,name=map_name,json=mapName,proto3" json:"map_name,omitempty"`
+	OrganizationId     string           `protobuf:"bytes,4,opt,name=organization_id,json=organizationId,proto3" json:"organization_id,omitempty"`
+	LocationId         string           `protobuf:"bytes,5,opt,name=location_id,json=locationId,proto3" json:"location_id,omitempty"`
+	RobotId            string           `protobuf:"bytes,6,opt,name=robot_id,json=robotId,proto3" json:"robot_id,omitempty"`
+	CaptureInterval    *CaptureInterval `protobuf:"bytes,7,opt,name=capture_interval,json=captureInterval,proto3" json:"capture_interval,omitempty"`
+	Sensors            []*SensorInfo    `protobuf:"bytes,8,rep,name=sensors,proto3" json:"sensors,omitempty"`
+	SlamConfig         *structpb.Struct `protobuf:"bytes,10,opt,name=slam_config,json=slamConfig,proto3" json:"slam_config,omitempty"`
+	ExistingMapVersion string           `protobuf:"bytes,11,opt,name=existing_map_version,json=existingMapVersion,proto3" json:"existing_map_version,omitempty"`
+	Module             *Module          `protobuf:"bytes,12,opt,name=module,proto3" json:"module,omitempty"`
 }
 
 func (x *StartMappingSessionRequest) Reset() {
@@ -182,9 +183,9 @@ func (x *StartMappingSessionRequest) GetSensors() []*SensorInfo {
 	return nil
 }
 
-func (x *StartMappingSessionRequest) GetSlamAlgorithmParams() *structpb.Struct {
+func (x *StartMappingSessionRequest) GetSlamConfig() *structpb.Struct {
 	if x != nil {
-		return x.SlamAlgorithmParams
+		return x.SlamConfig
 	}
 	return nil
 }
@@ -196,6 +197,84 @@ func (x *StartMappingSessionRequest) GetExistingMapVersion() string {
 	return ""
 }
 
+func (x *StartMappingSessionRequest) GetModule() *Module {
+	if x != nil {
+		return x.Module
+	}
+	return nil
+}
+
+type Module struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	Type     string `protobuf:"bytes,1,opt,name=type,proto3" json:"type,omitempty"`
+	Name     string `protobuf:"bytes,2,opt,name=name,proto3" json:"name,omitempty"`
+	ModuleId string `protobuf:"bytes,3,opt,name=module_id,json=moduleId,proto3" json:"module_id,omitempty"`
+	Version  string `protobuf:"bytes,4,opt,name=version,proto3" json:"version,omitempty"`
+}
+
+func (x *Module) Reset() {
+	*x = Module{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[1]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *Module) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Module) ProtoMessage() {}
+
+func (x *Module) ProtoReflect() protoreflect.Message {
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[1]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Module.ProtoReflect.Descriptor instead.
+func (*Module) Descriptor() ([]byte, []int) {
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{1}
+}
+
+func (x *Module) GetType() string {
+	if x != nil {
+		return x.Type
+	}
+	return ""
+}
+
+func (x *Module) GetName() string {
+	if x != nil {
+		return x.Name
+	}
+	return ""
+}
+
+func (x *Module) GetModuleId() string {
+	if x != nil {
+		return x.ModuleId
+	}
+	return ""
+}
+
+func (x *Module) GetVersion() string {
+	if x != nil {
+		return x.Version
+	}
+	return ""
+}
+
 type SensorInfo struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -210,7 +289,7 @@ type SensorInfo struct {
 func (x *SensorInfo) Reset() {
 	*x = SensorInfo{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[1]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[2]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -223,7 +302,7 @@ func (x *SensorInfo) String() string {
 func (*SensorInfo) ProtoMessage() {}
 
 func (x *SensorInfo) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[1]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[2]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -236,7 +315,7 @@ func (x *SensorInfo) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use SensorInfo.ProtoReflect.Descriptor instead.
 func (*SensorInfo) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{1}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{2}
 }
 
 func (x *SensorInfo) GetSourceComponentName() string {
@@ -273,7 +352,7 @@ type CaptureInterval struct {
 func (x *CaptureInterval) Reset() {
 	*x = CaptureInterval{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[2]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[3]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -286,7 +365,7 @@ func (x *CaptureInterval) String() string {
 func (*CaptureInterval) ProtoMessage() {}
 
 func (x *CaptureInterval) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[2]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[3]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -299,7 +378,7 @@ func (x *CaptureInterval) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use CaptureInterval.ProtoReflect.Descriptor instead.
 func (*CaptureInterval) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{2}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{3}
 }
 
 func (x *CaptureInterval) GetStartTime() *timestamppb.Timestamp {
@@ -327,7 +406,7 @@ type StartMappingSessionResponse struct {
 func (x *StartMappingSessionResponse) Reset() {
 	*x = StartMappingSessionResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[3]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[4]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -340,7 +419,7 @@ func (x *StartMappingSessionResponse) String() string {
 func (*StartMappingSessionResponse) ProtoMessage() {}
 
 func (x *StartMappingSessionResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[3]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[4]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -353,7 +432,7 @@ func (x *StartMappingSessionResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use StartMappingSessionResponse.ProtoReflect.Descriptor instead.
 func (*StartMappingSessionResponse) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{3}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{4}
 }
 
 func (x *StartMappingSessionResponse) GetSessionId() string {
@@ -375,7 +454,7 @@ type GetActiveMappingSessionsForRobotRequest struct {
 func (x *GetActiveMappingSessionsForRobotRequest) Reset() {
 	*x = GetActiveMappingSessionsForRobotRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[4]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[5]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -388,7 +467,7 @@ func (x *GetActiveMappingSessionsForRobotRequest) String() string {
 func (*GetActiveMappingSessionsForRobotRequest) ProtoMessage() {}
 
 func (x *GetActiveMappingSessionsForRobotRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[4]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[5]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -401,7 +480,7 @@ func (x *GetActiveMappingSessionsForRobotRequest) ProtoReflect() protoreflect.Me
 
 // Deprecated: Use GetActiveMappingSessionsForRobotRequest.ProtoReflect.Descriptor instead.
 func (*GetActiveMappingSessionsForRobotRequest) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{4}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{5}
 }
 
 func (x *GetActiveMappingSessionsForRobotRequest) GetRobotId() string {
@@ -422,7 +501,7 @@ type GetActiveMappingSessionsForRobotResponse struct {
 func (x *GetActiveMappingSessionsForRobotResponse) Reset() {
 	*x = GetActiveMappingSessionsForRobotResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[5]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[6]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -435,7 +514,7 @@ func (x *GetActiveMappingSessionsForRobotResponse) String() string {
 func (*GetActiveMappingSessionsForRobotResponse) ProtoMessage() {}
 
 func (x *GetActiveMappingSessionsForRobotResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[5]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[6]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -448,7 +527,7 @@ func (x *GetActiveMappingSessionsForRobotResponse) ProtoReflect() protoreflect.M
 
 // Deprecated: Use GetActiveMappingSessionsForRobotResponse.ProtoReflect.Descriptor instead.
 func (*GetActiveMappingSessionsForRobotResponse) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{5}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{6}
 }
 
 func (x *GetActiveMappingSessionsForRobotResponse) GetSessionId() string {
@@ -469,7 +548,7 @@ type GetMappingSessionPointCloudRequest struct {
 func (x *GetMappingSessionPointCloudRequest) Reset() {
 	*x = GetMappingSessionPointCloudRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[6]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[7]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -482,7 +561,7 @@ func (x *GetMappingSessionPointCloudRequest) String() string {
 func (*GetMappingSessionPointCloudRequest) ProtoMessage() {}
 
 func (x *GetMappingSessionPointCloudRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[6]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[7]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -495,7 +574,7 @@ func (x *GetMappingSessionPointCloudRequest) ProtoReflect() protoreflect.Message
 
 // Deprecated: Use GetMappingSessionPointCloudRequest.ProtoReflect.Descriptor instead.
 func (*GetMappingSessionPointCloudRequest) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{6}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{7}
 }
 
 func (x *GetMappingSessionPointCloudRequest) GetSessionId() string {
@@ -519,7 +598,7 @@ type GetMappingSessionPointCloudResponse struct {
 func (x *GetMappingSessionPointCloudResponse) Reset() {
 	*x = GetMappingSessionPointCloudResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[7]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[8]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -532,7 +611,7 @@ func (x *GetMappingSessionPointCloudResponse) String() string {
 func (*GetMappingSessionPointCloudResponse) ProtoMessage() {}
 
 func (x *GetMappingSessionPointCloudResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[7]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[8]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -545,7 +624,7 @@ func (x *GetMappingSessionPointCloudResponse) ProtoReflect() protoreflect.Messag
 
 // Deprecated: Use GetMappingSessionPointCloudResponse.ProtoReflect.Descriptor instead.
 func (*GetMappingSessionPointCloudResponse) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{7}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{8}
 }
 
 func (x *GetMappingSessionPointCloudResponse) GetMapUrl() string {
@@ -574,7 +653,7 @@ type ListMappingSessionsRequest struct {
 func (x *ListMappingSessionsRequest) Reset() {
 	*x = ListMappingSessionsRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[8]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[9]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -587,7 +666,7 @@ func (x *ListMappingSessionsRequest) String() string {
 func (*ListMappingSessionsRequest) ProtoMessage() {}
 
 func (x *ListMappingSessionsRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[8]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[9]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -600,7 +679,7 @@ func (x *ListMappingSessionsRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ListMappingSessionsRequest.ProtoReflect.Descriptor instead.
 func (*ListMappingSessionsRequest) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{8}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{9}
 }
 
 func (x *ListMappingSessionsRequest) GetOrganizationId() string {
@@ -628,7 +707,7 @@ type ListMappingSessionsResponse struct {
 func (x *ListMappingSessionsResponse) Reset() {
 	*x = ListMappingSessionsResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[9]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[10]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -641,7 +720,7 @@ func (x *ListMappingSessionsResponse) String() string {
 func (*ListMappingSessionsResponse) ProtoMessage() {}
 
 func (x *ListMappingSessionsResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[9]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[10]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -654,7 +733,7 @@ func (x *ListMappingSessionsResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ListMappingSessionsResponse.ProtoReflect.Descriptor instead.
 func (*ListMappingSessionsResponse) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{9}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{10}
 }
 
 func (x *ListMappingSessionsResponse) GetSession() []*MappingMetadata {
@@ -675,7 +754,7 @@ type StopMappingSessionRequest struct {
 func (x *StopMappingSessionRequest) Reset() {
 	*x = StopMappingSessionRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[10]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[11]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -688,7 +767,7 @@ func (x *StopMappingSessionRequest) String() string {
 func (*StopMappingSessionRequest) ProtoMessage() {}
 
 func (x *StopMappingSessionRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[10]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[11]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -701,7 +780,7 @@ func (x *StopMappingSessionRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use StopMappingSessionRequest.ProtoReflect.Descriptor instead.
 func (*StopMappingSessionRequest) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{10}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{11}
 }
 
 func (x *StopMappingSessionRequest) GetSessionId() string {
@@ -723,7 +802,7 @@ type StopMappingSessionResponse struct {
 func (x *StopMappingSessionResponse) Reset() {
 	*x = StopMappingSessionResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[11]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[12]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -736,7 +815,7 @@ func (x *StopMappingSessionResponse) String() string {
 func (*StopMappingSessionResponse) ProtoMessage() {}
 
 func (x *StopMappingSessionResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[11]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[12]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -749,7 +828,7 @@ func (x *StopMappingSessionResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use StopMappingSessionResponse.ProtoReflect.Descriptor instead.
 func (*StopMappingSessionResponse) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{11}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{12}
 }
 
 func (x *StopMappingSessionResponse) GetPackageId() string {
@@ -777,7 +856,7 @@ type GetMappingSessionMetadataByIDRequest struct {
 func (x *GetMappingSessionMetadataByIDRequest) Reset() {
 	*x = GetMappingSessionMetadataByIDRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[12]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[13]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -790,7 +869,7 @@ func (x *GetMappingSessionMetadataByIDRequest) String() string {
 func (*GetMappingSessionMetadataByIDRequest) ProtoMessage() {}
 
 func (x *GetMappingSessionMetadataByIDRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[12]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[13]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -803,7 +882,7 @@ func (x *GetMappingSessionMetadataByIDRequest) ProtoReflect() protoreflect.Messa
 
 // Deprecated: Use GetMappingSessionMetadataByIDRequest.ProtoReflect.Descriptor instead.
 func (*GetMappingSessionMetadataByIDRequest) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{12}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{13}
 }
 
 func (x *GetMappingSessionMetadataByIDRequest) GetSessionId() string {
@@ -824,7 +903,7 @@ type GetMappingSessionMetadataByIDResponse struct {
 func (x *GetMappingSessionMetadataByIDResponse) Reset() {
 	*x = GetMappingSessionMetadataByIDResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[13]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[14]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -837,7 +916,7 @@ func (x *GetMappingSessionMetadataByIDResponse) String() string {
 func (*GetMappingSessionMetadataByIDResponse) ProtoMessage() {}
 
 func (x *GetMappingSessionMetadataByIDResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[13]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[14]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -850,7 +929,7 @@ func (x *GetMappingSessionMetadataByIDResponse) ProtoReflect() protoreflect.Mess
 
 // Deprecated: Use GetMappingSessionMetadataByIDResponse.ProtoReflect.Descriptor instead.
 func (*GetMappingSessionMetadataByIDResponse) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{13}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{14}
 }
 
 func (x *GetMappingSessionMetadataByIDResponse) GetSessionMetadata() *MappingMetadata {
@@ -884,7 +963,7 @@ type MappingMetadata struct {
 func (x *MappingMetadata) Reset() {
 	*x = MappingMetadata{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[14]
+		mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[15]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -897,7 +976,7 @@ func (x *MappingMetadata) String() string {
 func (*MappingMetadata) ProtoMessage() {}
 
 func (x *MappingMetadata) ProtoReflect() protoreflect.Message {
-	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[14]
+	mi := &file_app_cloudslam_v1_cloud_slam_proto_msgTypes[15]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -910,7 +989,7 @@ func (x *MappingMetadata) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use MappingMetadata.ProtoReflect.Descriptor instead.
 func (*MappingMetadata) Descriptor() ([]byte, []int) {
-	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{14}
+	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{15}
 }
 
 func (x *MappingMetadata) GetOrgId() string {
@@ -1023,7 +1102,7 @@ var file_app_cloudslam_v1_cloud_slam_proto_rawDesc = []byte{
 	0x62, 0x75, 0x66, 0x2f, 0x73, 0x74, 0x72, 0x75, 0x63, 0x74, 0x2e, 0x70, 0x72, 0x6f, 0x74, 0x6f,
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@@ -1047,196 +1126,205 @@ var file_app_cloudslam_v1_cloud_slam_proto_rawDesc = []byte{
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 }
 
 var (
@@ -1252,59 +1340,61 @@ func file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP() []byte {
 }
 
 var file_app_cloudslam_v1_cloud_slam_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_app_cloudslam_v1_cloud_slam_proto_msgTypes = make([]protoimpl.MessageInfo, 15)
+var file_app_cloudslam_v1_cloud_slam_proto_msgTypes = make([]protoimpl.MessageInfo, 16)
 var file_app_cloudslam_v1_cloud_slam_proto_goTypes = []interface{}{
 	(EndStatus)(0),                                   // 0: viam.app.cloudslam.v1.EndStatus
 	(*StartMappingSessionRequest)(nil),               // 1: viam.app.cloudslam.v1.StartMappingSessionRequest
-	(*SensorInfo)(nil),                               // 2: viam.app.cloudslam.v1.SensorInfo
-	(*CaptureInterval)(nil),                          // 3: viam.app.cloudslam.v1.CaptureInterval
-	(*StartMappingSessionResponse)(nil),              // 4: viam.app.cloudslam.v1.StartMappingSessionResponse
-	(*GetActiveMappingSessionsForRobotRequest)(nil),  // 5: viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotRequest
-	(*GetActiveMappingSessionsForRobotResponse)(nil), // 6: viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotResponse
-	(*GetMappingSessionPointCloudRequest)(nil),       // 7: viam.app.cloudslam.v1.GetMappingSessionPointCloudRequest
-	(*GetMappingSessionPointCloudResponse)(nil),      // 8: viam.app.cloudslam.v1.GetMappingSessionPointCloudResponse
-	(*ListMappingSessionsRequest)(nil),               // 9: viam.app.cloudslam.v1.ListMappingSessionsRequest
-	(*ListMappingSessionsResponse)(nil),              // 10: viam.app.cloudslam.v1.ListMappingSessionsResponse
-	(*StopMappingSessionRequest)(nil),                // 11: viam.app.cloudslam.v1.StopMappingSessionRequest
-	(*StopMappingSessionResponse)(nil),               // 12: viam.app.cloudslam.v1.StopMappingSessionResponse
-	(*GetMappingSessionMetadataByIDRequest)(nil),     // 13: viam.app.cloudslam.v1.GetMappingSessionMetadataByIDRequest
-	(*GetMappingSessionMetadataByIDResponse)(nil),    // 14: viam.app.cloudslam.v1.GetMappingSessionMetadataByIDResponse
-	(*MappingMetadata)(nil),                          // 15: viam.app.cloudslam.v1.MappingMetadata
-	(*structpb.Struct)(nil),                          // 16: google.protobuf.Struct
-	(*timestamppb.Timestamp)(nil),                    // 17: google.protobuf.Timestamp
-	(*v1.Pose)(nil),                                  // 18: viam.common.v1.Pose
+	(*Module)(nil),                                   // 2: viam.app.cloudslam.v1.Module
+	(*SensorInfo)(nil),                               // 3: viam.app.cloudslam.v1.SensorInfo
+	(*CaptureInterval)(nil),                          // 4: viam.app.cloudslam.v1.CaptureInterval
+	(*StartMappingSessionResponse)(nil),              // 5: viam.app.cloudslam.v1.StartMappingSessionResponse
+	(*GetActiveMappingSessionsForRobotRequest)(nil),  // 6: viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotRequest
+	(*GetActiveMappingSessionsForRobotResponse)(nil), // 7: viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotResponse
+	(*GetMappingSessionPointCloudRequest)(nil),       // 8: viam.app.cloudslam.v1.GetMappingSessionPointCloudRequest
+	(*GetMappingSessionPointCloudResponse)(nil),      // 9: viam.app.cloudslam.v1.GetMappingSessionPointCloudResponse
+	(*ListMappingSessionsRequest)(nil),               // 10: viam.app.cloudslam.v1.ListMappingSessionsRequest
+	(*ListMappingSessionsResponse)(nil),              // 11: viam.app.cloudslam.v1.ListMappingSessionsResponse
+	(*StopMappingSessionRequest)(nil),                // 12: viam.app.cloudslam.v1.StopMappingSessionRequest
+	(*StopMappingSessionResponse)(nil),               // 13: viam.app.cloudslam.v1.StopMappingSessionResponse
+	(*GetMappingSessionMetadataByIDRequest)(nil),     // 14: viam.app.cloudslam.v1.GetMappingSessionMetadataByIDRequest
+	(*GetMappingSessionMetadataByIDResponse)(nil),    // 15: viam.app.cloudslam.v1.GetMappingSessionMetadataByIDResponse
+	(*MappingMetadata)(nil),                          // 16: viam.app.cloudslam.v1.MappingMetadata
+	(*structpb.Struct)(nil),                          // 17: google.protobuf.Struct
+	(*timestamppb.Timestamp)(nil),                    // 18: google.protobuf.Timestamp
+	(*v1.Pose)(nil),                                  // 19: viam.common.v1.Pose
 }
 var file_app_cloudslam_v1_cloud_slam_proto_depIdxs = []int32{
-	3,  // 0: viam.app.cloudslam.v1.StartMappingSessionRequest.capture_interval:type_name -> viam.app.cloudslam.v1.CaptureInterval
-	2,  // 1: viam.app.cloudslam.v1.StartMappingSessionRequest.sensors:type_name -> viam.app.cloudslam.v1.SensorInfo
-	16, // 2: viam.app.cloudslam.v1.StartMappingSessionRequest.slam_algorithm_params:type_name -> google.protobuf.Struct
-	17, // 3: viam.app.cloudslam.v1.CaptureInterval.start_time:type_name -> google.protobuf.Timestamp
-	17, // 4: viam.app.cloudslam.v1.CaptureInterval.end_time:type_name -> google.protobuf.Timestamp
-	18, // 5: viam.app.cloudslam.v1.GetMappingSessionPointCloudResponse.pose:type_name -> viam.common.v1.Pose
-	15, // 6: viam.app.cloudslam.v1.ListMappingSessionsResponse.session:type_name -> viam.app.cloudslam.v1.MappingMetadata
-	15, // 7: viam.app.cloudslam.v1.GetMappingSessionMetadataByIDResponse.session_metadata:type_name -> viam.app.cloudslam.v1.MappingMetadata
-	17, // 8: viam.app.cloudslam.v1.MappingMetadata.time_start_submitted:type_name -> google.protobuf.Timestamp
-	17, // 9: viam.app.cloudslam.v1.MappingMetadata.time_cloud_run_job_started:type_name -> google.protobuf.Timestamp
-	17, // 10: viam.app.cloudslam.v1.MappingMetadata.time_end_submitted:type_name -> google.protobuf.Timestamp
-	17, // 11: viam.app.cloudslam.v1.MappingMetadata.time_cloud_run_job_ended:type_name -> google.protobuf.Timestamp
-	0,  // 12: viam.app.cloudslam.v1.MappingMetadata.end_status:type_name -> viam.app.cloudslam.v1.EndStatus
-	1,  // 13: viam.app.cloudslam.v1.CloudSLAMService.StartMappingSession:input_type -> viam.app.cloudslam.v1.StartMappingSessionRequest
-	5,  // 14: viam.app.cloudslam.v1.CloudSLAMService.GetActiveMappingSessionsForRobot:input_type -> viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotRequest
-	7,  // 15: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionPointCloud:input_type -> viam.app.cloudslam.v1.GetMappingSessionPointCloudRequest
-	9,  // 16: viam.app.cloudslam.v1.CloudSLAMService.ListMappingSessions:input_type -> viam.app.cloudslam.v1.ListMappingSessionsRequest
-	11, // 17: viam.app.cloudslam.v1.CloudSLAMService.StopMappingSession:input_type -> viam.app.cloudslam.v1.StopMappingSessionRequest
-	13, // 18: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionMetadataByID:input_type -> viam.app.cloudslam.v1.GetMappingSessionMetadataByIDRequest
-	4,  // 19: viam.app.cloudslam.v1.CloudSLAMService.StartMappingSession:output_type -> viam.app.cloudslam.v1.StartMappingSessionResponse
-	6,  // 20: viam.app.cloudslam.v1.CloudSLAMService.GetActiveMappingSessionsForRobot:output_type -> viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotResponse
-	8,  // 21: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionPointCloud:output_type -> viam.app.cloudslam.v1.GetMappingSessionPointCloudResponse
-	10, // 22: viam.app.cloudslam.v1.CloudSLAMService.ListMappingSessions:output_type -> viam.app.cloudslam.v1.ListMappingSessionsResponse
-	12, // 23: viam.app.cloudslam.v1.CloudSLAMService.StopMappingSession:output_type -> viam.app.cloudslam.v1.StopMappingSessionResponse
-	14, // 24: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionMetadataByID:output_type -> viam.app.cloudslam.v1.GetMappingSessionMetadataByIDResponse
-	19, // [19:25] is the sub-list for method output_type
-	13, // [13:19] is the sub-list for method input_type
-	13, // [13:13] is the sub-list for extension type_name
-	13, // [13:13] is the sub-list for extension extendee
-	0,  // [0:13] is the sub-list for field type_name
+	4,  // 0: viam.app.cloudslam.v1.StartMappingSessionRequest.capture_interval:type_name -> viam.app.cloudslam.v1.CaptureInterval
+	3,  // 1: viam.app.cloudslam.v1.StartMappingSessionRequest.sensors:type_name -> viam.app.cloudslam.v1.SensorInfo
+	17, // 2: viam.app.cloudslam.v1.StartMappingSessionRequest.slam_config:type_name -> google.protobuf.Struct
+	2,  // 3: viam.app.cloudslam.v1.StartMappingSessionRequest.module:type_name -> viam.app.cloudslam.v1.Module
+	18, // 4: viam.app.cloudslam.v1.CaptureInterval.start_time:type_name -> google.protobuf.Timestamp
+	18, // 5: viam.app.cloudslam.v1.CaptureInterval.end_time:type_name -> google.protobuf.Timestamp
+	19, // 6: viam.app.cloudslam.v1.GetMappingSessionPointCloudResponse.pose:type_name -> viam.common.v1.Pose
+	16, // 7: viam.app.cloudslam.v1.ListMappingSessionsResponse.session:type_name -> viam.app.cloudslam.v1.MappingMetadata
+	16, // 8: viam.app.cloudslam.v1.GetMappingSessionMetadataByIDResponse.session_metadata:type_name -> viam.app.cloudslam.v1.MappingMetadata
+	18, // 9: viam.app.cloudslam.v1.MappingMetadata.time_start_submitted:type_name -> google.protobuf.Timestamp
+	18, // 10: viam.app.cloudslam.v1.MappingMetadata.time_cloud_run_job_started:type_name -> google.protobuf.Timestamp
+	18, // 11: viam.app.cloudslam.v1.MappingMetadata.time_end_submitted:type_name -> google.protobuf.Timestamp
+	18, // 12: viam.app.cloudslam.v1.MappingMetadata.time_cloud_run_job_ended:type_name -> google.protobuf.Timestamp
+	0,  // 13: viam.app.cloudslam.v1.MappingMetadata.end_status:type_name -> viam.app.cloudslam.v1.EndStatus
+	1,  // 14: viam.app.cloudslam.v1.CloudSLAMService.StartMappingSession:input_type -> viam.app.cloudslam.v1.StartMappingSessionRequest
+	6,  // 15: viam.app.cloudslam.v1.CloudSLAMService.GetActiveMappingSessionsForRobot:input_type -> viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotRequest
+	8,  // 16: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionPointCloud:input_type -> viam.app.cloudslam.v1.GetMappingSessionPointCloudRequest
+	10, // 17: viam.app.cloudslam.v1.CloudSLAMService.ListMappingSessions:input_type -> viam.app.cloudslam.v1.ListMappingSessionsRequest
+	12, // 18: viam.app.cloudslam.v1.CloudSLAMService.StopMappingSession:input_type -> viam.app.cloudslam.v1.StopMappingSessionRequest
+	14, // 19: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionMetadataByID:input_type -> viam.app.cloudslam.v1.GetMappingSessionMetadataByIDRequest
+	5,  // 20: viam.app.cloudslam.v1.CloudSLAMService.StartMappingSession:output_type -> viam.app.cloudslam.v1.StartMappingSessionResponse
+	7,  // 21: viam.app.cloudslam.v1.CloudSLAMService.GetActiveMappingSessionsForRobot:output_type -> viam.app.cloudslam.v1.GetActiveMappingSessionsForRobotResponse
+	9,  // 22: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionPointCloud:output_type -> viam.app.cloudslam.v1.GetMappingSessionPointCloudResponse
+	11, // 23: viam.app.cloudslam.v1.CloudSLAMService.ListMappingSessions:output_type -> viam.app.cloudslam.v1.ListMappingSessionsResponse
+	13, // 24: viam.app.cloudslam.v1.CloudSLAMService.StopMappingSession:output_type -> viam.app.cloudslam.v1.StopMappingSessionResponse
+	15, // 25: viam.app.cloudslam.v1.CloudSLAMService.GetMappingSessionMetadataByID:output_type -> viam.app.cloudslam.v1.GetMappingSessionMetadataByIDResponse
+	20, // [20:26] is the sub-list for method output_type
+	14, // [14:20] is the sub-list for method input_type
+	14, // [14:14] is the sub-list for extension type_name
+	14, // [14:14] is the sub-list for extension extendee
+	0,  // [0:14] is the sub-list for field type_name
 }
 
 func init() { file_app_cloudslam_v1_cloud_slam_proto_init() }
@@ -1326,7 +1416,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[1].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*SensorInfo); i {
+			switch v := v.(*Module); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1338,7 +1428,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[2].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*CaptureInterval); i {
+			switch v := v.(*SensorInfo); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1350,7 +1440,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[3].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*StartMappingSessionResponse); i {
+			switch v := v.(*CaptureInterval); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1362,7 +1452,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[4].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GetActiveMappingSessionsForRobotRequest); i {
+			switch v := v.(*StartMappingSessionResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1374,7 +1464,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[5].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GetActiveMappingSessionsForRobotResponse); i {
+			switch v := v.(*GetActiveMappingSessionsForRobotRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1386,7 +1476,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[6].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GetMappingSessionPointCloudRequest); i {
+			switch v := v.(*GetActiveMappingSessionsForRobotResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1398,7 +1488,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[7].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GetMappingSessionPointCloudResponse); i {
+			switch v := v.(*GetMappingSessionPointCloudRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1410,7 +1500,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[8].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*ListMappingSessionsRequest); i {
+			switch v := v.(*GetMappingSessionPointCloudResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1422,7 +1512,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*ListMappingSessionsResponse); i {
+			switch v := v.(*ListMappingSessionsRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1434,7 +1524,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*StopMappingSessionRequest); i {
+			switch v := v.(*ListMappingSessionsResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1446,7 +1536,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*StopMappingSessionResponse); i {
+			switch v := v.(*StopMappingSessionRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1458,7 +1548,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GetMappingSessionMetadataByIDRequest); i {
+			switch v := v.(*StopMappingSessionResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1470,7 +1560,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[13].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*GetMappingSessionMetadataByIDResponse); i {
+			switch v := v.(*GetMappingSessionMetadataByIDRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1482,6 +1572,18 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			}
 		}
 		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[14].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*GetMappingSessionMetadataByIDResponse); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
+		file_app_cloudslam_v1_cloud_slam_proto_msgTypes[15].Exporter = func(v interface{}, i int) interface{} {
 			switch v := v.(*MappingMetadata); i {
 			case 0:
 				return &v.state
@@ -1500,7 +1602,7 @@ func file_app_cloudslam_v1_cloud_slam_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_app_cloudslam_v1_cloud_slam_proto_rawDesc,
 			NumEnums:      1,
-			NumMessages:   15,
+			NumMessages:   16,
 			NumExtensions: 0,
 			NumServices:   1,
 		},
diff --git a/component/arm/v1/arm.pb.gw.go b/component/arm/v1/arm.pb.gw.go
index e9d51a96f..90c742bb6 100644
--- a/component/arm/v1/arm.pb.gw.go
+++ b/component/arm/v1/arm.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"
@@ -439,7 +439,7 @@ var (
 )
 
 func request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, 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 (
@@ -472,7 +472,7 @@ func request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marsh
 }
 
 func local_request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, 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 (
@@ -509,7 +509,7 @@ var (
 )
 
 func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetKinematicsRequest
+	var protoReq v1_0.GetKinematicsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetKinematicsRequest
+	var protoReq v1_0.GetKinematicsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -579,7 +579,7 @@ var (
 )
 
 func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, 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 (
@@ -612,7 +612,7 @@ func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, 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/audioinput/v1/audioinput.pb.gw.go b/component/audioinput/v1/audioinput.pb.gw.go
index 571f1e11f..97662546a 100644
--- a/component/audioinput/v1/audioinput.pb.gw.go
+++ b/component/audioinput/v1/audioinput.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"
@@ -184,7 +184,7 @@ var (
 )
 
 func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, 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 (
@@ -217,7 +217,7 @@ func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, 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 (
@@ -254,7 +254,7 @@ var (
 )
 
 func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, 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 (
@@ -287,7 +287,7 @@ func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler ru
 }
 
 func local_request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, 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/encoder/v1/encoder.pb.gw.go b/component/encoder/v1/encoder.pb.gw.go
index ef911f15d..4fa63db37 100644
--- a/component/encoder/v1/encoder.pb.gw.go
+++ b/component/encoder/v1/encoder.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_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client EncoderServiceClient, 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 (
@@ -280,7 +280,7 @@ func request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server EncoderServiceServer, 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 (
@@ -317,7 +317,7 @@ var (
 )
 
 func request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client EncoderServiceClient, 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 (
@@ -350,7 +350,7 @@ func request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server EncoderServiceServer, 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/generic/v1/generic.pb.gw.go b/component/generic/v1/generic.pb.gw.go
index 8b95fb2a9..81abf78ba 100644
--- a/component/generic/v1/generic.pb.gw.go
+++ b/component/generic/v1/generic.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"
@@ -37,7 +37,7 @@ var (
 )
 
 func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, 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 (
@@ -70,7 +70,7 @@ func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, 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 (
@@ -107,7 +107,7 @@ var (
 )
 
 func request_GenericService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, 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 (
@@ -140,7 +140,7 @@ func request_GenericService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_GenericService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, 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/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/movementsensor/v1/movementsensor.pb.gw.go b/component/movementsensor/v1/movementsensor.pb.gw.go
index 8530c6d94..a2cd12d55 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"
-	"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"
@@ -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.DoCommandRequest
+	var protoReq v1_0.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.DoCommandRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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.GetReadingsRequest
+	var protoReq v1_0.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.GetReadingsRequest
+	var protoReq v1_0.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts b/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts
index d63e4af62..2458b6866 100644
--- a/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts
+++ b/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts
@@ -35,14 +35,19 @@ export class StartMappingSessionRequest extends jspb.Message {
   setSensorsList(value: Array<SensorInfo>): void;
   addSensors(value?: SensorInfo, index?: number): SensorInfo;
 
-  hasSlamAlgorithmParams(): boolean;
-  clearSlamAlgorithmParams(): void;
-  getSlamAlgorithmParams(): google_protobuf_struct_pb.Struct | undefined;
-  setSlamAlgorithmParams(value?: google_protobuf_struct_pb.Struct): void;
+  hasSlamConfig(): boolean;
+  clearSlamConfig(): void;
+  getSlamConfig(): google_protobuf_struct_pb.Struct | undefined;
+  setSlamConfig(value?: google_protobuf_struct_pb.Struct): void;
 
   getExistingMapVersion(): string;
   setExistingMapVersion(value: string): void;
 
+  hasModule(): boolean;
+  clearModule(): void;
+  getModule(): Module | undefined;
+  setModule(value?: Module): void;
+
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): StartMappingSessionRequest.AsObject;
   static toObject(includeInstance: boolean, msg: StartMappingSessionRequest): StartMappingSessionRequest.AsObject;
@@ -63,8 +68,41 @@ export namespace StartMappingSessionRequest {
     robotId: string,
     captureInterval?: CaptureInterval.AsObject,
     sensorsList: Array<SensorInfo.AsObject>,
-    slamAlgorithmParams?: google_protobuf_struct_pb.Struct.AsObject,
+    slamConfig?: google_protobuf_struct_pb.Struct.AsObject,
     existingMapVersion: string,
+    module?: Module.AsObject,
+  }
+}
+
+export class Module extends jspb.Message {
+  getType(): string;
+  setType(value: string): void;
+
+  getName(): string;
+  setName(value: string): void;
+
+  getModuleId(): string;
+  setModuleId(value: string): void;
+
+  getVersion(): string;
+  setVersion(value: string): void;
+
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): Module.AsObject;
+  static toObject(includeInstance: boolean, msg: Module): Module.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: Module, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): Module;
+  static deserializeBinaryFromReader(message: Module, reader: jspb.BinaryReader): Module;
+}
+
+export namespace Module {
+  export type AsObject = {
+    type: string,
+    name: string,
+    moduleId: string,
+    version: string,
   }
 }
 
diff --git a/gen/js/app/cloudslam/v1/cloud_slam_pb.js b/gen/js/app/cloudslam/v1/cloud_slam_pb.js
index 04afe3fa0..957697b0b 100644
--- a/gen/js/app/cloudslam/v1/cloud_slam_pb.js
+++ b/gen/js/app/cloudslam/v1/cloud_slam_pb.js
@@ -32,6 +32,7 @@ goog.exportSymbol('proto.viam.app.cloudslam.v1.GetMappingSessionPointCloudRespon
 goog.exportSymbol('proto.viam.app.cloudslam.v1.ListMappingSessionsRequest', null, global);
 goog.exportSymbol('proto.viam.app.cloudslam.v1.ListMappingSessionsResponse', null, global);
 goog.exportSymbol('proto.viam.app.cloudslam.v1.MappingMetadata', null, global);
+goog.exportSymbol('proto.viam.app.cloudslam.v1.Module', null, global);
 goog.exportSymbol('proto.viam.app.cloudslam.v1.SensorInfo', null, global);
 goog.exportSymbol('proto.viam.app.cloudslam.v1.StartMappingSessionRequest', null, global);
 goog.exportSymbol('proto.viam.app.cloudslam.v1.StartMappingSessionResponse', null, global);
@@ -58,6 +59,27 @@ if (goog.DEBUG && !COMPILED) {
    */
   proto.viam.app.cloudslam.v1.StartMappingSessionRequest.displayName = 'proto.viam.app.cloudslam.v1.StartMappingSessionRequest';
 }
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.viam.app.cloudslam.v1.Module = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+};
+goog.inherits(proto.viam.app.cloudslam.v1.Module, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.viam.app.cloudslam.v1.Module.displayName = 'proto.viam.app.cloudslam.v1.Module';
+}
 /**
  * Generated by JsPbCodeGenerator.
  * @param {Array=} opt_data Optional initial data array, typically from a
@@ -400,8 +422,9 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.toObject = function(inclu
     captureInterval: (f = msg.getCaptureInterval()) && proto.viam.app.cloudslam.v1.CaptureInterval.toObject(includeInstance, f),
     sensorsList: jspb.Message.toObjectList(msg.getSensorsList(),
     proto.viam.app.cloudslam.v1.SensorInfo.toObject, includeInstance),
-    slamAlgorithmParams: (f = msg.getSlamAlgorithmParams()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f),
-    existingMapVersion: jspb.Message.getFieldWithDefault(msg, 11, "")
+    slamConfig: (f = msg.getSlamConfig()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f),
+    existingMapVersion: jspb.Message.getFieldWithDefault(msg, 11, ""),
+    module: (f = msg.getModule()) && proto.viam.app.cloudslam.v1.Module.toObject(includeInstance, f)
   };
 
   if (includeInstance) {
@@ -475,12 +498,17 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.deserializeBinaryFromRead
     case 10:
       var value = new google_protobuf_struct_pb.Struct;
       reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader);
-      msg.setSlamAlgorithmParams(value);
+      msg.setSlamConfig(value);
       break;
     case 11:
       var value = /** @type {string} */ (reader.readString());
       msg.setExistingMapVersion(value);
       break;
+    case 12:
+      var value = new proto.viam.app.cloudslam.v1.Module;
+      reader.readMessage(value,proto.viam.app.cloudslam.v1.Module.deserializeBinaryFromReader);
+      msg.setModule(value);
+      break;
     default:
       reader.skipField();
       break;
@@ -568,7 +596,7 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.serializeBinaryToWriter =
       proto.viam.app.cloudslam.v1.SensorInfo.serializeBinaryToWriter
     );
   }
-  f = message.getSlamAlgorithmParams();
+  f = message.getSlamConfig();
   if (f != null) {
     writer.writeMessage(
       10,
@@ -583,6 +611,14 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.serializeBinaryToWriter =
       f
     );
   }
+  f = message.getModule();
+  if (f != null) {
+    writer.writeMessage(
+      12,
+      f,
+      proto.viam.app.cloudslam.v1.Module.serializeBinaryToWriter
+    );
+  }
 };
 
 
@@ -770,10 +806,10 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.clearSensorsLis
 
 
 /**
- * optional google.protobuf.Struct slam_algorithm_params = 10;
+ * optional google.protobuf.Struct slam_config = 10;
  * @return {?proto.google.protobuf.Struct}
  */
-proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.getSlamAlgorithmParams = function() {
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.getSlamConfig = function() {
   return /** @type{?proto.google.protobuf.Struct} */ (
     jspb.Message.getWrapperField(this, google_protobuf_struct_pb.Struct, 10));
 };
@@ -783,7 +819,7 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.getSlamAlgorith
  * @param {?proto.google.protobuf.Struct|undefined} value
  * @return {!proto.viam.app.cloudslam.v1.StartMappingSessionRequest} returns this
 */
-proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.setSlamAlgorithmParams = function(value) {
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.setSlamConfig = function(value) {
   return jspb.Message.setWrapperField(this, 10, value);
 };
 
@@ -792,8 +828,8 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.setSlamAlgorith
  * Clears the message field making it undefined.
  * @return {!proto.viam.app.cloudslam.v1.StartMappingSessionRequest} returns this
  */
-proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.clearSlamAlgorithmParams = function() {
-  return this.setSlamAlgorithmParams(undefined);
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.clearSlamConfig = function() {
+  return this.setSlamConfig(undefined);
 };
 
 
@@ -801,7 +837,7 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.clearSlamAlgori
  * Returns whether this field is set.
  * @return {boolean}
  */
-proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.hasSlamAlgorithmParams = function() {
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.hasSlamConfig = function() {
   return jspb.Message.getField(this, 10) != null;
 };
 
@@ -824,6 +860,263 @@ proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.setExistingMapV
 };
 
 
+/**
+ * optional Module module = 12;
+ * @return {?proto.viam.app.cloudslam.v1.Module}
+ */
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.getModule = function() {
+  return /** @type{?proto.viam.app.cloudslam.v1.Module} */ (
+    jspb.Message.getWrapperField(this, proto.viam.app.cloudslam.v1.Module, 12));
+};
+
+
+/**
+ * @param {?proto.viam.app.cloudslam.v1.Module|undefined} value
+ * @return {!proto.viam.app.cloudslam.v1.StartMappingSessionRequest} returns this
+*/
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.setModule = function(value) {
+  return jspb.Message.setWrapperField(this, 12, value);
+};
+
+
+/**
+ * Clears the message field making it undefined.
+ * @return {!proto.viam.app.cloudslam.v1.StartMappingSessionRequest} returns this
+ */
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.clearModule = function() {
+  return this.setModule(undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.app.cloudslam.v1.StartMappingSessionRequest.prototype.hasModule = function() {
+  return jspb.Message.getField(this, 12) != null;
+};
+
+
+
+
+
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.app.cloudslam.v1.Module.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.viam.app.cloudslam.v1.Module} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.app.cloudslam.v1.Module.toObject = function(includeInstance, msg) {
+  var f, obj = {
+    type: jspb.Message.getFieldWithDefault(msg, 1, ""),
+    name: jspb.Message.getFieldWithDefault(msg, 2, ""),
+    moduleId: jspb.Message.getFieldWithDefault(msg, 3, ""),
+    version: jspb.Message.getFieldWithDefault(msg, 4, "")
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.viam.app.cloudslam.v1.Module}
+ */
+proto.viam.app.cloudslam.v1.Module.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.viam.app.cloudslam.v1.Module;
+  return proto.viam.app.cloudslam.v1.Module.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.viam.app.cloudslam.v1.Module} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.viam.app.cloudslam.v1.Module}
+ */
+proto.viam.app.cloudslam.v1.Module.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    case 1:
+      var value = /** @type {string} */ (reader.readString());
+      msg.setType(value);
+      break;
+    case 2:
+      var value = /** @type {string} */ (reader.readString());
+      msg.setName(value);
+      break;
+    case 3:
+      var value = /** @type {string} */ (reader.readString());
+      msg.setModuleId(value);
+      break;
+    case 4:
+      var value = /** @type {string} */ (reader.readString());
+      msg.setVersion(value);
+      break;
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.viam.app.cloudslam.v1.Module.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.viam.app.cloudslam.v1.Module} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.app.cloudslam.v1.Module.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+  f = message.getType();
+  if (f.length > 0) {
+    writer.writeString(
+      1,
+      f
+    );
+  }
+  f = message.getName();
+  if (f.length > 0) {
+    writer.writeString(
+      2,
+      f
+    );
+  }
+  f = message.getModuleId();
+  if (f.length > 0) {
+    writer.writeString(
+      3,
+      f
+    );
+  }
+  f = message.getVersion();
+  if (f.length > 0) {
+    writer.writeString(
+      4,
+      f
+    );
+  }
+};
+
+
+/**
+ * optional string type = 1;
+ * @return {string}
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.getType = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, ""));
+};
+
+
+/**
+ * @param {string} value
+ * @return {!proto.viam.app.cloudslam.v1.Module} returns this
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.setType = function(value) {
+  return jspb.Message.setProto3StringField(this, 1, value);
+};
+
+
+/**
+ * optional string name = 2;
+ * @return {string}
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.getName = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 2, ""));
+};
+
+
+/**
+ * @param {string} value
+ * @return {!proto.viam.app.cloudslam.v1.Module} returns this
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.setName = function(value) {
+  return jspb.Message.setProto3StringField(this, 2, value);
+};
+
+
+/**
+ * optional string module_id = 3;
+ * @return {string}
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.getModuleId = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 3, ""));
+};
+
+
+/**
+ * @param {string} value
+ * @return {!proto.viam.app.cloudslam.v1.Module} returns this
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.setModuleId = function(value) {
+  return jspb.Message.setProto3StringField(this, 3, value);
+};
+
+
+/**
+ * optional string version = 4;
+ * @return {string}
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.getVersion = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 4, ""));
+};
+
+
+/**
+ * @param {string} value
+ * @return {!proto.viam.app.cloudslam.v1.Module} returns this
+ */
+proto.viam.app.cloudslam.v1.Module.prototype.setVersion = function(value) {
+  return jspb.Message.setProto3StringField(this, 4, value);
+};
+
+
 
 
 
diff --git a/service/slam/v1/slam.pb.gw.go b/service/slam/v1/slam.pb.gw.go
index afa099e21..48ac2664d 100644
--- a/service/slam/v1/slam.pb.gw.go
+++ b/service/slam/v1/slam.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"
@@ -220,7 +220,7 @@ var (
 )
 
 func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SLAMServiceClient, 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 (
@@ -253,7 +253,7 @@ func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Mars
 }
 
 func local_request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SLAMServiceServer, 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 (

From 8eca4207ec361293a0ac21a342575a8d31957719 Mon Sep 17 00:00:00 2001
From: Katharina Xenia Kufieta <katharina.kufieta@gmail.com>
Date: Mon, 11 Mar 2024 18:19:49 -0400
Subject: [PATCH 4/6] Use module type enum

---
 proto/viam/app/cloudslam/v1/cloud_slam.proto | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/proto/viam/app/cloudslam/v1/cloud_slam.proto b/proto/viam/app/cloudslam/v1/cloud_slam.proto
index e3bce34e6..63083a13c 100644
--- a/proto/viam/app/cloudslam/v1/cloud_slam.proto
+++ b/proto/viam/app/cloudslam/v1/cloud_slam.proto
@@ -36,12 +36,18 @@ message StartMappingSessionRequest {
 }
 
 message Module {
-  string type = 1;
+  ModuleType type = 1;
   string name = 2;
   string module_id = 3;
   string version = 4;
 }
 
+enum ModuleType {
+  MODULE_TYPE_UNSPECIFIED = 0;
+  MODULE_TYPE_LOCAL = 1;
+  MODULE_TYPE_REGISTRY = 2;
+}
+
 message SensorInfo {
   string source_component_name = 1;
   // type is the RDK component type

From ba40a10556725b38582c1e9ee13b94c8e66aa1ad Mon Sep 17 00:00:00 2001
From: Katharina Xenia Kufieta <katharina.kufieta@gmail.com>
Date: Mon, 11 Mar 2024 19:17:42 -0400
Subject: [PATCH 5/6] Remove module type

---
 proto/viam/app/cloudslam/v1/cloud_slam.proto | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/proto/viam/app/cloudslam/v1/cloud_slam.proto b/proto/viam/app/cloudslam/v1/cloud_slam.proto
index 63083a13c..e5a1f826c 100644
--- a/proto/viam/app/cloudslam/v1/cloud_slam.proto
+++ b/proto/viam/app/cloudslam/v1/cloud_slam.proto
@@ -36,18 +36,11 @@ message StartMappingSessionRequest {
 }
 
 message Module {
-  ModuleType type = 1;
   string name = 2;
   string module_id = 3;
   string version = 4;
 }
 
-enum ModuleType {
-  MODULE_TYPE_UNSPECIFIED = 0;
-  MODULE_TYPE_LOCAL = 1;
-  MODULE_TYPE_REGISTRY = 2;
-}
-
 message SensorInfo {
   string source_component_name = 1;
   // type is the RDK component type

From f466fc02a62f89ff1270c7a846469783e175d94f Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 15 Mar 2024 20:30:03 +0000
Subject: [PATCH 6/6] Built new protos from ba40a10

---
 app/cloudslam/v1/cloud_slam.pb.go             | 375 +++++++++---------
 component/arm/v1/arm.pb.gw.go                 |  14 +-
 component/audioinput/v1/audioinput.pb.gw.go   |  10 +-
 component/base/v1/base.pb.gw.go               |  10 +-
 component/gripper/v1/gripper.pb.gw.go         |  10 +-
 .../v1/input_controller.pb.gw.go              |  10 +-
 component/motor/v1/motor.pb.gw.go             |  10 +-
 .../movementsensor/v1/movementsensor.pb.gw.go |  14 +-
 .../posetracker/v1/pose_tracker.pb.gw.go      |  10 +-
 component/powersensor/v1/powersensor.pb.gw.go |  10 +-
 component/servo/v1/servo.pb.gw.go             |  10 +-
 gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts    |   4 -
 gen/js/app/cloudslam/v1/cloud_slam_pb.js      |  30 --
 service/datamanager/v1/data_manager.pb.gw.go  |   6 +-
 service/generic/v1/generic.pb.gw.go           |   6 +-
 service/vision/v1/vision.pb.gw.go             |   6 +-
 16 files changed, 246 insertions(+), 289 deletions(-)

diff --git a/app/cloudslam/v1/cloud_slam.pb.go b/app/cloudslam/v1/cloud_slam.pb.go
index 4530593b8..aaef78a11 100644
--- a/app/cloudslam/v1/cloud_slam.pb.go
+++ b/app/cloudslam/v1/cloud_slam.pb.go
@@ -209,7 +209,6 @@ type Module struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	Type     string `protobuf:"bytes,1,opt,name=type,proto3" json:"type,omitempty"`
 	Name     string `protobuf:"bytes,2,opt,name=name,proto3" json:"name,omitempty"`
 	ModuleId string `protobuf:"bytes,3,opt,name=module_id,json=moduleId,proto3" json:"module_id,omitempty"`
 	Version  string `protobuf:"bytes,4,opt,name=version,proto3" json:"version,omitempty"`
@@ -247,13 +246,6 @@ func (*Module) Descriptor() ([]byte, []int) {
 	return file_app_cloudslam_v1_cloud_slam_proto_rawDescGZIP(), []int{1}
 }
 
-func (x *Module) GetType() string {
-	if x != nil {
-		return x.Type
-	}
-	return ""
-}
-
 func (x *Module) GetName() string {
 	if x != nil {
 		return x.Name
@@ -1136,195 +1128,194 @@ var file_app_cloudslam_v1_cloud_slam_proto_rawDesc = []byte{
 	0x35, 0x0a, 0x06, 0x6d, 0x6f, 0x64, 0x75, 0x6c, 0x65, 0x18, 0x0c, 0x20, 0x01, 0x28, 0x0b, 0x32,
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+	0x31, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
diff --git a/component/arm/v1/arm.pb.gw.go b/component/arm/v1/arm.pb.gw.go
index 90c742bb6..e9d51a96f 100644
--- a/component/arm/v1/arm.pb.gw.go
+++ b/component/arm/v1/arm.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_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, 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_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marsh
 }
 
 func local_request_ArmService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, 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_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetKinematicsRequest
+	var protoReq v1.GetKinematicsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_ArmService_GetKinematics_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetKinematicsRequest
+	var protoReq v1.GetKinematicsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -579,7 +579,7 @@ var (
 )
 
 func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, 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 (
@@ -612,7 +612,7 @@ func request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_ArmService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, 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/audioinput/v1/audioinput.pb.gw.go b/component/audioinput/v1/audioinput.pb.gw.go
index 97662546a..571f1e11f 100644
--- a/component/audioinput/v1/audioinput.pb.gw.go
+++ b/component/audioinput/v1/audioinput.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"
@@ -184,7 +184,7 @@ var (
 )
 
 func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, 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 (
@@ -217,7 +217,7 @@ func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, 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 (
@@ -254,7 +254,7 @@ var (
 )
 
 func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, 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 (
@@ -287,7 +287,7 @@ func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler ru
 }
 
 func local_request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, 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/base/v1/base.pb.gw.go b/component/base/v1/base.pb.gw.go
index 185bd31aa..faa48e8b0 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"
-	"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"
@@ -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.DoCommandRequest
+	var protoReq v1_0.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.DoCommandRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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 b432b0c7e..d732daf0a 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"
-	"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"
@@ -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.DoCommandRequest
+	var protoReq v1_0.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.DoCommandRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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 65d0cf631..199f00f1d 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"
-	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"
@@ -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_0.DoCommandRequest
+	var protoReq v1.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_0.DoCommandRequest
+	var protoReq v1.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_0.GetGeometriesRequest
+	var protoReq v1.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_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/motor/v1/motor.pb.gw.go b/component/motor/v1/motor.pb.gw.go
index 09b3358c0..6a3de9c6a 100644
--- a/component/motor/v1/motor.pb.gw.go
+++ b/component/motor/v1/motor.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"
@@ -649,7 +649,7 @@ var (
 )
 
 func request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MotorServiceClient, 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 (
@@ -682,7 +682,7 @@ func request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MotorServiceServer, 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 (
@@ -719,7 +719,7 @@ var (
 )
 
 func request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client MotorServiceClient, 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 (
@@ -752,7 +752,7 @@ func request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime
 }
 
 func local_request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server MotorServiceServer, 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/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/app/cloudslam/v1/cloud_slam_pb.d.ts b/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts
index 2458b6866..15a87208b 100644
--- a/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts
+++ b/gen/js/app/cloudslam/v1/cloud_slam_pb.d.ts
@@ -75,9 +75,6 @@ export namespace StartMappingSessionRequest {
 }
 
 export class Module extends jspb.Message {
-  getType(): string;
-  setType(value: string): void;
-
   getName(): string;
   setName(value: string): void;
 
@@ -99,7 +96,6 @@ export class Module extends jspb.Message {
 
 export namespace Module {
   export type AsObject = {
-    type: string,
     name: string,
     moduleId: string,
     version: string,
diff --git a/gen/js/app/cloudslam/v1/cloud_slam_pb.js b/gen/js/app/cloudslam/v1/cloud_slam_pb.js
index 957697b0b..1bfa44a1f 100644
--- a/gen/js/app/cloudslam/v1/cloud_slam_pb.js
+++ b/gen/js/app/cloudslam/v1/cloud_slam_pb.js
@@ -929,7 +929,6 @@ proto.viam.app.cloudslam.v1.Module.prototype.toObject = function(opt_includeInst
  */
 proto.viam.app.cloudslam.v1.Module.toObject = function(includeInstance, msg) {
   var f, obj = {
-    type: jspb.Message.getFieldWithDefault(msg, 1, ""),
     name: jspb.Message.getFieldWithDefault(msg, 2, ""),
     moduleId: jspb.Message.getFieldWithDefault(msg, 3, ""),
     version: jspb.Message.getFieldWithDefault(msg, 4, "")
@@ -969,10 +968,6 @@ proto.viam.app.cloudslam.v1.Module.deserializeBinaryFromReader = function(msg, r
     }
     var field = reader.getFieldNumber();
     switch (field) {
-    case 1:
-      var value = /** @type {string} */ (reader.readString());
-      msg.setType(value);
-      break;
     case 2:
       var value = /** @type {string} */ (reader.readString());
       msg.setName(value);
@@ -1014,13 +1009,6 @@ proto.viam.app.cloudslam.v1.Module.prototype.serializeBinary = function() {
  */
 proto.viam.app.cloudslam.v1.Module.serializeBinaryToWriter = function(message, writer) {
   var f = undefined;
-  f = message.getType();
-  if (f.length > 0) {
-    writer.writeString(
-      1,
-      f
-    );
-  }
   f = message.getName();
   if (f.length > 0) {
     writer.writeString(
@@ -1045,24 +1033,6 @@ proto.viam.app.cloudslam.v1.Module.serializeBinaryToWriter = function(message, w
 };
 
 
-/**
- * optional string type = 1;
- * @return {string}
- */
-proto.viam.app.cloudslam.v1.Module.prototype.getType = function() {
-  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, ""));
-};
-
-
-/**
- * @param {string} value
- * @return {!proto.viam.app.cloudslam.v1.Module} returns this
- */
-proto.viam.app.cloudslam.v1.Module.prototype.setType = function(value) {
-  return jspb.Message.setProto3StringField(this, 1, value);
-};
-
-
 /**
  * optional string name = 2;
  * @return {string}
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/generic/v1/generic.pb.gw.go b/service/generic/v1/generic.pb.gw.go
index 3c74de8b6..298562d36 100644
--- a/service/generic/v1/generic.pb.gw.go
+++ b/service/generic/v1/generic.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"
@@ -37,7 +37,7 @@ var (
 )
 
 func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, 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 (
@@ -70,7 +70,7 @@ func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, 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/vision/v1/vision.pb.gw.go b/service/vision/v1/vision.pb.gw.go
index bb8aa90da..174735d0a 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"
-	"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"
@@ -387,7 +387,7 @@ 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.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -420,7 +420,7 @@ 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.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (