diff --git a/src/viam/api/api_proto_tag.lock b/src/viam/api/api_proto_tag.lock
index fd208433d..b2762b40d 100644
--- a/src/viam/api/api_proto_tag.lock
+++ b/src/viam/api/api_proto_tag.lock
@@ -1 +1 @@
-v0.1.444
+v0.1.448
diff --git a/src/viam/api/app/v1/app.pb.cc b/src/viam/api/app/v1/app.pb.cc
index 7b03e80d3..88496c1e2 100644
--- a/src/viam/api/app/v1/app.pb.cc
+++ b/src/viam/api/app/v1/app.pb.cc
@@ -129,7 +129,8 @@ PROTOBUF_CONSTEXPR OrganizationMember::OrganizationMember(
   : emails_()
   , user_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
   , date_added_(nullptr)
-  , last_login_(nullptr){}
+  , last_login_(nullptr)
+  , last_access_(nullptr){}
 struct OrganizationMemberDefaultTypeInternal {
   PROTOBUF_CONSTEXPR OrganizationMemberDefaultTypeInternal()
       : _instance(::_pbi::ConstantInitialized{}) {}
@@ -216,7 +217,8 @@ struct GetOrganizationResponseDefaultTypeInternal {
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 GetOrganizationResponseDefaultTypeInternal _GetOrganizationResponse_default_instance_;
 PROTOBUF_CONSTEXPR GetOrganizationNamespaceAvailabilityRequest::GetOrganizationNamespaceAvailabilityRequest(
     ::_pbi::ConstantInitialized)
-  : public_namespace_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
+  : public_namespace_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , organization_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{}){}
 struct GetOrganizationNamespaceAvailabilityRequestDefaultTypeInternal {
   PROTOBUF_CONSTEXPR GetOrganizationNamespaceAvailabilityRequestDefaultTypeInternal()
       : _instance(::_pbi::ConstantInitialized{}) {}
@@ -3598,10 +3600,12 @@ const uint32_t TableStruct_app_2fv1_2fapp_2eproto::offsets[] PROTOBUF_SECTION_VA
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::OrganizationMember, emails_),
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::OrganizationMember, date_added_),
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::OrganizationMember, last_login_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::OrganizationMember, last_access_),
   ~0u,
   ~0u,
   ~0u,
   0,
+  1,
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::ListOrganizationsResponse, _internal_metadata_),
   ~0u,  // no _extensions_
@@ -3654,6 +3658,7 @@ const uint32_t TableStruct_app_2fv1_2fapp_2eproto::offsets[] PROTOBUF_SECTION_VA
   ~0u,  // no _weak_field_map_
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::GetOrganizationNamespaceAvailabilityRequest, public_namespace_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::GetOrganizationNamespaceAvailabilityRequest, organization_id_),
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::GetOrganizationNamespaceAvailabilityResponse, _internal_metadata_),
   ~0u,  // no _extensions_
@@ -5845,263 +5850,263 @@ static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protode
   { 43, -1, -1, sizeof(::viam::app::v1::AuthenticatorInfo)},
   { 52, -1, -1, sizeof(::viam::app::v1::ListOrganizationsRequest)},
   { 58, 70, -1, sizeof(::viam::app::v1::Organization)},
-  { 76, 86, -1, sizeof(::viam::app::v1::OrganizationMember)},
-  { 90, -1, -1, sizeof(::viam::app::v1::ListOrganizationsResponse)},
-  { 97, -1, -1, sizeof(::viam::app::v1::OrganizationInvite)},
-  { 107, -1, -1, sizeof(::viam::app::v1::CreateOrganizationRequest)},
-  { 114, -1, -1, sizeof(::viam::app::v1::CreateOrganizationResponse)},
-  { 121, -1, -1, sizeof(::viam::app::v1::GetOrganizationRequest)},
-  { 128, -1, -1, sizeof(::viam::app::v1::GetOrganizationResponse)},
-  { 135, -1, -1, sizeof(::viam::app::v1::GetOrganizationNamespaceAvailabilityRequest)},
-  { 142, -1, -1, sizeof(::viam::app::v1::GetOrganizationNamespaceAvailabilityResponse)},
-  { 149, 160, -1, sizeof(::viam::app::v1::UpdateOrganizationRequest)},
-  { 165, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationResponse)},
-  { 172, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationNamespaceRequest)},
-  { 180, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationNamespaceResponse)},
-  { 187, -1, -1, sizeof(::viam::app::v1::DeleteOrganizationRequest)},
-  { 194, -1, -1, sizeof(::viam::app::v1::DeleteOrganizationResponse)},
-  { 200, -1, -1, sizeof(::viam::app::v1::GetOrganizationMetadataRequest)},
-  { 207, -1, -1, sizeof(::viam::app::v1::GetOrganizationMetadataResponse)},
-  { 214, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationMetadataRequest)},
-  { 222, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationMetadataResponse)},
-  { 228, -1, -1, sizeof(::viam::app::v1::ListOrganizationMembersRequest)},
-  { 235, -1, -1, sizeof(::viam::app::v1::ListOrganizationMembersResponse)},
-  { 244, 254, -1, sizeof(::viam::app::v1::CreateOrganizationInviteRequest)},
-  { 258, -1, -1, sizeof(::viam::app::v1::CreateOrganizationInviteResponse)},
-  { 265, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationInviteAuthorizationsRequest)},
-  { 275, -1, -1, sizeof(::viam::app::v1::UpdateOrganizationInviteAuthorizationsResponse)},
-  { 282, -1, -1, sizeof(::viam::app::v1::DeleteOrganizationInviteRequest)},
-  { 290, -1, -1, sizeof(::viam::app::v1::DeleteOrganizationInviteResponse)},
-  { 296, 305, -1, sizeof(::viam::app::v1::ResendOrganizationInviteRequest)},
-  { 308, -1, -1, sizeof(::viam::app::v1::ResendOrganizationInviteResponse)},
-  { 315, -1, -1, sizeof(::viam::app::v1::DeleteOrganizationMemberRequest)},
-  { 323, -1, -1, sizeof(::viam::app::v1::DeleteOrganizationMemberResponse)},
-  { 329, 341, -1, sizeof(::viam::app::v1::BillingAddress)},
-  { 347, -1, -1, sizeof(::viam::app::v1::EnableBillingServiceRequest)},
-  { 355, -1, -1, sizeof(::viam::app::v1::EnableBillingServiceResponse)},
-  { 361, -1, -1, sizeof(::viam::app::v1::UpdateBillingServiceRequest)},
-  { 369, -1, -1, sizeof(::viam::app::v1::UpdateBillingServiceResponse)},
-  { 375, -1, -1, sizeof(::viam::app::v1::GetBillingServiceConfigRequest)},
-  { 382, -1, -1, sizeof(::viam::app::v1::GetBillingServiceConfigResponse)},
-  { 392, -1, -1, sizeof(::viam::app::v1::DisableBillingServiceRequest)},
-  { 399, -1, -1, sizeof(::viam::app::v1::DisableBillingServiceResponse)},
-  { 405, -1, -1, sizeof(::viam::app::v1::OrganizationSetSupportEmailRequest)},
-  { 413, -1, -1, sizeof(::viam::app::v1::OrganizationSetSupportEmailResponse)},
-  { 419, -1, -1, sizeof(::viam::app::v1::OrganizationGetSupportEmailRequest)},
-  { 426, -1, -1, sizeof(::viam::app::v1::OrganizationGetSupportEmailResponse)},
-  { 433, -1, -1, sizeof(::viam::app::v1::OrganizationIdentity)},
-  { 441, -1, -1, sizeof(::viam::app::v1::LocationOrganization)},
-  { 449, -1, -1, sizeof(::viam::app::v1::LocationAuth)},
-  { 458, -1, -1, sizeof(::viam::app::v1::StorageConfig)},
-  { 465, 480, -1, sizeof(::viam::app::v1::Location)},
-  { 489, -1, -1, sizeof(::viam::app::v1::SharedSecret)},
-  { 499, 508, -1, sizeof(::viam::app::v1::CreateLocationRequest)},
-  { 511, -1, -1, sizeof(::viam::app::v1::CreateLocationResponse)},
-  { 518, -1, -1, sizeof(::viam::app::v1::GetLocationRequest)},
-  { 525, -1, -1, sizeof(::viam::app::v1::GetLocationResponse)},
-  { 532, 542, -1, sizeof(::viam::app::v1::UpdateLocationRequest)},
-  { 546, -1, -1, sizeof(::viam::app::v1::UpdateLocationResponse)},
-  { 553, -1, -1, sizeof(::viam::app::v1::DeleteLocationRequest)},
-  { 560, -1, -1, sizeof(::viam::app::v1::DeleteLocationResponse)},
-  { 566, -1, -1, sizeof(::viam::app::v1::GetLocationMetadataRequest)},
-  { 573, -1, -1, sizeof(::viam::app::v1::GetLocationMetadataResponse)},
-  { 580, -1, -1, sizeof(::viam::app::v1::UpdateLocationMetadataRequest)},
-  { 588, -1, -1, sizeof(::viam::app::v1::UpdateLocationMetadataResponse)},
-  { 594, -1, -1, sizeof(::viam::app::v1::GetOrganizationsWithAccessToLocationRequest)},
-  { 601, -1, -1, sizeof(::viam::app::v1::GetOrganizationsWithAccessToLocationResponse)},
-  { 608, -1, -1, sizeof(::viam::app::v1::ListLocationsRequest)},
-  { 615, -1, -1, sizeof(::viam::app::v1::ShareLocationRequest)},
-  { 623, -1, -1, sizeof(::viam::app::v1::ShareLocationResponse)},
-  { 629, -1, -1, sizeof(::viam::app::v1::UnshareLocationRequest)},
-  { 637, -1, -1, sizeof(::viam::app::v1::UnshareLocationResponse)},
-  { 643, -1, -1, sizeof(::viam::app::v1::ListLocationsResponse)},
-  { 650, -1, -1, sizeof(::viam::app::v1::CreateLocationSecretRequest)},
-  { 657, -1, -1, sizeof(::viam::app::v1::CreateLocationSecretResponse)},
-  { 664, -1, -1, sizeof(::viam::app::v1::DeleteLocationSecretRequest)},
-  { 672, -1, -1, sizeof(::viam::app::v1::DeleteLocationSecretResponse)},
-  { 678, -1, -1, sizeof(::viam::app::v1::LocationAuthRequest)},
-  { 685, -1, -1, sizeof(::viam::app::v1::LocationAuthResponse)},
-  { 692, -1, -1, sizeof(::viam::app::v1::GetRobotRequest)},
-  { 699, -1, -1, sizeof(::viam::app::v1::GetRoverRentalRobotsRequest)},
-  { 706, -1, -1, sizeof(::viam::app::v1::RoverRentalRobot)},
-  { 716, -1, -1, sizeof(::viam::app::v1::GetRoverRentalRobotsResponse)},
-  { 723, -1, -1, sizeof(::viam::app::v1::GetRobotResponse)},
-  { 730, -1, -1, sizeof(::viam::app::v1::GetRobotPartsRequest)},
-  { 737, -1, -1, sizeof(::viam::app::v1::GetRobotPartsResponse)},
-  { 744, -1, -1, sizeof(::viam::app::v1::GetRobotPartRequest)},
-  { 751, -1, -1, sizeof(::viam::app::v1::GetRobotPartResponse)},
-  { 759, -1, -1, sizeof(::viam::app::v1::GetRobotPartByNameAndLocationRequest)},
-  { 767, -1, -1, sizeof(::viam::app::v1::GetRobotPartByNameAndLocationResponse)},
-  { 774, 789, -1, sizeof(::viam::app::v1::GetRobotPartLogsRequest)},
-  { 798, -1, -1, sizeof(::viam::app::v1::GetRobotPartLogsResponse)},
-  { 806, 815, -1, sizeof(::viam::app::v1::TailRobotPartLogsRequest)},
-  { 818, -1, -1, sizeof(::viam::app::v1::TailRobotPartLogsResponse)},
-  { 825, -1, -1, sizeof(::viam::app::v1::GetRobotPartHistoryRequest)},
-  { 832, -1, -1, sizeof(::viam::app::v1::GetRobotPartHistoryResponse)},
-  { 839, 849, -1, sizeof(::viam::app::v1::UpdateRobotPartRequest)},
-  { 853, -1, -1, sizeof(::viam::app::v1::UpdateRobotPartResponse)},
-  { 860, -1, -1, sizeof(::viam::app::v1::NewRobotPartRequest)},
-  { 868, -1, -1, sizeof(::viam::app::v1::NewRobotPartResponse)},
-  { 875, -1, -1, sizeof(::viam::app::v1::DeleteRobotPartRequest)},
-  { 882, -1, -1, sizeof(::viam::app::v1::GetRobotPartMetadataRequest)},
-  { 889, -1, -1, sizeof(::viam::app::v1::GetRobotPartMetadataResponse)},
-  { 896, -1, -1, sizeof(::viam::app::v1::UpdateRobotPartMetadataRequest)},
-  { 904, -1, -1, sizeof(::viam::app::v1::UpdateRobotPartMetadataResponse)},
-  { 910, -1, -1, sizeof(::viam::app::v1::GetRobotAPIKeysRequest)},
-  { 917, -1, -1, sizeof(::viam::app::v1::APIKey)},
-  { 927, -1, -1, sizeof(::viam::app::v1::GetRobotAPIKeysResponse)},
-  { 934, -1, -1, sizeof(::viam::app::v1::DeleteRobotPartResponse)},
-  { 940, -1, -1, sizeof(::viam::app::v1::Fragment)},
-  { 959, -1, -1, sizeof(::viam::app::v1::FragmentHistoryEntry)},
-  { 971, -1, -1, sizeof(::viam::app::v1::FragmentRevision)},
-  { 979, -1, -1, sizeof(::viam::app::v1::FragmentTag)},
-  { 987, -1, -1, sizeof(::viam::app::v1::FragmentError)},
-  { 996, 1007, -1, sizeof(::viam::app::v1::FragmentUsage)},
-  { 1012, -1, -1, sizeof(::viam::app::v1::ResolvedFragment)},
-  { 1022, -1, -1, sizeof(::viam::app::v1::ListFragmentsRequest)},
-  { 1031, -1, -1, sizeof(::viam::app::v1::ListFragmentsResponse)},
-  { 1039, 1048, -1, sizeof(::viam::app::v1::GetFragmentRequest)},
-  { 1051, -1, -1, sizeof(::viam::app::v1::GetFragmentResponse)},
-  { 1061, 1071, -1, sizeof(::viam::app::v1::CreateFragmentRequest)},
-  { 1075, -1, -1, sizeof(::viam::app::v1::CreateFragmentResponse)},
-  { 1082, 1094, -1, sizeof(::viam::app::v1::UpdateFragmentRequest)},
-  { 1100, -1, -1, sizeof(::viam::app::v1::UpdateFragmentResponse)},
-  { 1107, -1, -1, sizeof(::viam::app::v1::DeleteFragmentRequest)},
-  { 1114, -1, -1, sizeof(::viam::app::v1::DeleteFragmentResponse)},
-  { 1120, 1129, -1, sizeof(::viam::app::v1::GetFragmentHistoryRequest)},
-  { 1132, -1, -1, sizeof(::viam::app::v1::GetFragmentHistoryResponse)},
-  { 1140, -1, -1, sizeof(::viam::app::v1::GetFragmentUsageRequest)},
-  { 1147, -1, -1, sizeof(::viam::app::v1::GetFragmentUsageResponse)},
-  { 1154, -1, -1, sizeof(::viam::app::v1::SetFragmentTagRequest)},
-  { 1163, -1, -1, sizeof(::viam::app::v1::SetFragmentTagResponse)},
-  { 1170, -1, -1, sizeof(::viam::app::v1::DeleteFragmentTagRequest)},
-  { 1178, -1, -1, sizeof(::viam::app::v1::DeleteFragmentTagResponse)},
-  { 1185, -1, -1, sizeof(::viam::app::v1::ListRobotsRequest)},
-  { 1192, 1200, -1, sizeof(::viam::app::v1::AdditionalFragment)},
-  { 1202, 1210, -1, sizeof(::viam::app::v1::ListNestedFragmentsRequest)},
-  { 1212, -1, -1, sizeof(::viam::app::v1::ListNestedFragmentsResponse)},
-  { 1220, -1, -1, sizeof(::viam::app::v1::ListMachineFragmentsRequest)},
-  { 1229, -1, -1, sizeof(::viam::app::v1::ListMachineFragmentsResponse)},
-  { 1237, -1, -1, sizeof(::viam::app::v1::ListMachineSummariesRequest)},
-  { 1245, -1, -1, sizeof(::viam::app::v1::ListMachineSummariesResponse)},
-  { 1252, -1, -1, sizeof(::viam::app::v1::LocationSummary)},
-  { 1261, -1, -1, sizeof(::viam::app::v1::MachineSummary)},
-  { 1270, -1, -1, sizeof(::viam::app::v1::FragmentSummary)},
-  { 1278, -1, -1, sizeof(::viam::app::v1::ViamServerVersion)},
-  { 1287, -1, -1, sizeof(::viam::app::v1::ViamAgentVersion)},
-  { 1296, 1311, -1, sizeof(::viam::app::v1::PartSummary)},
-  { 1320, -1, -1, sizeof(::viam::app::v1::ListRobotsResponse)},
-  { 1327, -1, -1, sizeof(::viam::app::v1::NewRobotRequest)},
-  { 1335, -1, -1, sizeof(::viam::app::v1::NewRobotResponse)},
-  { 1342, -1, -1, sizeof(::viam::app::v1::UpdateRobotRequest)},
-  { 1351, -1, -1, sizeof(::viam::app::v1::UpdateRobotResponse)},
-  { 1358, -1, -1, sizeof(::viam::app::v1::DeleteRobotRequest)},
-  { 1365, -1, -1, sizeof(::viam::app::v1::DeleteRobotResponse)},
-  { 1371, -1, -1, sizeof(::viam::app::v1::GetRobotMetadataRequest)},
-  { 1378, -1, -1, sizeof(::viam::app::v1::GetRobotMetadataResponse)},
-  { 1385, -1, -1, sizeof(::viam::app::v1::UpdateRobotMetadataRequest)},
-  { 1393, -1, -1, sizeof(::viam::app::v1::UpdateRobotMetadataResponse)},
-  { 1399, -1, -1, sizeof(::viam::app::v1::MarkPartAsMainRequest)},
-  { 1406, -1, -1, sizeof(::viam::app::v1::MarkPartAsMainResponse)},
-  { 1412, -1, -1, sizeof(::viam::app::v1::MarkPartForRestartRequest)},
-  { 1419, -1, -1, sizeof(::viam::app::v1::MarkPartForRestartResponse)},
-  { 1425, -1, -1, sizeof(::viam::app::v1::CreateRobotPartSecretRequest)},
-  { 1432, -1, -1, sizeof(::viam::app::v1::CreateRobotPartSecretResponse)},
-  { 1439, -1, -1, sizeof(::viam::app::v1::DeleteRobotPartSecretRequest)},
-  { 1447, -1, -1, sizeof(::viam::app::v1::DeleteRobotPartSecretResponse)},
-  { 1453, -1, -1, sizeof(::viam::app::v1::Authorization)},
-  { 1466, -1, -1, sizeof(::viam::app::v1::AddRoleRequest)},
-  { 1473, -1, -1, sizeof(::viam::app::v1::AddRoleResponse)},
-  { 1479, -1, -1, sizeof(::viam::app::v1::RemoveRoleRequest)},
-  { 1486, -1, -1, sizeof(::viam::app::v1::RemoveRoleResponse)},
-  { 1492, -1, -1, sizeof(::viam::app::v1::ChangeRoleRequest)},
-  { 1500, -1, -1, sizeof(::viam::app::v1::ChangeRoleResponse)},
-  { 1506, -1, -1, sizeof(::viam::app::v1::ListAuthorizationsRequest)},
-  { 1514, -1, -1, sizeof(::viam::app::v1::ListAuthorizationsResponse)},
-  { 1521, -1, -1, sizeof(::viam::app::v1::CheckPermissionsRequest)},
-  { 1528, -1, -1, sizeof(::viam::app::v1::AuthorizedPermissions)},
-  { 1537, -1, -1, sizeof(::viam::app::v1::CheckPermissionsResponse)},
-  { 1544, 1557, -1, sizeof(::viam::app::v1::ModuleVersion)},
-  { 1564, 1576, -1, sizeof(::viam::app::v1::ModuleMetadata)},
-  { 1582, -1, -1, sizeof(::viam::app::v1::MLModelMetadata)},
-  { 1591, -1, -1, sizeof(::viam::app::v1::MLTrainingVersion)},
-  { 1599, -1, -1, sizeof(::viam::app::v1::MLTrainingMetadata)},
-  { 1609, -1, -1, sizeof(::viam::app::v1::RegistryItem)},
-  { 1633, 1641, -1, sizeof(::viam::app::v1::GetRegistryItemRequest)},
-  { 1643, -1, -1, sizeof(::viam::app::v1::GetRegistryItemResponse)},
-  { 1650, -1, -1, sizeof(::viam::app::v1::CreateRegistryItemRequest)},
-  { 1659, -1, -1, sizeof(::viam::app::v1::CreateRegistryItemResponse)},
-  { 1665, 1681, -1, sizeof(::viam::app::v1::UpdateRegistryItemRequest)},
-  { 1690, -1, -1, sizeof(::viam::app::v1::UpdateRegistryItemResponse)},
-  { 1696, 1711, -1, sizeof(::viam::app::v1::ListRegistryItemsRequest)},
-  { 1720, -1, -1, sizeof(::viam::app::v1::ListRegistryItemsResponse)},
-  { 1727, -1, -1, sizeof(::viam::app::v1::DeleteRegistryItemRequest)},
-  { 1734, -1, -1, sizeof(::viam::app::v1::DeleteRegistryItemResponse)},
-  { 1740, -1, -1, sizeof(::viam::app::v1::RenameRegistryItemRequest)},
-  { 1748, -1, -1, sizeof(::viam::app::v1::RenameRegistryItemResponse)},
-  { 1755, -1, -1, sizeof(::viam::app::v1::TransferRegistryItemRequest)},
-  { 1763, -1, -1, sizeof(::viam::app::v1::TransferRegistryItemResponse)},
-  { 1769, -1, -1, sizeof(::viam::app::v1::CreateModuleRequest)},
-  { 1777, -1, -1, sizeof(::viam::app::v1::CreateModuleResponse)},
-  { 1785, 1800, -1, sizeof(::viam::app::v1::UpdateModuleRequest)},
-  { 1809, -1, -1, sizeof(::viam::app::v1::App)},
-  { 1818, -1, -1, sizeof(::viam::app::v1::UpdateModuleResponse)},
-  { 1825, -1, -1, sizeof(::viam::app::v1::UpdateModuleMetadata)},
-  { 1834, -1, -1, sizeof(::viam::app::v1::UpdateMLModelMetadata)},
-  { 1842, -1, -1, sizeof(::viam::app::v1::UpdateMLTrainingMetadata)},
-  { 1851, 1862, -1, sizeof(::viam::app::v1::Model)},
-  { 1867, -1, -1, sizeof(::viam::app::v1::ModuleFileInfo)},
-  { 1877, -1, -1, sizeof(::viam::app::v1::UploadModuleFileRequest)},
-  { 1886, -1, -1, sizeof(::viam::app::v1::UploadModuleFileResponse)},
-  { 1893, 1901, -1, sizeof(::viam::app::v1::GetModuleRequest)},
-  { 1903, -1, -1, sizeof(::viam::app::v1::GetModuleResponse)},
-  { 1910, 1931, -1, sizeof(::viam::app::v1::Module)},
-  { 1946, 1959, -1, sizeof(::viam::app::v1::VersionHistory)},
-  { 1966, -1, -1, sizeof(::viam::app::v1::Uploads)},
-  { 1974, 1982, -1, sizeof(::viam::app::v1::ListModulesRequest)},
-  { 1984, -1, -1, sizeof(::viam::app::v1::ListModulesResponse)},
-  { 1991, -1, -1, sizeof(::viam::app::v1::GetUserIDByEmailRequest)},
-  { 1998, -1, -1, sizeof(::viam::app::v1::GetUserIDByEmailResponse)},
-  { 2005, -1, -1, sizeof(::viam::app::v1::ListOrganizationsByUserRequest)},
-  { 2012, 2023, -1, sizeof(::viam::app::v1::OrgDetails)},
-  { 2028, -1, -1, sizeof(::viam::app::v1::ListOrganizationsByUserResponse)},
-  { 2035, 2045, -1, sizeof(::viam::app::v1::SearchOrganizationsRequest)},
-  { 2049, -1, -1, sizeof(::viam::app::v1::SearchOrganizationsResponse)},
-  { 2056, -1, -1, sizeof(::viam::app::v1::CreateKeyRequest)},
-  { 2064, -1, -1, sizeof(::viam::app::v1::CreateKeyResponse)},
-  { 2072, -1, -1, sizeof(::viam::app::v1::DeleteKeyRequest)},
-  { 2079, -1, -1, sizeof(::viam::app::v1::DeleteKeyResponse)},
-  { 2085, -1, -1, sizeof(::viam::app::v1::RenameKeyRequest)},
-  { 2093, -1, -1, sizeof(::viam::app::v1::RenameKeyResponse)},
-  { 2101, -1, -1, sizeof(::viam::app::v1::AuthorizationDetails)},
-  { 2112, -1, -1, sizeof(::viam::app::v1::APIKeyWithAuthorizations)},
-  { 2120, -1, -1, sizeof(::viam::app::v1::ListKeysRequest)},
-  { 2127, -1, -1, sizeof(::viam::app::v1::ListKeysResponse)},
-  { 2134, -1, -1, sizeof(::viam::app::v1::RotateKeyRequest)},
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+  { 2224, -1, -1, sizeof(::viam::app::v1::DisableAuthServiceRequest)},
+  { 2231, -1, -1, sizeof(::viam::app::v1::DisableAuthServiceResponse)},
+  { 2237, -1, -1, sizeof(::viam::app::v1::CreateOAuthAppRequest)},
+  { 2246, -1, -1, sizeof(::viam::app::v1::CreateOAuthAppResponse)},
+  { 2254, -1, -1, sizeof(::viam::app::v1::ReadOAuthAppRequest)},
+  { 2262, -1, -1, sizeof(::viam::app::v1::ReadOAuthAppResponse)},
+  { 2271, -1, -1, sizeof(::viam::app::v1::UpdateOAuthAppRequest)},
+  { 2281, -1, -1, sizeof(::viam::app::v1::UpdateOAuthAppResponse)},
+  { 2287, -1, -1, sizeof(::viam::app::v1::DeleteOAuthAppRequest)},
+  { 2295, -1, -1, sizeof(::viam::app::v1::DeleteOAuthAppResponse)},
+  { 2301, -1, -1, sizeof(::viam::app::v1::ListOAuthAppsRequest)},
+  { 2308, -1, -1, sizeof(::viam::app::v1::ListOAuthAppsResponse)},
+  { 2315, -1, -1, sizeof(::viam::app::v1::OAuthConfig)},
 };
 
 static const ::_pb::Message* const file_default_instances[] = {
@@ -6431,1072 +6436,1076 @@ const char descriptor_table_protodef_app_2fv1_2fapp_2eproto[] PROTOBUF_SECTION_V
   "otobuf.TimestampR\tcreatedOn\022)\n\020public_na"
   "mespace\030\004 \001(\tR\017publicNamespace\022%\n\016defaul"
   "t_region\030\005 \001(\tR\rdefaultRegion\022\025\n\003cid\030\006 \001"
-  "(\tH\000R\003cid\210\001\001B\006\n\004_cid\"\317\001\n\022OrganizationMem"
+  "(\tH\000R\003cid\210\001\001B\006\n\004_cid\"\241\002\n\022OrganizationMem"
   "ber\022\027\n\007user_id\030\001 \001(\tR\006userId\022\026\n\006emails\030\002"
   " \003(\tR\006emails\0229\n\ndate_added\030\003 \001(\0132\032.googl"
   "e.protobuf.TimestampR\tdateAdded\022>\n\nlast_"
   "login\030\004 \001(\0132\032.google.protobuf.TimestampH"
-  "\000R\tlastLogin\210\001\001B\r\n\013_last_login\"\\\n\031ListOr"
-  "ganizationsResponse\022\?\n\rorganizations\030\001 \003"
-  "(\0132\031.viam.app.v1.OrganizationR\rorganizat"
-  "ions\"\322\001\n\022OrganizationInvite\022\'\n\017organizat"
-  "ion_id\030\001 \001(\tR\016organizationId\022\024\n\005email\030\002 "
-  "\001(\tR\005email\0229\n\ncreated_on\030\003 \001(\0132\032.google."
-  "protobuf.TimestampR\tcreatedOn\022B\n\016authori"
+  "\000R\tlastLogin\210\001\001\022@\n\013last_access\030\005 \001(\0132\032.g"
+  "oogle.protobuf.TimestampH\001R\nlastAccess\210\001"
+  "\001B\r\n\013_last_loginB\016\n\014_last_access\"\\\n\031List"
+  "OrganizationsResponse\022\?\n\rorganizations\030\001"
+  " \003(\0132\031.viam.app.v1.OrganizationR\rorganiz"
+  "ations\"\322\001\n\022OrganizationInvite\022\'\n\017organiz"
+  "ation_id\030\001 \001(\tR\016organizationId\022\024\n\005email\030"
+  "\002 \001(\tR\005email\0229\n\ncreated_on\030\003 \001(\0132\032.googl"
+  "e.protobuf.TimestampR\tcreatedOn\022B\n\016autho"
+  "rizations\030\004 \003(\0132\032.viam.app.v1.Authorizat"
+  "ionR\016authorizations\"/\n\031CreateOrganizatio"
+  "nRequest\022\022\n\004name\030\001 \001(\tR\004name\"[\n\032CreateOr"
+  "ganizationResponse\022=\n\014organization\030\001 \001(\013"
+  "2\031.viam.app.v1.OrganizationR\014organizatio"
+  "n\"A\n\026GetOrganizationRequest\022\'\n\017organizat"
+  "ion_id\030\001 \001(\tR\016organizationId\"X\n\027GetOrgan"
+  "izationResponse\022=\n\014organization\030\001 \001(\0132\031."
+  "viam.app.v1.OrganizationR\014organization\"\201"
+  "\001\n+GetOrganizationNamespaceAvailabilityR"
+  "equest\022)\n\020public_namespace\030\001 \001(\tR\017public"
+  "Namespace\022\'\n\017organization_id\030\002 \001(\tR\016orga"
+  "nizationId\"L\n,GetOrganizationNamespaceAv"
+  "ailabilityResponse\022\034\n\tavailable\030\001 \001(\010R\ta"
+  "vailable\"\362\001\n\031UpdateOrganizationRequest\022\'"
+  "\n\017organization_id\030\001 \001(\tR\016organizationId\022"
+  "\027\n\004name\030\002 \001(\tH\000R\004name\210\001\001\022.\n\020public_names"
+  "pace\030\003 \001(\tH\001R\017publicNamespace\210\001\001\022\033\n\006regi"
+  "on\030\004 \001(\tH\002R\006region\210\001\001\022\025\n\003cid\030\005 \001(\tH\003R\003ci"
+  "d\210\001\001B\007\n\005_nameB\023\n\021_public_namespaceB\t\n\007_r"
+  "egionB\006\n\004_cid\"[\n\032UpdateOrganizationRespo"
+  "nse\022=\n\014organization\030\001 \001(\0132\031.viam.app.v1."
+  "OrganizationR\014organization\"\177\n\"UpdateOrga"
+  "nizationNamespaceRequest\022\'\n\017organization"
+  "_id\030\001 \001(\tR\016organizationId\0220\n\024new_public_"
+  "namespace\030\002 \001(\tR\022newPublicNamespace\"d\n#U"
+  "pdateOrganizationNamespaceResponse\022=\n\014or"
+  "ganization\030\001 \001(\0132\031.viam.app.v1.Organizat"
+  "ionR\014organization\"D\n\031DeleteOrganizationR"
+  "equest\022\'\n\017organization_id\030\001 \001(\tR\016organiz"
+  "ationId\"\034\n\032DeleteOrganizationResponse\"I\n"
+  "\036GetOrganizationMetadataRequest\022\'\n\017organ"
+  "ization_id\030\001 \001(\tR\016organizationId\"N\n\037GetO"
+  "rganizationMetadataResponse\022+\n\004data\030\001 \001("
+  "\0132\027.google.protobuf.StructR\004data\"y\n!Upda"
+  "teOrganizationMetadataRequest\022\'\n\017organiz"
+  "ation_id\030\001 \001(\tR\016organizationId\022+\n\004data\030\002"
+  " \001(\0132\027.google.protobuf.StructR\004data\"$\n\"U"
+  "pdateOrganizationMetadataResponse\"I\n\036Lis"
+  "tOrganizationMembersRequest\022\'\n\017organizat"
+  "ion_id\030\001 \001(\tR\016organizationId\"\300\001\n\037ListOrg"
+  "anizationMembersResponse\022\'\n\017organization"
+  "_id\030\001 \001(\tR\016organizationId\0229\n\007members\030\002 \003"
+  "(\0132\037.viam.app.v1.OrganizationMemberR\007mem"
+  "bers\0229\n\007invites\030\003 \003(\0132\037.viam.app.v1.Orga"
+  "nizationInviteR\007invites\"\353\001\n\037CreateOrgani"
+  "zationInviteRequest\022\'\n\017organization_id\030\001"
+  " \001(\tR\016organizationId\022\024\n\005email\030\002 \001(\tR\005ema"
+  "il\022B\n\016authorizations\030\003 \003(\0132\032.viam.app.v1"
+  ".AuthorizationR\016authorizations\022/\n\021send_e"
+  "mail_invite\030\004 \001(\010H\000R\017sendEmailInvite\210\001\001B"
+  "\024\n\022_send_email_invite\"[\n CreateOrganizat"
+  "ionInviteResponse\0227\n\006invite\030\001 \001(\0132\037.viam"
+  ".app.v1.OrganizationInviteR\006invite\"\212\002\n-U"
+  "pdateOrganizationInviteAuthorizationsReq"
+  "uest\022\'\n\017organization_id\030\001 \001(\tR\016organizat"
+  "ionId\022\024\n\005email\030\002 \001(\tR\005email\022I\n\022add_autho"
+  "rizations\030\003 \003(\0132\032.viam.app.v1.Authorizat"
+  "ionR\021addAuthorizations\022O\n\025remove_authori"
   "zations\030\004 \003(\0132\032.viam.app.v1.Authorizatio"
-  "nR\016authorizations\"/\n\031CreateOrganizationR"
-  "equest\022\022\n\004name\030\001 \001(\tR\004name\"[\n\032CreateOrga"
-  "nizationResponse\022=\n\014organization\030\001 \001(\0132\031"
-  ".viam.app.v1.OrganizationR\014organization\""
-  "A\n\026GetOrganizationRequest\022\'\n\017organizatio"
-  "n_id\030\001 \001(\tR\016organizationId\"X\n\027GetOrganiz"
-  "ationResponse\022=\n\014organization\030\001 \001(\0132\031.vi"
-  "am.app.v1.OrganizationR\014organization\"X\n+"
-  "GetOrganizationNamespaceAvailabilityRequ"
-  "est\022)\n\020public_namespace\030\001 \001(\tR\017publicNam"
-  "espace\"L\n,GetOrganizationNamespaceAvaila"
-  "bilityResponse\022\034\n\tavailable\030\001 \001(\010R\tavail"
-  "able\"\362\001\n\031UpdateOrganizationRequest\022\'\n\017or"
-  "ganization_id\030\001 \001(\tR\016organizationId\022\027\n\004n"
-  "ame\030\002 \001(\tH\000R\004name\210\001\001\022.\n\020public_namespace"
-  "\030\003 \001(\tH\001R\017publicNamespace\210\001\001\022\033\n\006region\030\004"
-  " \001(\tH\002R\006region\210\001\001\022\025\n\003cid\030\005 \001(\tH\003R\003cid\210\001\001"
-  "B\007\n\005_nameB\023\n\021_public_namespaceB\t\n\007_regio"
-  "nB\006\n\004_cid\"[\n\032UpdateOrganizationResponse\022"
-  "=\n\014organization\030\001 \001(\0132\031.viam.app.v1.Orga"
-  "nizationR\014organization\"\177\n\"UpdateOrganiza"
-  "tionNamespaceRequest\022\'\n\017organization_id\030"
-  "\001 \001(\tR\016organizationId\0220\n\024new_public_name"
-  "space\030\002 \001(\tR\022newPublicNamespace\"d\n#Updat"
-  "eOrganizationNamespaceResponse\022=\n\014organi"
-  "zation\030\001 \001(\0132\031.viam.app.v1.OrganizationR"
-  "\014organization\"D\n\031DeleteOrganizationReque"
+  "nR\024removeAuthorizations\"i\n.UpdateOrganiz"
+  "ationInviteAuthorizationsResponse\0227\n\006inv"
+  "ite\030\001 \001(\0132\037.viam.app.v1.OrganizationInvi"
+  "teR\006invite\"`\n\037DeleteOrganizationInviteRe"
+  "quest\022\'\n\017organization_id\030\001 \001(\tR\016organiza"
+  "tionId\022\024\n\005email\030\002 \001(\tR\005email\"\"\n DeleteOr"
+  "ganizationInviteResponse\"\247\001\n\037ResendOrgan"
+  "izationInviteRequest\022\'\n\017organization_id\030"
+  "\001 \001(\tR\016organizationId\022\024\n\005email\030\002 \001(\tR\005em"
+  "ail\022/\n\021send_email_invite\030\003 \001(\010H\000R\017sendEm"
+  "ailInvite\210\001\001B\024\n\022_send_email_invite\"[\n Re"
+  "sendOrganizationInviteResponse\0227\n\006invite"
+  "\030\001 \001(\0132\037.viam.app.v1.OrganizationInviteR"
+  "\006invite\"c\n\037DeleteOrganizationMemberReque"
   "st\022\'\n\017organization_id\030\001 \001(\tR\016organizatio"
-  "nId\"\034\n\032DeleteOrganizationResponse\"I\n\036Get"
-  "OrganizationMetadataRequest\022\'\n\017organizat"
-  "ion_id\030\001 \001(\tR\016organizationId\"N\n\037GetOrgan"
-  "izationMetadataResponse\022+\n\004data\030\001 \001(\0132\027."
-  "google.protobuf.StructR\004data\"y\n!UpdateOr"
-  "ganizationMetadataRequest\022\'\n\017organizatio"
-  "n_id\030\001 \001(\tR\016organizationId\022+\n\004data\030\002 \001(\013"
-  "2\027.google.protobuf.StructR\004data\"$\n\"Updat"
-  "eOrganizationMetadataResponse\"I\n\036ListOrg"
-  "anizationMembersRequest\022\'\n\017organization_"
-  "id\030\001 \001(\tR\016organizationId\"\300\001\n\037ListOrganiz"
-  "ationMembersResponse\022\'\n\017organization_id\030"
-  "\001 \001(\tR\016organizationId\0229\n\007members\030\002 \003(\0132\037"
-  ".viam.app.v1.OrganizationMemberR\007members"
-  "\0229\n\007invites\030\003 \003(\0132\037.viam.app.v1.Organiza"
-  "tionInviteR\007invites\"\353\001\n\037CreateOrganizati"
-  "onInviteRequest\022\'\n\017organization_id\030\001 \001(\t"
-  "R\016organizationId\022\024\n\005email\030\002 \001(\tR\005email\022B"
-  "\n\016authorizations\030\003 \003(\0132\032.viam.app.v1.Aut"
-  "horizationR\016authorizations\022/\n\021send_email"
-  "_invite\030\004 \001(\010H\000R\017sendEmailInvite\210\001\001B\024\n\022_"
-  "send_email_invite\"[\n CreateOrganizationI"
-  "nviteResponse\0227\n\006invite\030\001 \001(\0132\037.viam.app"
-  ".v1.OrganizationInviteR\006invite\"\212\002\n-Updat"
-  "eOrganizationInviteAuthorizationsRequest"
-  "\022\'\n\017organization_id\030\001 \001(\tR\016organizationI"
-  "d\022\024\n\005email\030\002 \001(\tR\005email\022I\n\022add_authoriza"
-  "tions\030\003 \003(\0132\032.viam.app.v1.AuthorizationR"
-  "\021addAuthorizations\022O\n\025remove_authorizati"
-  "ons\030\004 \003(\0132\032.viam.app.v1.AuthorizationR\024r"
-  "emoveAuthorizations\"i\n.UpdateOrganizatio"
-  "nInviteAuthorizationsResponse\0227\n\006invite\030"
-  "\001 \001(\0132\037.viam.app.v1.OrganizationInviteR\006"
-  "invite\"`\n\037DeleteOrganizationInviteReques"
-  "t\022\'\n\017organization_id\030\001 \001(\tR\016organization"
-  "Id\022\024\n\005email\030\002 \001(\tR\005email\"\"\n DeleteOrgani"
-  "zationInviteResponse\"\247\001\n\037ResendOrganizat"
-  "ionInviteRequest\022\'\n\017organization_id\030\001 \001("
-  "\tR\016organizationId\022\024\n\005email\030\002 \001(\tR\005email\022"
-  "/\n\021send_email_invite\030\003 \001(\010H\000R\017sendEmailI"
-  "nvite\210\001\001B\024\n\022_send_email_invite\"[\n Resend"
-  "OrganizationInviteResponse\0227\n\006invite\030\001 \001"
-  "(\0132\037.viam.app.v1.OrganizationInviteR\006inv"
-  "ite\"c\n\037DeleteOrganizationMemberRequest\022\'"
-  "\n\017organization_id\030\001 \001(\tR\016organizationId\022"
-  "\027\n\007user_id\030\002 \001(\tR\006userId\"\"\n DeleteOrgani"
-  "zationMemberResponse\"\322\001\n\016BillingAddress\022"
-  "$\n\016address_line_1\030\001 \001(\tR\014addressLine1\022)\n"
-  "\016address_line_2\030\002 \001(\tH\000R\014addressLine2\210\001\001"
-  "\022\022\n\004city\030\003 \001(\tR\004city\022\024\n\005state\030\004 \001(\tR\005sta"
-  "te\022\030\n\007zipcode\030\005 \001(\tR\007zipcode\022\030\n\007country\030"
-  "\006 \001(\tR\007countryB\021\n\017_address_line_2\"z\n\033Ena"
-  "bleBillingServiceRequest\022\025\n\006org_id\030\001 \001(\t"
+  "nId\022\027\n\007user_id\030\002 \001(\tR\006userId\"\"\n DeleteOr"
+  "ganizationMemberResponse\"\322\001\n\016BillingAddr"
+  "ess\022$\n\016address_line_1\030\001 \001(\tR\014addressLine"
+  "1\022)\n\016address_line_2\030\002 \001(\tH\000R\014addressLine"
+  "2\210\001\001\022\022\n\004city\030\003 \001(\tR\004city\022\024\n\005state\030\004 \001(\tR"
+  "\005state\022\030\n\007zipcode\030\005 \001(\tR\007zipcode\022\030\n\007coun"
+  "try\030\006 \001(\tR\007countryB\021\n\017_address_line_2\"z\n"
+  "\033EnableBillingServiceRequest\022\025\n\006org_id\030\001"
+  " \001(\tR\005orgId\022D\n\017billing_address\030\002 \001(\0132\033.v"
+  "iam.app.v1.BillingAddressR\016billingAddres"
+  "s\"\036\n\034EnableBillingServiceResponse\"z\n\033Upd"
+  "ateBillingServiceRequest\022\025\n\006org_id\030\001 \001(\t"
   "R\005orgId\022D\n\017billing_address\030\002 \001(\0132\033.viam."
   "app.v1.BillingAddressR\016billingAddress\"\036\n"
-  "\034EnableBillingServiceResponse\"z\n\033UpdateB"
+  "\034UpdateBillingServiceResponse\"7\n\036GetBill"
+  "ingServiceConfigRequest\022\025\n\006org_id\030\001 \001(\tR"
+  "\005orgId\"\333\001\n\037GetBillingServiceConfigRespon"
+  "se\022D\n\017billing_address\030\001 \001(\0132\033.viam.app.v"
+  "1.BillingAddressR\016billingAddress\022#\n\rsupp"
+  "ort_email\030\002 \001(\tR\014supportEmail\022\031\n\010logo_ur"
+  "l\030\003 \001(\tR\007logoUrl\0222\n\025billing_dashboard_ur"
+  "l\030\004 \001(\tR\023billingDashboardUrl\"5\n\034DisableB"
   "illingServiceRequest\022\025\n\006org_id\030\001 \001(\tR\005or"
-  "gId\022D\n\017billing_address\030\002 \001(\0132\033.viam.app."
-  "v1.BillingAddressR\016billingAddress\"\036\n\034Upd"
-  "ateBillingServiceResponse\"7\n\036GetBillingS"
-  "erviceConfigRequest\022\025\n\006org_id\030\001 \001(\tR\005org"
-  "Id\"\333\001\n\037GetBillingServiceConfigResponse\022D"
-  "\n\017billing_address\030\001 \001(\0132\033.viam.app.v1.Bi"
-  "llingAddressR\016billingAddress\022#\n\rsupport_"
-  "email\030\002 \001(\tR\014supportEmail\022\031\n\010logo_url\030\003 "
-  "\001(\tR\007logoUrl\0222\n\025billing_dashboard_url\030\004 "
-  "\001(\tR\023billingDashboardUrl\"5\n\034DisableBilli"
-  "ngServiceRequest\022\025\n\006org_id\030\001 \001(\tR\005orgId\""
-  "\037\n\035DisableBillingServiceResponse\"Q\n\"Orga"
-  "nizationSetSupportEmailRequest\022\025\n\006org_id"
-  "\030\001 \001(\tR\005orgId\022\024\n\005email\030\002 \001(\tR\005email\"%\n#O"
-  "rganizationSetSupportEmailResponse\";\n\"Or"
-  "ganizationGetSupportEmailRequest\022\025\n\006org_"
-  "id\030\001 \001(\tR\005orgId\";\n#OrganizationGetSuppor"
-  "tEmailResponse\022\024\n\005email\030\001 \001(\tR\005email\":\n\024"
-  "OrganizationIdentity\022\016\n\002id\030\001 \001(\tR\002id\022\022\n\004"
-  "name\030\002 \001(\tR\004name\"Y\n\024LocationOrganization"
-  "\022\'\n\017organization_id\030\001 \001(\tR\016organizationI"
-  "d\022\030\n\007primary\030\002 \001(\010R\007primary\"\200\001\n\014Location"
-  "Auth\022\032\n\006secret\030\001 \001(\tB\002\030\001R\006secret\022\037\n\013loca"
-  "tion_id\030\002 \001(\tR\nlocationId\0223\n\007secrets\030\003 \003"
-  "(\0132\031.viam.app.v1.SharedSecretR\007secrets\"\'"
-  "\n\rStorageConfig\022\026\n\006region\030\001 \001(\tR\006region\""
-  "\327\003\n\010Location\022\016\n\002id\030\001 \001(\tR\002id\022\022\n\004name\030\002 \001"
-  "(\tR\004name\022,\n\022parent_location_id\030\004 \001(\tR\020pa"
-  "rentLocationId\022-\n\004auth\030\005 \001(\0132\031.viam.app."
-  "v1.LocationAuthR\004auth\022G\n\rorganizations\030\006"
-  " \003(\0132!.viam.app.v1.LocationOrganizationR"
-  "\rorganizations\0229\n\ncreated_on\030\003 \001(\0132\032.goo"
-  "gle.protobuf.TimestampR\tcreatedOn\022\037\n\013rob"
-  "ot_count\030\007 \001(\005R\nrobotCount\0222\n\006config\030\010 \001"
-  "(\0132\032.viam.app.v1.StorageConfigR\006config\022X"
-  "\n\024primary_org_identity\030\t \001(\0132!.viam.app."
-  "v1.OrganizationIdentityH\000R\022primaryOrgIde"
-  "ntity\210\001\001B\027\n\025_primary_org_identity\"\320\002\n\014Sh"
-  "aredSecret\022\036\n\002id\030\001 \001(\tB\016\232\204\236\003\tbson:\"id\"R\002"
-  "id\022*\n\006secret\030\002 \001(\tB\022\232\204\236\003\rbson:\"secret\"R\006"
-  "secret\022c\n\ncreated_on\030\003 \001(\0132\032.google.prot"
-  "obuf.TimestampB(\232\204\236\003#bson:\"created_on\" j"
-  "son:\"created_on\"R\tcreatedOn\022H\n\005state\030\004 \001"
-  "(\0162\037.viam.app.v1.SharedSecret.StateB\021\232\204\236"
-  "\003\014bson:\"state\"R\005state\"E\n\005State\022\025\n\021STATE_"
-  "UNSPECIFIED\020\000\022\021\n\rSTATE_ENABLED\020\001\022\022\n\016STAT"
-  "E_DISABLED\020\002\"\236\001\n\025CreateLocationRequest\022\'"
-  "\n\017organization_id\030\001 \001(\tR\016organizationId\022"
-  "\022\n\004name\030\002 \001(\tR\004name\0221\n\022parent_location_i"
-  "d\030\003 \001(\tH\000R\020parentLocationId\210\001\001B\025\n\023_paren"
-  "t_location_id\"K\n\026CreateLocationResponse\022"
-  "1\n\010location\030\001 \001(\0132\025.viam.app.v1.Location"
-  "R\010location\"5\n\022GetLocationRequest\022\037\n\013loca"
-  "tion_id\030\001 \001(\tR\nlocationId\"H\n\023GetLocation"
-  "Response\0221\n\010location\030\001 \001(\0132\025.viam.app.v1"
-  ".LocationR\010location\"\314\001\n\025UpdateLocationRe"
-  "quest\022\037\n\013location_id\030\001 \001(\tR\nlocationId\022\027"
-  "\n\004name\030\002 \001(\tH\000R\004name\210\001\001\0221\n\022parent_locati"
-  "on_id\030\003 \001(\tH\001R\020parentLocationId\210\001\001\022\033\n\006re"
-  "gion\030\004 \001(\tH\002R\006region\210\001\001B\007\n\005_nameB\025\n\023_par"
-  "ent_location_idB\t\n\007_region\"K\n\026UpdateLoca"
+  "gId\"\037\n\035DisableBillingServiceResponse\"Q\n\""
+  "OrganizationSetSupportEmailRequest\022\025\n\006or"
+  "g_id\030\001 \001(\tR\005orgId\022\024\n\005email\030\002 \001(\tR\005email\""
+  "%\n#OrganizationSetSupportEmailResponse\";"
+  "\n\"OrganizationGetSupportEmailRequest\022\025\n\006"
+  "org_id\030\001 \001(\tR\005orgId\";\n#OrganizationGetSu"
+  "pportEmailResponse\022\024\n\005email\030\001 \001(\tR\005email"
+  "\":\n\024OrganizationIdentity\022\016\n\002id\030\001 \001(\tR\002id"
+  "\022\022\n\004name\030\002 \001(\tR\004name\"Y\n\024LocationOrganiza"
+  "tion\022\'\n\017organization_id\030\001 \001(\tR\016organizat"
+  "ionId\022\030\n\007primary\030\002 \001(\010R\007primary\"\200\001\n\014Loca"
+  "tionAuth\022\032\n\006secret\030\001 \001(\tB\002\030\001R\006secret\022\037\n\013"
+  "location_id\030\002 \001(\tR\nlocationId\0223\n\007secrets"
+  "\030\003 \003(\0132\031.viam.app.v1.SharedSecretR\007secre"
+  "ts\"\'\n\rStorageConfig\022\026\n\006region\030\001 \001(\tR\006reg"
+  "ion\"\327\003\n\010Location\022\016\n\002id\030\001 \001(\tR\002id\022\022\n\004name"
+  "\030\002 \001(\tR\004name\022,\n\022parent_location_id\030\004 \001(\t"
+  "R\020parentLocationId\022-\n\004auth\030\005 \001(\0132\031.viam."
+  "app.v1.LocationAuthR\004auth\022G\n\rorganizatio"
+  "ns\030\006 \003(\0132!.viam.app.v1.LocationOrganizat"
+  "ionR\rorganizations\0229\n\ncreated_on\030\003 \001(\0132\032"
+  ".google.protobuf.TimestampR\tcreatedOn\022\037\n"
+  "\013robot_count\030\007 \001(\005R\nrobotCount\0222\n\006config"
+  "\030\010 \001(\0132\032.viam.app.v1.StorageConfigR\006conf"
+  "ig\022X\n\024primary_org_identity\030\t \001(\0132!.viam."
+  "app.v1.OrganizationIdentityH\000R\022primaryOr"
+  "gIdentity\210\001\001B\027\n\025_primary_org_identity\"\320\002"
+  "\n\014SharedSecret\022\036\n\002id\030\001 \001(\tB\016\232\204\236\003\tbson:\"i"
+  "d\"R\002id\022*\n\006secret\030\002 \001(\tB\022\232\204\236\003\rbson:\"secre"
+  "t\"R\006secret\022c\n\ncreated_on\030\003 \001(\0132\032.google."
+  "protobuf.TimestampB(\232\204\236\003#bson:\"created_o"
+  "n\" json:\"created_on\"R\tcreatedOn\022H\n\005state"
+  "\030\004 \001(\0162\037.viam.app.v1.SharedSecret.StateB"
+  "\021\232\204\236\003\014bson:\"state\"R\005state\"E\n\005State\022\025\n\021ST"
+  "ATE_UNSPECIFIED\020\000\022\021\n\rSTATE_ENABLED\020\001\022\022\n\016"
+  "STATE_DISABLED\020\002\"\236\001\n\025CreateLocationReque"
+  "st\022\'\n\017organization_id\030\001 \001(\tR\016organizatio"
+  "nId\022\022\n\004name\030\002 \001(\tR\004name\0221\n\022parent_locati"
+  "on_id\030\003 \001(\tH\000R\020parentLocationId\210\001\001B\025\n\023_p"
+  "arent_location_id\"K\n\026CreateLocationRespo"
+  "nse\0221\n\010location\030\001 \001(\0132\025.viam.app.v1.Loca"
+  "tionR\010location\"5\n\022GetLocationRequest\022\037\n\013"
+  "location_id\030\001 \001(\tR\nlocationId\"H\n\023GetLoca"
   "tionResponse\0221\n\010location\030\001 \001(\0132\025.viam.ap"
-  "p.v1.LocationR\010location\"8\n\025DeleteLocatio"
-  "nRequest\022\037\n\013location_id\030\001 \001(\tR\nlocationI"
-  "d\"\030\n\026DeleteLocationResponse\"=\n\032GetLocati"
-  "onMetadataRequest\022\037\n\013location_id\030\001 \001(\tR\n"
-  "locationId\"J\n\033GetLocationMetadataRespons"
-  "e\022+\n\004data\030\001 \001(\0132\027.google.protobuf.Struct"
-  "R\004data\"m\n\035UpdateLocationMetadataRequest\022"
-  "\037\n\013location_id\030\001 \001(\tR\nlocationId\022+\n\004data"
-  "\030\002 \001(\0132\027.google.protobuf.StructR\004data\" \n"
-  "\036UpdateLocationMetadataResponse\"N\n+GetOr"
-  "ganizationsWithAccessToLocationRequest\022\037"
-  "\n\013location_id\030\001 \001(\tR\nlocationId\"\212\001\n,GetO"
-  "rganizationsWithAccessToLocationResponse"
-  "\022Z\n\027organization_identities\030\001 \003(\0132!.viam"
-  ".app.v1.OrganizationIdentityR\026organizati"
-  "onIdentities\"\?\n\024ListLocationsRequest\022\'\n\017"
-  "organization_id\030\001 \001(\tR\016organizationId\"`\n"
-  "\024ShareLocationRequest\022\037\n\013location_id\030\001 \001"
-  "(\tR\nlocationId\022\'\n\017organization_id\030\002 \001(\tR"
-  "\016organizationId\"\027\n\025ShareLocationResponse"
-  "\"b\n\026UnshareLocationRequest\022\037\n\013location_i"
-  "d\030\001 \001(\tR\nlocationId\022\'\n\017organization_id\030\002"
-  " \001(\tR\016organizationId\"\031\n\027UnshareLocationR"
-  "esponse\"L\n\025ListLocationsResponse\0223\n\tloca"
-  "tions\030\001 \003(\0132\025.viam.app.v1.LocationR\tloca"
-  "tions\">\n\033CreateLocationSecretRequest\022\037\n\013"
-  "location_id\030\001 \001(\tR\nlocationId\"M\n\034CreateL"
-  "ocationSecretResponse\022-\n\004auth\030\001 \001(\0132\031.vi"
-  "am.app.v1.LocationAuthR\004auth\"[\n\033DeleteLo"
-  "cationSecretRequest\022\037\n\013location_id\030\001 \001(\t"
-  "R\nlocationId\022\033\n\tsecret_id\030\002 \001(\tR\010secretI"
-  "d\"\036\n\034DeleteLocationSecretResponse\"6\n\023Loc"
-  "ationAuthRequest\022\037\n\013location_id\030\001 \001(\tR\nl"
-  "ocationId\"E\n\024LocationAuthResponse\022-\n\004aut"
-  "h\030\001 \001(\0132\031.viam.app.v1.LocationAuthR\004auth"
-  "\"!\n\017GetRobotRequest\022\016\n\002id\030\001 \001(\tR\002id\"4\n\033G"
-  "etRoverRentalRobotsRequest\022\025\n\006org_id\030\001 \001"
-  "(\tR\005orgId\"\232\001\n\020RoverRentalRobot\022\031\n\010robot_"
-  "id\030\001 \001(\tR\007robotId\022\037\n\013location_id\030\002 \001(\tR\n"
-  "locationId\022\035\n\nrobot_name\030\003 \001(\tR\trobotNam"
-  "e\022+\n\022robot_main_part_id\030\004 \001(\tR\017robotMain"
-  "PartId\"U\n\034GetRoverRentalRobotsResponse\0225"
-  "\n\006robots\030\001 \003(\0132\035.viam.app.v1.RoverRental"
-  "RobotR\006robots\"<\n\020GetRobotResponse\022(\n\005rob"
-  "ot\030\001 \001(\0132\022.viam.app.v1.RobotR\005robot\"1\n\024G"
-  "etRobotPartsRequest\022\031\n\010robot_id\030\001 \001(\tR\007r"
-  "obotId\"E\n\025GetRobotPartsResponse\022,\n\005parts"
-  "\030\001 \003(\0132\026.viam.app.v1.RobotPartR\005parts\"%\n"
-  "\023GetRobotPartRequest\022\016\n\002id\030\001 \001(\tR\002id\"c\n\024"
-  "GetRobotPartResponse\022*\n\004part\030\001 \001(\0132\026.via"
-  "m.app.v1.RobotPartR\004part\022\037\n\013config_json\030"
-  "\002 \001(\tR\nconfigJson\"[\n$GetRobotPartByNameA"
-  "ndLocationRequest\022\022\n\004name\030\001 \001(\tR\004name\022\037\n"
-  "\013location_id\030\002 \001(\tR\nlocationId\"S\n%GetRob"
-  "otPartByNameAndLocationResponse\022*\n\004part\030"
-  "\001 \001(\0132\026.viam.app.v1.RobotPartR\004part\"\212\003\n\027"
-  "GetRobotPartLogsRequest\022\016\n\002id\030\001 \001(\tR\002id\022"
-  "#\n\013errors_only\030\002 \001(\010B\002\030\001R\nerrorsOnly\022\033\n\006"
-  "filter\030\003 \001(\tH\000R\006filter\210\001\001\022\"\n\npage_token\030"
-  "\004 \001(\tH\001R\tpageToken\210\001\001\022\026\n\006levels\030\005 \003(\tR\006l"
-  "evels\0225\n\005start\030\006 \001(\0132\032.google.protobuf.T"
-  "imestampH\002R\005start\210\001\001\0221\n\003end\030\007 \001(\0132\032.goog"
-  "le.protobuf.TimestampH\003R\003end\210\001\001\022\031\n\005limit"
-  "\030\010 \001(\003H\004R\005limit\210\001\001\022\033\n\006source\030\t \001(\tH\005R\006so"
-  "urce\210\001\001B\t\n\007_filterB\r\n\013_page_tokenB\010\n\006_st"
-  "artB\006\n\004_endB\010\n\006_limitB\t\n\007_source\"p\n\030GetR"
-  "obotPartLogsResponse\022,\n\004logs\030\001 \003(\0132\030.via"
-  "m.common.v1.LogEntryR\004logs\022&\n\017next_page_"
-  "token\030\002 \001(\tR\rnextPageToken\"s\n\030TailRobotP"
-  "artLogsRequest\022\016\n\002id\030\001 \001(\tR\002id\022\037\n\013errors"
-  "_only\030\002 \001(\010R\nerrorsOnly\022\033\n\006filter\030\003 \001(\tH"
-  "\000R\006filter\210\001\001B\t\n\007_filter\"I\n\031TailRobotPart"
-  "LogsResponse\022,\n\004logs\030\001 \003(\0132\030.viam.common"
-  ".v1.LogEntryR\004logs\",\n\032GetRobotPartHistor"
-  "yRequest\022\016\n\002id\030\001 \001(\tR\002id\"[\n\033GetRobotPart"
-  "HistoryResponse\022<\n\007history\030\001 \003(\0132\".viam."
-  "app.v1.RobotPartHistoryEntryR\007history\"\333\001"
-  "\n\026UpdateRobotPartRequest\022\016\n\002id\030\001 \001(\tR\002id"
-  "\022\022\n\004name\030\002 \001(\tR\004name\022:\n\014robot_config\030\003 \001"
-  "(\0132\027.google.protobuf.StructR\013robotConfig"
-  "\022K\n\021last_known_update\030\004 \001(\0132\032.google.pro"
-  "tobuf.TimestampH\000R\017lastKnownUpdate\210\001\001B\024\n"
-  "\022_last_known_update\"E\n\027UpdateRobotPartRe"
-  "sponse\022*\n\004part\030\001 \001(\0132\026.viam.app.v1.Robot"
-  "PartR\004part\"M\n\023NewRobotPartRequest\022\031\n\010rob"
-  "ot_id\030\001 \001(\tR\007robotId\022\033\n\tpart_name\030\002 \001(\tR"
-  "\010partName\"/\n\024NewRobotPartResponse\022\027\n\007par"
-  "t_id\030\001 \001(\tR\006partId\"1\n\026DeleteRobotPartReq"
-  "uest\022\027\n\007part_id\030\001 \001(\tR\006partId\"-\n\033GetRobo"
-  "tPartMetadataRequest\022\016\n\002id\030\001 \001(\tR\002id\"K\n\034"
-  "GetRobotPartMetadataResponse\022+\n\004data\030\001 \001"
-  "(\0132\027.google.protobuf.StructR\004data\"]\n\036Upd"
-  "ateRobotPartMetadataRequest\022\016\n\002id\030\001 \001(\tR"
-  "\002id\022+\n\004data\030\002 \001(\0132\027.google.protobuf.Stru"
-  "ctR\004data\"!\n\037UpdateRobotPartMetadataRespo"
-  "nse\"3\n\026GetRobotAPIKeysRequest\022\031\n\010robot_i"
-  "d\030\001 \001(\tR\007robotId\"y\n\006APIKey\022\016\n\002id\030\001 \001(\tR\002"
-  "id\022\020\n\003key\030\002 \001(\tR\003key\022\022\n\004name\030\003 \001(\tR\004name"
-  "\0229\n\ncreated_on\030\004 \001(\0132\032.google.protobuf.T"
-  "imestampR\tcreatedOn\"[\n\027GetRobotAPIKeysRe"
-  "sponse\022@\n\010api_keys\030\001 \003(\0132%.viam.app.v1.A"
-  "PIKeyWithAuthorizationsR\007apiKeys\"\031\n\027Dele"
-  "teRobotPartResponse\"\241\006\n\010Fragment\0223\n\002id\030\001"
-  " \001(\tB#\232\204\236\003\036bson:\"_id\" json:\"id,omitempty"
-  "\"R\002id\0220\n\004name\030\002 \001(\tB\034\232\204\236\003\027bson:\"name\" js"
-  "on:\"name\"R\004name\022Y\n\010fragment\030\003 \001(\0132\027.goog"
-  "le.protobuf.StructB$\232\204\236\003\037bson:\"fragment\""
-  " json:\"fragment\"R\010fragment\022Z\n\022organizati"
-  "on_owner\030\004 \001(\tB+\232\204\236\003&bson:\"organization_"
-  "owner\" json:\"owner\"R\021organizationOwner\0228"
-  "\n\006public\030\005 \001(\010B \232\204\236\003\033bson:\"public\" json:"
-  "\"public\"R\006public\022Q\n\ncreated_on\030\006 \001(\0132\032.g"
-  "oogle.protobuf.TimestampB\026\232\204\236\003\021bson:\"cre"
-  "ated_on\"R\tcreatedOn\022+\n\021organization_name"
-  "\030\007 \001(\tR\020organizationName\022(\n\020robot_part_c"
-  "ount\030\t \001(\005R\016robotPartCount\022-\n\022organizati"
-  "on_count\030\n \001(\005R\021organizationCount\022+\n\022onl"
-  "y_used_by_owner\030\013 \001(\010R\017onlyUsedByOwner\022\?"
-  "\n\nvisibility\030\014 \001(\0162\037.viam.app.v1.Fragmen"
-  "tVisibilityR\nvisibility\022Z\n\014last_updated\030"
-  "\r \001(\0132\032.google.protobuf.TimestampB\033\232\204\236\003\026"
-  "bson:\"last_updated_at\"R\013lastUpdated\022\032\n\010r"
-  "evision\030\016 \001(\tR\010revision\"\370\003\n\024FragmentHist"
-  "oryEntry\022@\n\010fragment\030\001 \001(\tB$\232\204\236\003\037bson:\"f"
-  "ragment\" json:\"fragment\"R\010fragment\022_\n\ted"
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-  "pB&\232\204\236\003!bson:\"edited_on\" json:\"edited_on"
-  "\"R\010editedOn\022C\n\003old\030\003 \001(\0132\025.viam.app.v1.F"
-  "ragmentB\032\232\204\236\003\025bson:\"old\" json:\"old\"R\003old"
-  "\022c\n\tedited_by\030\004 \001(\0132\036.viam.app.v1.Authen"
-  "ticatorInfoB&\232\204\236\003!bson:\"edited_by\" json:"
-  "\"edited_by\"R\010editedBy\022@\n\010revision\030\005 \001(\tB"
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-  "\013FragmentTag\022\020\n\003tag\030\001 \001(\tR\003tag\022\032\n\010revisi"
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-  "\rFragmentUsage\022\037\n\013fragment_id\030\001 \001(\tR\nfra"
-  "gmentId\022$\n\rorganizations\030\002 \001(\005R\rorganiza"
-  "tions\022\032\n\010machines\030\003 \001(\005R\010machines\0225\n\027mac"
-  "hines_in_current_org\030\004 \001(\005R\024machinesInCu"
-  "rrentOrg\022\035\n\007version\030\005 \001(\tH\000R\007version\210\001\001B"
-  "\n\n\010_version\"\303\001\n\020ResolvedFragment\022\037\n\013frag"
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-  "nfig\030\002 \001(\0132\027.google.protobuf.StructR\016res"
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-  ".FragmentErrorR\005error\022\032\n\010revision\030\004 \001(\tR"
-  "\010revision\"\262\001\n\024ListFragmentsRequest\022\'\n\017or"
-  "ganization_id\030\001 \001(\tR\016organizationId\022\037\n\013s"
-  "how_public\030\002 \001(\010R\nshowPublic\022P\n\023fragment"
-  "_visibility\030\003 \003(\0162\037.viam.app.v1.Fragment"
-  "VisibilityR\022fragmentVisibility\"\221\001\n\025ListF"
-  "ragmentsResponse\0223\n\tfragments\030\001 \003(\0132\025.vi"
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-  "geR\016fragmentUsages\"\207\001\n\022GetFragmentReques"
-  "t\022\016\n\002id\030\001 \001(\tR\002id\0226\n\027current_organizatio"
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-  "sion\030\003 \001(\tH\000R\007version\210\001\001B\n\n\010_version\"\366\001\n"
-  "\023GetFragmentResponse\0221\n\010fragment\030\001 \001(\0132\025"
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-  "\004name\022/\n\006config\030\003 \001(\0132\027.google.protobuf."
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-  "eleteFragmentRequest\022\016\n\002id\030\001 \001(\tR\002id\"\030\n\026"
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-  "tHistoryEntryR\007history\022&\n\017next_page_toke"
-  "n\030\002 \001(\tR\rnextPageToken\":\n\027GetFragmentUsa"
-  "geRequest\022\037\n\013fragment_id\030\001 \001(\tR\nfragment"
-  "Id\"]\n\030GetFragmentUsageResponse\022A\n\016versio"
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-  "geR\rversionUsages\"f\n\025SetFragmentTagReque"
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-  "GMENT_ERROR_TYPE_CHILD_ID_INVALID\020\003\022&\n\"F"
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-  "\025\n\021VISIBILITY_PUBLIC\020\002\022\036\n\032VISIBILITY_PUB"
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-  "\n\036CLIENT_AUTHENTICATION_REQUIRED\020\001\022&\n\"CL"
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-  "\020\002\0226\n2PKCE_NOT_REQUIRED_WHEN_USING_CLIEN"
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-  "LOW_WILDCARDS\020\002*\313\001\n\014EnabledGrant\022\035\n\031ENAB"
-  "LED_GRANT_UNSPECIFIED\020\000\022$\n ENABLED_GRANT"
-  "_AUTHORIZATION_CODE\020\001\022\032\n\026ENABLED_GRANT_I"
-  "MPLICIT\020\002\022\032\n\026ENABLED_GRANT_PASSWORD\020\003\022\037\n"
-  "\033ENABLED_GRANT_REFRESH_TOKEN\020\004\022\035\n\031ENABLE"
-  "D_GRANT_DEVICE_CODE\020\0052\313S\n\nAppService\022_\n\020"
-  "GetUserIDByEmail\022$.viam.app.v1.GetUserID"
-  "ByEmailRequest\032%.viam.app.v1.GetUserIDBy"
-  "EmailResponse\022e\n\022CreateOrganization\022&.vi"
-  "am.app.v1.CreateOrganizationRequest\032\'.vi"
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-  "ListOrganizations\022%.viam.app.v1.ListOrga"
-  "nizationsRequest\032&.viam.app.v1.ListOrgan"
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-  "hAccessToLocation\0228.viam.app.v1.GetOrgan"
-  "izationsWithAccessToLocationRequest\0329.vi"
-  "am.app.v1.GetOrganizationsWithAccessToLo"
-  "cationResponse\022t\n\027ListOrganizationsByUse"
-  "r\022+.viam.app.v1.ListOrganizationsByUserR"
-  "equest\032,.viam.app.v1.ListOrganizationsBy"
-  "UserResponse\022h\n\023SearchOrganizations\022\'.vi"
-  "am.app.v1.SearchOrganizationsRequest\032(.v"
-  "iam.app.v1.SearchOrganizationsResponse\022\\"
-  "\n\017GetOrganization\022#.viam.app.v1.GetOrgan"
-  "izationRequest\032$.viam.app.v1.GetOrganiza"
-  "tionResponse\022\233\001\n$GetOrganizationNamespac"
-  "eAvailability\0228.viam.app.v1.GetOrganizat"
-  "ionNamespaceAvailabilityRequest\0329.viam.a"
-  "pp.v1.GetOrganizationNamespaceAvailabili"
-  "tyResponse\022e\n\022UpdateOrganization\022&.viam."
-  "app.v1.UpdateOrganizationRequest\032\'.viam."
-  "app.v1.UpdateOrganizationResponse\022\200\001\n\033Up"
-  "dateOrganizationNamespace\022/.viam.app.v1."
-  "UpdateOrganizationNamespaceRequest\0320.via"
-  "m.app.v1.UpdateOrganizationNamespaceResp"
-  "onse\022e\n\022DeleteOrganization\022&.viam.app.v1"
-  ".DeleteOrganizationRequest\032\'.viam.app.v1"
-  ".DeleteOrganizationResponse\022t\n\027GetOrgani"
-  "zationMetadata\022+.viam.app.v1.GetOrganiza"
-  "tionMetadataRequest\032,.viam.app.v1.GetOrg"
-  "anizationMetadataResponse\022}\n\032UpdateOrgan"
-  "izationMetadata\022..viam.app.v1.UpdateOrga"
-  "nizationMetadataRequest\032/.viam.app.v1.Up"
-  "dateOrganizationMetadataResponse\022t\n\027List"
-  "OrganizationMembers\022+.viam.app.v1.ListOr"
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-  "istOrganizationMembersResponse\022w\n\030Create"
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-  "quest\032).viam.app.v1.UpdateBillingService"
-  "Response\022t\n\027GetBillingServiceConfig\022+.vi"
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-  "\032,.viam.app.v1.GetBillingServiceConfigRe"
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-  ".viam.app.v1.OrganizationSetSupportEmail"
-  "Request\0320.viam.app.v1.OrganizationSetSup"
-  "portEmailResponse\022\200\001\n\033OrganizationGetSup"
-  "portEmail\022/.viam.app.v1.OrganizationGetS"
-  "upportEmailRequest\0320.viam.app.v1.Organiz"
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-  "\022b\n\021EnableAuthService\022%.viam.app.v1.Enab"
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-  "st\032\'.viam.app.v1.DisableAuthServiceRespo"
-  "nse\022Y\n\016CreateOAuthApp\022\".viam.app.v1.Crea"
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-  "uest\032#.viam.app.v1.DeleteOAuthAppRespons"
-  "e\022V\n\rListOAuthApps\022!.viam.app.v1.ListOAu"
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-  "Request\032#.viam.app.v1.DeleteLocationResp"
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-  "quest\032\".viam.app.v1.ShareLocationRespons"
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-  "reLocationRequest\032$.viam.app.v1.UnshareL"
-  "ocationResponse\022S\n\014LocationAuth\022 .viam.a"
-  "pp.v1.LocationAuthRequest\032!.viam.app.v1."
-  "LocationAuthResponse\022k\n\024CreateLocationSe"
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-  "equest\032).viam.app.v1.CreateLocationSecre"
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-  "am.app.v1.DeleteLocationSecretResponse\022G"
-  "\n\010GetRobot\022\034.viam.app.v1.GetRobotRequest"
-  "\032\035.viam.app.v1.GetRobotResponse\022_\n\020GetRo"
-  "botMetadata\022$.viam.app.v1.GetRobotMetada"
-  "taRequest\032%.viam.app.v1.GetRobotMetadata"
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-  "app.v1.UpdateRobotMetadataResponse\022k\n\024Ge"
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-  "rRentalRobotsRequest\032).viam.app.v1.GetRo"
-  "verRentalRobotsResponse\022V\n\rGetRobotParts"
-  "\022!.viam.app.v1.GetRobotPartsRequest\032\".vi"
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-  "botPart\022 .viam.app.v1.GetRobotPartReques"
-  "t\032!.viam.app.v1.GetRobotPartResponse\022\206\001\n"
-  "\035GetRobotPartByNameAndLocation\0221.viam.ap"
-  "p.v1.GetRobotPartByNameAndLocationReques"
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-  "ationResponse\022_\n\020GetRobotPartLogs\022$.viam"
-  ".app.v1.GetRobotPartLogsRequest\032%.viam.a"
-  "pp.v1.GetRobotPartLogsResponse\022d\n\021TailRo"
-  "botPartLogs\022%.viam.app.v1.TailRobotPartL"
-  "ogsRequest\032&.viam.app.v1.TailRobotPartLo"
-  "gsResponse0\001\022h\n\023GetRobotPartHistory\022\'.vi"
-  "am.app.v1.GetRobotPartHistoryRequest\032(.v"
-  "iam.app.v1.GetRobotPartHistoryResponse\022\\"
-  "\n\017UpdateRobotPart\022#.viam.app.v1.UpdateRo"
-  "botPartRequest\032$.viam.app.v1.UpdateRobot"
-  "PartResponse\022S\n\014NewRobotPart\022 .viam.app."
-  "v1.NewRobotPartRequest\032!.viam.app.v1.New"
-  "RobotPartResponse\022\\\n\017DeleteRobotPart\022#.v"
-  "iam.app.v1.DeleteRobotPartRequest\032$.viam"
-  ".app.v1.DeleteRobotPartResponse\022k\n\024GetRo"
-  "botPartMetadata\022(.viam.app.v1.GetRobotPa"
-  "rtMetadataRequest\032).viam.app.v1.GetRobot"
-  "PartMetadataResponse\022t\n\027UpdateRobotPartM"
-  "etadata\022+.viam.app.v1.UpdateRobotPartMet"
-  "adataRequest\032,.viam.app.v1.UpdateRobotPa"
-  "rtMetadataResponse\022\\\n\017GetRobotAPIKeys\022#."
-  "viam.app.v1.GetRobotAPIKeysRequest\032$.via"
-  "m.app.v1.GetRobotAPIKeysResponse\022Y\n\016Mark"
-  "PartAsMain\022\".viam.app.v1.MarkPartAsMainR"
-  "equest\032#.viam.app.v1.MarkPartAsMainRespo"
-  "nse\022e\n\022MarkPartForRestart\022&.viam.app.v1."
-  "MarkPartForRestartRequest\032\'.viam.app.v1."
-  "MarkPartForRestartResponse\022n\n\025CreateRobo"
-  "tPartSecret\022).viam.app.v1.CreateRobotPar"
-  "tSecretRequest\032*.viam.app.v1.CreateRobot"
-  "PartSecretResponse\022n\n\025DeleteRobotPartSec"
-  "ret\022).viam.app.v1.DeleteRobotPartSecretR"
-  "equest\032*.viam.app.v1.DeleteRobotPartSecr"
-  "etResponse\022M\n\nListRobots\022\036.viam.app.v1.L"
-  "istRobotsRequest\032\037.viam.app.v1.ListRobot"
-  "sResponse\022G\n\010NewRobot\022\034.viam.app.v1.NewR"
-  "obotRequest\032\035.viam.app.v1.NewRobotRespon"
-  "se\022P\n\013UpdateRobot\022\037.viam.app.v1.UpdateRo"
-  "botRequest\032 .viam.app.v1.UpdateRobotResp"
-  "onse\022P\n\013DeleteRobot\022\037.viam.app.v1.Delete"
-  "RobotRequest\032 .viam.app.v1.DeleteRobotRe"
-  "sponse\022V\n\rListFragments\022!.viam.app.v1.Li"
-  "stFragmentsRequest\032\".viam.app.v1.ListFra"
-  "gmentsResponse\022P\n\013GetFragment\022\037.viam.app"
-  ".v1.GetFragmentRequest\032 .viam.app.v1.Get"
-  "FragmentResponse\022Y\n\016CreateFragment\022\".via"
-  "m.app.v1.CreateFragmentRequest\032#.viam.ap"
-  "p.v1.CreateFragmentResponse\022Y\n\016UpdateFra"
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-  "t\032#.viam.app.v1.UpdateFragmentResponse\022Y"
-  "\n\016DeleteFragment\022\".viam.app.v1.DeleteFra"
-  "gmentRequest\032#.viam.app.v1.DeleteFragmen"
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-  "app.v1.ListNestedFragmentsRequest\032(.viam"
-  ".app.v1.ListNestedFragmentsResponse\022k\n\024L"
-  "istMachineFragments\022(.viam.app.v1.ListMa"
-  "chineFragmentsRequest\032).viam.app.v1.List"
-  "MachineFragmentsResponse\022k\n\024ListMachineS"
-  "ummaries\022(.viam.app.v1.ListMachineSummar"
-  "iesRequest\032).viam.app.v1.ListMachineSumm"
-  "ariesResponse\022e\n\022GetFragmentHistory\022&.vi"
-  "am.app.v1.GetFragmentHistoryRequest\032\'.vi"
-  "am.app.v1.GetFragmentHistoryResponse\022_\n\020"
-  "GetFragmentUsage\022$.viam.app.v1.GetFragme"
-  "ntUsageRequest\032%.viam.app.v1.GetFragment"
-  "UsageResponse\022Y\n\016SetFragmentTag\022\".viam.a"
-  "pp.v1.SetFragmentTagRequest\032#.viam.app.v"
-  "1.SetFragmentTagResponse\022b\n\021DeleteFragme"
-  "ntTag\022%.viam.app.v1.DeleteFragmentTagReq"
-  "uest\032&.viam.app.v1.DeleteFragmentTagResp"
-  "onse\022D\n\007AddRole\022\033.viam.app.v1.AddRoleReq"
-  "uest\032\034.viam.app.v1.AddRoleResponse\022M\n\nRe"
-  "moveRole\022\036.viam.app.v1.RemoveRoleRequest"
-  "\032\037.viam.app.v1.RemoveRoleResponse\022M\n\nCha"
-  "ngeRole\022\036.viam.app.v1.ChangeRoleRequest\032"
-  "\037.viam.app.v1.ChangeRoleResponse\022e\n\022List"
-  "Authorizations\022&.viam.app.v1.ListAuthori"
-  "zationsRequest\032\'.viam.app.v1.ListAuthori"
-  "zationsResponse\022_\n\020CheckPermissions\022$.vi"
-  "am.app.v1.CheckPermissionsRequest\032%.viam"
-  ".app.v1.CheckPermissionsResponse\022\\\n\017GetR"
-  "egistryItem\022#.viam.app.v1.GetRegistryIte"
-  "mRequest\032$.viam.app.v1.GetRegistryItemRe"
-  "sponse\022e\n\022CreateRegistryItem\022&.viam.app."
-  "v1.CreateRegistryItemRequest\032\'.viam.app."
-  "v1.CreateRegistryItemResponse\022e\n\022UpdateR"
-  "egistryItem\022&.viam.app.v1.UpdateRegistry"
-  "ItemRequest\032\'.viam.app.v1.UpdateRegistry"
-  "ItemResponse\022b\n\021ListRegistryItems\022%.viam"
-  ".app.v1.ListRegistryItemsRequest\032&.viam."
-  "app.v1.ListRegistryItemsResponse\022e\n\022Dele"
-  "teRegistryItem\022&.viam.app.v1.DeleteRegis"
-  "tryItemRequest\032\'.viam.app.v1.DeleteRegis"
-  "tryItemResponse\022e\n\022RenameRegistryItem\022&."
-  "viam.app.v1.RenameRegistryItemRequest\032\'."
-  "viam.app.v1.RenameRegistryItemResponse\022k"
-  "\n\024TransferRegistryItem\022(.viam.app.v1.Tra"
-  "nsferRegistryItemRequest\032).viam.app.v1.T"
-  "ransferRegistryItemResponse\022S\n\014CreateMod"
-  "ule\022 .viam.app.v1.CreateModuleRequest\032!."
-  "viam.app.v1.CreateModuleResponse\022S\n\014Upda"
-  "teModule\022 .viam.app.v1.UpdateModuleReque"
-  "st\032!.viam.app.v1.UpdateModuleResponse\022a\n"
-  "\020UploadModuleFile\022$.viam.app.v1.UploadMo"
-  "duleFileRequest\032%.viam.app.v1.UploadModu"
-  "leFileResponse(\001\022J\n\tGetModule\022\035.viam.app"
-  ".v1.GetModuleRequest\032\036.viam.app.v1.GetMo"
-  "duleResponse\022P\n\013ListModules\022\037.viam.app.v"
-  "1.ListModulesRequest\032 .viam.app.v1.ListM"
-  "odulesResponse\022J\n\tCreateKey\022\035.viam.app.v"
-  "1.CreateKeyRequest\032\036.viam.app.v1.CreateK"
-  "eyResponse\022J\n\tDeleteKey\022\035.viam.app.v1.De"
-  "leteKeyRequest\032\036.viam.app.v1.DeleteKeyRe"
-  "sponse\022G\n\010ListKeys\022\034.viam.app.v1.ListKey"
-  "sRequest\032\035.viam.app.v1.ListKeysResponse\022"
-  "J\n\tRenameKey\022\035.viam.app.v1.RenameKeyRequ"
-  "est\032\036.viam.app.v1.RenameKeyResponse\022J\n\tR"
-  "otateKey\022\035.viam.app.v1.RotateKeyRequest\032"
-  "\036.viam.app.v1.RotateKeyResponse\022\241\001\n&Crea"
-  "teKeyFromExistingKeyAuthorizations\022:.via"
-  "m.app.v1.CreateKeyFromExistingKeyAuthori"
-  "zationsRequest\032;.viam.app.v1.CreateKeyFr"
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-  "etAppContent\022!.viam.app.v1.GetAppContent"
-  "Request\032\".viam.app.v1.GetAppContentRespo"
-  "nseB\030Z\026go.viam.com/api/app/v1b\006proto3"
+  "1\n\024GetRobotPartsRequest\022\031\n\010robot_id\030\001 \001("
+  "\tR\007robotId\"E\n\025GetRobotPartsResponse\022,\n\005p"
+  "arts\030\001 \003(\0132\026.viam.app.v1.RobotPartR\005part"
+  "s\"%\n\023GetRobotPartRequest\022\016\n\002id\030\001 \001(\tR\002id"
+  "\"c\n\024GetRobotPartResponse\022*\n\004part\030\001 \001(\0132\026"
+  ".viam.app.v1.RobotPartR\004part\022\037\n\013config_j"
+  "son\030\002 \001(\tR\nconfigJson\"[\n$GetRobotPartByN"
+  "ameAndLocationRequest\022\022\n\004name\030\001 \001(\tR\004nam"
+  "e\022\037\n\013location_id\030\002 \001(\tR\nlocationId\"S\n%Ge"
+  "tRobotPartByNameAndLocationResponse\022*\n\004p"
+  "art\030\001 \001(\0132\026.viam.app.v1.RobotPartR\004part\""
+  "\212\003\n\027GetRobotPartLogsRequest\022\016\n\002id\030\001 \001(\tR"
+  "\002id\022#\n\013errors_only\030\002 \001(\010B\002\030\001R\nerrorsOnly"
+  "\022\033\n\006filter\030\003 \001(\tH\000R\006filter\210\001\001\022\"\n\npage_to"
+  "ken\030\004 \001(\tH\001R\tpageToken\210\001\001\022\026\n\006levels\030\005 \003("
+  "\tR\006levels\0225\n\005start\030\006 \001(\0132\032.google.protob"
+  "uf.TimestampH\002R\005start\210\001\001\0221\n\003end\030\007 \001(\0132\032."
+  "google.protobuf.TimestampH\003R\003end\210\001\001\022\031\n\005l"
+  "imit\030\010 \001(\003H\004R\005limit\210\001\001\022\033\n\006source\030\t \001(\tH\005"
+  "R\006source\210\001\001B\t\n\007_filterB\r\n\013_page_tokenB\010\n"
+  "\006_startB\006\n\004_endB\010\n\006_limitB\t\n\007_source\"p\n\030"
+  "GetRobotPartLogsResponse\022,\n\004logs\030\001 \003(\0132\030"
+  ".viam.common.v1.LogEntryR\004logs\022&\n\017next_p"
+  "age_token\030\002 \001(\tR\rnextPageToken\"s\n\030TailRo"
+  "botPartLogsRequest\022\016\n\002id\030\001 \001(\tR\002id\022\037\n\013er"
+  "rors_only\030\002 \001(\010R\nerrorsOnly\022\033\n\006filter\030\003 "
+  "\001(\tH\000R\006filter\210\001\001B\t\n\007_filter\"I\n\031TailRobot"
+  "PartLogsResponse\022,\n\004logs\030\001 \003(\0132\030.viam.co"
+  "mmon.v1.LogEntryR\004logs\",\n\032GetRobotPartHi"
+  "storyRequest\022\016\n\002id\030\001 \001(\tR\002id\"[\n\033GetRobot"
+  "PartHistoryResponse\022<\n\007history\030\001 \003(\0132\".v"
+  "iam.app.v1.RobotPartHistoryEntryR\007histor"
+  "y\"\333\001\n\026UpdateRobotPartRequest\022\016\n\002id\030\001 \001(\t"
+  "R\002id\022\022\n\004name\030\002 \001(\tR\004name\022:\n\014robot_config"
+  "\030\003 \001(\0132\027.google.protobuf.StructR\013robotCo"
+  "nfig\022K\n\021last_known_update\030\004 \001(\0132\032.google"
+  ".protobuf.TimestampH\000R\017lastKnownUpdate\210\001"
+  "\001B\024\n\022_last_known_update\"E\n\027UpdateRobotPa"
+  "rtResponse\022*\n\004part\030\001 \001(\0132\026.viam.app.v1.R"
+  "obotPartR\004part\"M\n\023NewRobotPartRequest\022\031\n"
+  "\010robot_id\030\001 \001(\tR\007robotId\022\033\n\tpart_name\030\002 "
+  "\001(\tR\010partName\"/\n\024NewRobotPartResponse\022\027\n"
+  "\007part_id\030\001 \001(\tR\006partId\"1\n\026DeleteRobotPar"
+  "tRequest\022\027\n\007part_id\030\001 \001(\tR\006partId\"-\n\033Get"
+  "RobotPartMetadataRequest\022\016\n\002id\030\001 \001(\tR\002id"
+  "\"K\n\034GetRobotPartMetadataResponse\022+\n\004data"
+  "\030\001 \001(\0132\027.google.protobuf.StructR\004data\"]\n"
+  "\036UpdateRobotPartMetadataRequest\022\016\n\002id\030\001 "
+  "\001(\tR\002id\022+\n\004data\030\002 \001(\0132\027.google.protobuf."
+  "StructR\004data\"!\n\037UpdateRobotPartMetadataR"
+  "esponse\"3\n\026GetRobotAPIKeysRequest\022\031\n\010rob"
+  "ot_id\030\001 \001(\tR\007robotId\"y\n\006APIKey\022\016\n\002id\030\001 \001"
+  "(\tR\002id\022\020\n\003key\030\002 \001(\tR\003key\022\022\n\004name\030\003 \001(\tR\004"
+  "name\0229\n\ncreated_on\030\004 \001(\0132\032.google.protob"
+  "uf.TimestampR\tcreatedOn\"[\n\027GetRobotAPIKe"
+  "ysResponse\022@\n\010api_keys\030\001 \003(\0132%.viam.app."
+  "v1.APIKeyWithAuthorizationsR\007apiKeys\"\031\n\027"
+  "DeleteRobotPartResponse\"\241\006\n\010Fragment\0223\n\002"
+  "id\030\001 \001(\tB#\232\204\236\003\036bson:\"_id\" json:\"id,omite"
+  "mpty\"R\002id\0220\n\004name\030\002 \001(\tB\034\232\204\236\003\027bson:\"name"
+  "\" json:\"name\"R\004name\022Y\n\010fragment\030\003 \001(\0132\027."
+  "google.protobuf.StructB$\232\204\236\003\037bson:\"fragm"
+  "ent\" json:\"fragment\"R\010fragment\022Z\n\022organi"
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+  "ion_owner\" json:\"owner\"R\021organizationOwn"
+  "er\0228\n\006public\030\005 \001(\010B \232\204\236\003\033bson:\"public\" j"
+  "son:\"public\"R\006public\022Q\n\ncreated_on\030\006 \001(\013"
+  "2\032.google.protobuf.TimestampB\026\232\204\236\003\021bson:"
+  "\"created_on\"R\tcreatedOn\022+\n\021organization_"
+  "name\030\007 \001(\tR\020organizationName\022(\n\020robot_pa"
+  "rt_count\030\t \001(\005R\016robotPartCount\022-\n\022organi"
+  "zation_count\030\n \001(\005R\021organizationCount\022+\n"
+  "\022only_used_by_owner\030\013 \001(\010R\017onlyUsedByOwn"
+  "er\022\?\n\nvisibility\030\014 \001(\0162\037.viam.app.v1.Fra"
+  "gmentVisibilityR\nvisibility\022Z\n\014last_upda"
+  "ted\030\r \001(\0132\032.google.protobuf.TimestampB\033\232"
+  "\204\236\003\026bson:\"last_updated_at\"R\013lastUpdated\022"
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+  "ENABLED_GRANT_UNSPECIFIED\020\000\022$\n ENABLED_G"
+  "RANT_AUTHORIZATION_CODE\020\001\022\032\n\026ENABLED_GRA"
+  "NT_IMPLICIT\020\002\022\032\n\026ENABLED_GRANT_PASSWORD\020"
+  "\003\022\037\n\033ENABLED_GRANT_REFRESH_TOKEN\020\004\022\035\n\031EN"
+  "ABLED_GRANT_DEVICE_CODE\020\0052\313S\n\nAppService"
+  "\022_\n\020GetUserIDByEmail\022$.viam.app.v1.GetUs"
+  "erIDByEmailRequest\032%.viam.app.v1.GetUser"
+  "IDByEmailResponse\022e\n\022CreateOrganization\022"
+  "&.viam.app.v1.CreateOrganizationRequest\032"
+  "\'.viam.app.v1.CreateOrganizationResponse"
+  "\022b\n\021ListOrganizations\022%.viam.app.v1.List"
+  "OrganizationsRequest\032&.viam.app.v1.ListO"
+  "rganizationsResponse\022\233\001\n$GetOrganization"
+  "sWithAccessToLocation\0228.viam.app.v1.GetO"
+  "rganizationsWithAccessToLocationRequest\032"
+  "9.viam.app.v1.GetOrganizationsWithAccess"
+  "ToLocationResponse\022t\n\027ListOrganizationsB"
+  "yUser\022+.viam.app.v1.ListOrganizationsByU"
+  "serRequest\032,.viam.app.v1.ListOrganizatio"
+  "nsByUserResponse\022h\n\023SearchOrganizations\022"
+  "\'.viam.app.v1.SearchOrganizationsRequest"
+  "\032(.viam.app.v1.SearchOrganizationsRespon"
+  "se\022\\\n\017GetOrganization\022#.viam.app.v1.GetO"
+  "rganizationRequest\032$.viam.app.v1.GetOrga"
+  "nizationResponse\022\233\001\n$GetOrganizationName"
+  "spaceAvailability\0228.viam.app.v1.GetOrgan"
+  "izationNamespaceAvailabilityRequest\0329.vi"
+  "am.app.v1.GetOrganizationNamespaceAvaila"
+  "bilityResponse\022e\n\022UpdateOrganization\022&.v"
+  "iam.app.v1.UpdateOrganizationRequest\032\'.v"
+  "iam.app.v1.UpdateOrganizationResponse\022\200\001"
+  "\n\033UpdateOrganizationNamespace\022/.viam.app"
+  ".v1.UpdateOrganizationNamespaceRequest\0320"
+  ".viam.app.v1.UpdateOrganizationNamespace"
+  "Response\022e\n\022DeleteOrganization\022&.viam.ap"
+  "p.v1.DeleteOrganizationRequest\032\'.viam.ap"
+  "p.v1.DeleteOrganizationResponse\022t\n\027GetOr"
+  "ganizationMetadata\022+.viam.app.v1.GetOrga"
+  "nizationMetadataRequest\032,.viam.app.v1.Ge"
+  "tOrganizationMetadataResponse\022}\n\032UpdateO"
+  "rganizationMetadata\022..viam.app.v1.Update"
+  "OrganizationMetadataRequest\032/.viam.app.v"
+  "1.UpdateOrganizationMetadataResponse\022t\n\027"
+  "ListOrganizationMembers\022+.viam.app.v1.Li"
+  "stOrganizationMembersRequest\032,.viam.app."
+  "v1.ListOrganizationMembersResponse\022w\n\030Cr"
+  "eateOrganizationInvite\022,.viam.app.v1.Cre"
+  "ateOrganizationInviteRequest\032-.viam.app."
+  "v1.CreateOrganizationInviteResponse\022\241\001\n&"
+  "UpdateOrganizationInviteAuthorizations\022:"
+  ".viam.app.v1.UpdateOrganizationInviteAut"
+  "horizationsRequest\032;.viam.app.v1.UpdateO"
+  "rganizationInviteAuthorizationsResponse\022"
+  "w\n\030DeleteOrganizationMember\022,.viam.app.v"
+  "1.DeleteOrganizationMemberRequest\032-.viam"
+  ".app.v1.DeleteOrganizationMemberResponse"
+  "\022w\n\030DeleteOrganizationInvite\022,.viam.app."
+  "v1.DeleteOrganizationInviteRequest\032-.via"
+  "m.app.v1.DeleteOrganizationInviteRespons"
+  "e\022w\n\030ResendOrganizationInvite\022,.viam.app"
+  ".v1.ResendOrganizationInviteRequest\032-.vi"
+  "am.app.v1.ResendOrganizationInviteRespon"
+  "se\022k\n\024EnableBillingService\022(.viam.app.v1"
+  ".EnableBillingServiceRequest\032).viam.app."
+  "v1.EnableBillingServiceResponse\022n\n\025Disab"
+  "leBillingService\022).viam.app.v1.DisableBi"
+  "llingServiceRequest\032*.viam.app.v1.Disabl"
+  "eBillingServiceResponse\022k\n\024UpdateBilling"
+  "Service\022(.viam.app.v1.UpdateBillingServi"
+  "ceRequest\032).viam.app.v1.UpdateBillingSer"
+  "viceResponse\022t\n\027GetBillingServiceConfig\022"
+  "+.viam.app.v1.GetBillingServiceConfigReq"
+  "uest\032,.viam.app.v1.GetBillingServiceConf"
+  "igResponse\022\200\001\n\033OrganizationSetSupportEma"
+  "il\022/.viam.app.v1.OrganizationSetSupportE"
+  "mailRequest\0320.viam.app.v1.OrganizationSe"
+  "tSupportEmailResponse\022\200\001\n\033OrganizationGe"
+  "tSupportEmail\022/.viam.app.v1.Organization"
+  "GetSupportEmailRequest\0320.viam.app.v1.Org"
+  "anizationGetSupportEmailResponse\022h\n\023Orga"
+  "nizationSetLogo\022\'.viam.app.v1.Organizati"
+  "onSetLogoRequest\032(.viam.app.v1.Organizat"
+  "ionSetLogoResponse\022h\n\023OrganizationGetLog"
+  "o\022\'.viam.app.v1.OrganizationGetLogoReque"
+  "st\032(.viam.app.v1.OrganizationGetLogoResp"
+  "onse\022b\n\021EnableAuthService\022%.viam.app.v1."
+  "EnableAuthServiceRequest\032&.viam.app.v1.E"
+  "nableAuthServiceResponse\022e\n\022DisableAuthS"
+  "ervice\022&.viam.app.v1.DisableAuthServiceR"
+  "equest\032\'.viam.app.v1.DisableAuthServiceR"
+  "esponse\022Y\n\016CreateOAuthApp\022\".viam.app.v1."
+  "CreateOAuthAppRequest\032#.viam.app.v1.Crea"
+  "teOAuthAppResponse\022S\n\014ReadOAuthApp\022 .via"
+  "m.app.v1.ReadOAuthAppRequest\032!.viam.app."
+  "v1.ReadOAuthAppResponse\022Y\n\016UpdateOAuthAp"
+  "p\022\".viam.app.v1.UpdateOAuthAppRequest\032#."
+  "viam.app.v1.UpdateOAuthAppResponse\022Y\n\016De"
+  "leteOAuthApp\022\".viam.app.v1.DeleteOAuthAp"
+  "pRequest\032#.viam.app.v1.DeleteOAuthAppRes"
+  "ponse\022V\n\rListOAuthApps\022!.viam.app.v1.Lis"
+  "tOAuthAppsRequest\032\".viam.app.v1.ListOAut"
+  "hAppsResponse\022Y\n\016CreateLocation\022\".viam.a"
+  "pp.v1.CreateLocationRequest\032#.viam.app.v"
+  "1.CreateLocationResponse\022P\n\013GetLocation\022"
+  "\037.viam.app.v1.GetLocationRequest\032 .viam."
+  "app.v1.GetLocationResponse\022Y\n\016UpdateLoca"
+  "tion\022\".viam.app.v1.UpdateLocationRequest"
+  "\032#.viam.app.v1.UpdateLocationResponse\022Y\n"
+  "\016DeleteLocation\022\".viam.app.v1.DeleteLoca"
+  "tionRequest\032#.viam.app.v1.DeleteLocation"
+  "Response\022h\n\023GetLocationMetadata\022\'.viam.a"
+  "pp.v1.GetLocationMetadataRequest\032(.viam."
+  "app.v1.GetLocationMetadataResponse\022q\n\026Up"
+  "dateLocationMetadata\022*.viam.app.v1.Updat"
+  "eLocationMetadataRequest\032+.viam.app.v1.U"
+  "pdateLocationMetadataResponse\022V\n\rListLoc"
+  "ations\022!.viam.app.v1.ListLocationsReques"
+  "t\032\".viam.app.v1.ListLocationsResponse\022V\n"
+  "\rShareLocation\022!.viam.app.v1.ShareLocati"
+  "onRequest\032\".viam.app.v1.ShareLocationRes"
+  "ponse\022\\\n\017UnshareLocation\022#.viam.app.v1.U"
+  "nshareLocationRequest\032$.viam.app.v1.Unsh"
+  "areLocationResponse\022S\n\014LocationAuth\022 .vi"
+  "am.app.v1.LocationAuthRequest\032!.viam.app"
+  ".v1.LocationAuthResponse\022k\n\024CreateLocati"
+  "onSecret\022(.viam.app.v1.CreateLocationSec"
+  "retRequest\032).viam.app.v1.CreateLocationS"
+  "ecretResponse\022k\n\024DeleteLocationSecret\022(."
+  "viam.app.v1.DeleteLocationSecretRequest\032"
+  ").viam.app.v1.DeleteLocationSecretRespon"
+  "se\022G\n\010GetRobot\022\034.viam.app.v1.GetRobotReq"
+  "uest\032\035.viam.app.v1.GetRobotResponse\022_\n\020G"
+  "etRobotMetadata\022$.viam.app.v1.GetRobotMe"
+  "tadataRequest\032%.viam.app.v1.GetRobotMeta"
+  "dataResponse\022h\n\023UpdateRobotMetadata\022\'.vi"
+  "am.app.v1.UpdateRobotMetadataRequest\032(.v"
+  "iam.app.v1.UpdateRobotMetadataResponse\022k"
+  "\n\024GetRoverRentalRobots\022(.viam.app.v1.Get"
+  "RoverRentalRobotsRequest\032).viam.app.v1.G"
+  "etRoverRentalRobotsResponse\022V\n\rGetRobotP"
+  "arts\022!.viam.app.v1.GetRobotPartsRequest\032"
+  "\".viam.app.v1.GetRobotPartsResponse\022S\n\014G"
+  "etRobotPart\022 .viam.app.v1.GetRobotPartRe"
+  "quest\032!.viam.app.v1.GetRobotPartResponse"
+  "\022\206\001\n\035GetRobotPartByNameAndLocation\0221.via"
+  "m.app.v1.GetRobotPartByNameAndLocationRe"
+  "quest\0322.viam.app.v1.GetRobotPartByNameAn"
+  "dLocationResponse\022_\n\020GetRobotPartLogs\022$."
+  "viam.app.v1.GetRobotPartLogsRequest\032%.vi"
+  "am.app.v1.GetRobotPartLogsResponse\022d\n\021Ta"
+  "ilRobotPartLogs\022%.viam.app.v1.TailRobotP"
+  "artLogsRequest\032&.viam.app.v1.TailRobotPa"
+  "rtLogsResponse0\001\022h\n\023GetRobotPartHistory\022"
+  "\'.viam.app.v1.GetRobotPartHistoryRequest"
+  "\032(.viam.app.v1.GetRobotPartHistoryRespon"
+  "se\022\\\n\017UpdateRobotPart\022#.viam.app.v1.Upda"
+  "teRobotPartRequest\032$.viam.app.v1.UpdateR"
+  "obotPartResponse\022S\n\014NewRobotPart\022 .viam."
+  "app.v1.NewRobotPartRequest\032!.viam.app.v1"
+  ".NewRobotPartResponse\022\\\n\017DeleteRobotPart"
+  "\022#.viam.app.v1.DeleteRobotPartRequest\032$."
+  "viam.app.v1.DeleteRobotPartResponse\022k\n\024G"
+  "etRobotPartMetadata\022(.viam.app.v1.GetRob"
+  "otPartMetadataRequest\032).viam.app.v1.GetR"
+  "obotPartMetadataResponse\022t\n\027UpdateRobotP"
+  "artMetadata\022+.viam.app.v1.UpdateRobotPar"
+  "tMetadataRequest\032,.viam.app.v1.UpdateRob"
+  "otPartMetadataResponse\022\\\n\017GetRobotAPIKey"
+  "s\022#.viam.app.v1.GetRobotAPIKeysRequest\032$"
+  ".viam.app.v1.GetRobotAPIKeysResponse\022Y\n\016"
+  "MarkPartAsMain\022\".viam.app.v1.MarkPartAsM"
+  "ainRequest\032#.viam.app.v1.MarkPartAsMainR"
+  "esponse\022e\n\022MarkPartForRestart\022&.viam.app"
+  ".v1.MarkPartForRestartRequest\032\'.viam.app"
+  ".v1.MarkPartForRestartResponse\022n\n\025Create"
+  "RobotPartSecret\022).viam.app.v1.CreateRobo"
+  "tPartSecretRequest\032*.viam.app.v1.CreateR"
+  "obotPartSecretResponse\022n\n\025DeleteRobotPar"
+  "tSecret\022).viam.app.v1.DeleteRobotPartSec"
+  "retRequest\032*.viam.app.v1.DeleteRobotPart"
+  "SecretResponse\022M\n\nListRobots\022\036.viam.app."
+  "v1.ListRobotsRequest\032\037.viam.app.v1.ListR"
+  "obotsResponse\022G\n\010NewRobot\022\034.viam.app.v1."
+  "NewRobotRequest\032\035.viam.app.v1.NewRobotRe"
+  "sponse\022P\n\013UpdateRobot\022\037.viam.app.v1.Upda"
+  "teRobotRequest\032 .viam.app.v1.UpdateRobot"
+  "Response\022P\n\013DeleteRobot\022\037.viam.app.v1.De"
+  "leteRobotRequest\032 .viam.app.v1.DeleteRob"
+  "otResponse\022V\n\rListFragments\022!.viam.app.v"
+  "1.ListFragmentsRequest\032\".viam.app.v1.Lis"
+  "tFragmentsResponse\022P\n\013GetFragment\022\037.viam"
+  ".app.v1.GetFragmentRequest\032 .viam.app.v1"
+  ".GetFragmentResponse\022Y\n\016CreateFragment\022\""
+  ".viam.app.v1.CreateFragmentRequest\032#.via"
+  "m.app.v1.CreateFragmentResponse\022Y\n\016Updat"
+  "eFragment\022\".viam.app.v1.UpdateFragmentRe"
+  "quest\032#.viam.app.v1.UpdateFragmentRespon"
+  "se\022Y\n\016DeleteFragment\022\".viam.app.v1.Delet"
+  "eFragmentRequest\032#.viam.app.v1.DeleteFra"
+  "gmentResponse\022h\n\023ListNestedFragments\022\'.v"
+  "iam.app.v1.ListNestedFragmentsRequest\032(."
+  "viam.app.v1.ListNestedFragmentsResponse\022"
+  "k\n\024ListMachineFragments\022(.viam.app.v1.Li"
+  "stMachineFragmentsRequest\032).viam.app.v1."
+  "ListMachineFragmentsResponse\022k\n\024ListMach"
+  "ineSummaries\022(.viam.app.v1.ListMachineSu"
+  "mmariesRequest\032).viam.app.v1.ListMachine"
+  "SummariesResponse\022e\n\022GetFragmentHistory\022"
+  "&.viam.app.v1.GetFragmentHistoryRequest\032"
+  "\'.viam.app.v1.GetFragmentHistoryResponse"
+  "\022_\n\020GetFragmentUsage\022$.viam.app.v1.GetFr"
+  "agmentUsageRequest\032%.viam.app.v1.GetFrag"
+  "mentUsageResponse\022Y\n\016SetFragmentTag\022\".vi"
+  "am.app.v1.SetFragmentTagRequest\032#.viam.a"
+  "pp.v1.SetFragmentTagResponse\022b\n\021DeleteFr"
+  "agmentTag\022%.viam.app.v1.DeleteFragmentTa"
+  "gRequest\032&.viam.app.v1.DeleteFragmentTag"
+  "Response\022D\n\007AddRole\022\033.viam.app.v1.AddRol"
+  "eRequest\032\034.viam.app.v1.AddRoleResponse\022M"
+  "\n\nRemoveRole\022\036.viam.app.v1.RemoveRoleReq"
+  "uest\032\037.viam.app.v1.RemoveRoleResponse\022M\n"
+  "\nChangeRole\022\036.viam.app.v1.ChangeRoleRequ"
+  "est\032\037.viam.app.v1.ChangeRoleResponse\022e\n\022"
+  "ListAuthorizations\022&.viam.app.v1.ListAut"
+  "horizationsRequest\032\'.viam.app.v1.ListAut"
+  "horizationsResponse\022_\n\020CheckPermissions\022"
+  "$.viam.app.v1.CheckPermissionsRequest\032%."
+  "viam.app.v1.CheckPermissionsResponse\022\\\n\017"
+  "GetRegistryItem\022#.viam.app.v1.GetRegistr"
+  "yItemRequest\032$.viam.app.v1.GetRegistryIt"
+  "emResponse\022e\n\022CreateRegistryItem\022&.viam."
+  "app.v1.CreateRegistryItemRequest\032\'.viam."
+  "app.v1.CreateRegistryItemResponse\022e\n\022Upd"
+  "ateRegistryItem\022&.viam.app.v1.UpdateRegi"
+  "stryItemRequest\032\'.viam.app.v1.UpdateRegi"
+  "stryItemResponse\022b\n\021ListRegistryItems\022%."
+  "viam.app.v1.ListRegistryItemsRequest\032&.v"
+  "iam.app.v1.ListRegistryItemsResponse\022e\n\022"
+  "DeleteRegistryItem\022&.viam.app.v1.DeleteR"
+  "egistryItemRequest\032\'.viam.app.v1.DeleteR"
+  "egistryItemResponse\022e\n\022RenameRegistryIte"
+  "m\022&.viam.app.v1.RenameRegistryItemReques"
+  "t\032\'.viam.app.v1.RenameRegistryItemRespon"
+  "se\022k\n\024TransferRegistryItem\022(.viam.app.v1"
+  ".TransferRegistryItemRequest\032).viam.app."
+  "v1.TransferRegistryItemResponse\022S\n\014Creat"
+  "eModule\022 .viam.app.v1.CreateModuleReques"
+  "t\032!.viam.app.v1.CreateModuleResponse\022S\n\014"
+  "UpdateModule\022 .viam.app.v1.UpdateModuleR"
+  "equest\032!.viam.app.v1.UpdateModuleRespons"
+  "e\022a\n\020UploadModuleFile\022$.viam.app.v1.Uplo"
+  "adModuleFileRequest\032%.viam.app.v1.Upload"
+  "ModuleFileResponse(\001\022J\n\tGetModule\022\035.viam"
+  ".app.v1.GetModuleRequest\032\036.viam.app.v1.G"
+  "etModuleResponse\022P\n\013ListModules\022\037.viam.a"
+  "pp.v1.ListModulesRequest\032 .viam.app.v1.L"
+  "istModulesResponse\022J\n\tCreateKey\022\035.viam.a"
+  "pp.v1.CreateKeyRequest\032\036.viam.app.v1.Cre"
+  "ateKeyResponse\022J\n\tDeleteKey\022\035.viam.app.v"
+  "1.DeleteKeyRequest\032\036.viam.app.v1.DeleteK"
+  "eyResponse\022G\n\010ListKeys\022\034.viam.app.v1.Lis"
+  "tKeysRequest\032\035.viam.app.v1.ListKeysRespo"
+  "nse\022J\n\tRenameKey\022\035.viam.app.v1.RenameKey"
+  "Request\032\036.viam.app.v1.RenameKeyResponse\022"
+  "J\n\tRotateKey\022\035.viam.app.v1.RotateKeyRequ"
+  "est\032\036.viam.app.v1.RotateKeyResponse\022\241\001\n&"
+  "CreateKeyFromExistingKeyAuthorizations\022:"
+  ".viam.app.v1.CreateKeyFromExistingKeyAut"
+  "horizationsRequest\032;.viam.app.v1.CreateK"
+  "eyFromExistingKeyAuthorizationsResponse\022"
+  "V\n\rGetAppContent\022!.viam.app.v1.GetAppCon"
+  "tentRequest\032\".viam.app.v1.GetAppContentR"
+  "esponseB\030Z\026go.viam.com/api/app/v1b\006proto"
+  "3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_app_2fv1_2fapp_2eproto_deps[6] = {
   &::descriptor_table_app_2fmltraining_2fv1_2fml_5ftraining_2eproto,
@@ -7508,7 +7517,7 @@ static const ::_pbi::DescriptorTable* const descriptor_table_app_2fv1_2fapp_2epr
 };
 static ::_pbi::once_flag descriptor_table_app_2fv1_2fapp_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_app_2fv1_2fapp_2eproto = {
-    false, false, 45037, descriptor_table_protodef_app_2fv1_2fapp_2eproto,
+    false, false, 45161, descriptor_table_protodef_app_2fv1_2fapp_2eproto,
     "app/v1/app.proto",
     &descriptor_table_app_2fv1_2fapp_2eproto_once, descriptor_table_app_2fv1_2fapp_2eproto_deps, 6, 263,
     schemas, file_default_instances, TableStruct_app_2fv1_2fapp_2eproto::offsets,
@@ -10049,6 +10058,10 @@ class OrganizationMember::_Internal {
   static void set_has_last_login(HasBits* has_bits) {
     (*has_bits)[0] |= 1u;
   }
+  static const ::PROTOBUF_NAMESPACE_ID::Timestamp& last_access(const OrganizationMember* msg);
+  static void set_has_last_access(HasBits* has_bits) {
+    (*has_bits)[0] |= 2u;
+  }
 };
 
 const ::PROTOBUF_NAMESPACE_ID::Timestamp&
@@ -10059,6 +10072,10 @@ const ::PROTOBUF_NAMESPACE_ID::Timestamp&
 OrganizationMember::_Internal::last_login(const OrganizationMember* msg) {
   return *msg->last_login_;
 }
+const ::PROTOBUF_NAMESPACE_ID::Timestamp&
+OrganizationMember::_Internal::last_access(const OrganizationMember* msg) {
+  return *msg->last_access_;
+}
 void OrganizationMember::clear_date_added() {
   if (GetArenaForAllocation() == nullptr && date_added_ != nullptr) {
     delete date_added_;
@@ -10069,6 +10086,10 @@ void OrganizationMember::clear_last_login() {
   if (last_login_ != nullptr) last_login_->Clear();
   _has_bits_[0] &= ~0x00000001u;
 }
+void OrganizationMember::clear_last_access() {
+  if (last_access_ != nullptr) last_access_->Clear();
+  _has_bits_[0] &= ~0x00000002u;
+}
 OrganizationMember::OrganizationMember(::PROTOBUF_NAMESPACE_ID::Arena* arena,
                          bool is_message_owned)
   : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned),
@@ -10099,6 +10120,11 @@ OrganizationMember::OrganizationMember(const OrganizationMember& from)
   } else {
     last_login_ = nullptr;
   }
+  if (from._internal_has_last_access()) {
+    last_access_ = new ::PROTOBUF_NAMESPACE_ID::Timestamp(*from.last_access_);
+  } else {
+    last_access_ = nullptr;
+  }
   // @@protoc_insertion_point(copy_constructor:viam.app.v1.OrganizationMember)
 }
 
@@ -10109,8 +10135,8 @@ user_id_.InitDefault();
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
 ::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
     reinterpret_cast<char*>(&date_added_) - reinterpret_cast<char*>(this)),
-    0, static_cast<size_t>(reinterpret_cast<char*>(&last_login_) -
-    reinterpret_cast<char*>(&date_added_)) + sizeof(last_login_));
+    0, static_cast<size_t>(reinterpret_cast<char*>(&last_access_) -
+    reinterpret_cast<char*>(&date_added_)) + sizeof(last_access_));
 }
 
 OrganizationMember::~OrganizationMember() {
@@ -10127,6 +10153,7 @@ inline void OrganizationMember::SharedDtor() {
   user_id_.Destroy();
   if (this != internal_default_instance()) delete date_added_;
   if (this != internal_default_instance()) delete last_login_;
+  if (this != internal_default_instance()) delete last_access_;
 }
 
 void OrganizationMember::SetCachedSize(int size) const {
@@ -10146,9 +10173,15 @@ void OrganizationMember::Clear() {
   }
   date_added_ = nullptr;
   cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000001u) {
-    GOOGLE_DCHECK(last_login_ != nullptr);
-    last_login_->Clear();
+  if (cached_has_bits & 0x00000003u) {
+    if (cached_has_bits & 0x00000001u) {
+      GOOGLE_DCHECK(last_login_ != nullptr);
+      last_login_->Clear();
+    }
+    if (cached_has_bits & 0x00000002u) {
+      GOOGLE_DCHECK(last_access_ != nullptr);
+      last_access_->Clear();
+    }
   }
   _has_bits_.Clear();
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
@@ -10202,6 +10235,14 @@ const char* OrganizationMember::_InternalParse(const char* ptr, ::_pbi::ParseCon
         } else
           goto handle_unusual;
         continue;
+      // optional .google.protobuf.Timestamp last_access = 5 [json_name = "lastAccess"];
+      case 5:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 42)) {
+          ptr = ctx->ParseMessage(_internal_mutable_last_access(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
       default:
         goto handle_unusual;
     }  // switch
@@ -10266,6 +10307,13 @@ uint8_t* OrganizationMember::_InternalSerialize(
         _Internal::last_login(this).GetCachedSize(), target, stream);
   }
 
+  // optional .google.protobuf.Timestamp last_access = 5 [json_name = "lastAccess"];
+  if (_internal_has_last_access()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(5, _Internal::last_access(this),
+        _Internal::last_access(this).GetCachedSize(), target, stream);
+  }
+
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
@@ -10304,14 +10352,23 @@ size_t OrganizationMember::ByteSizeLong() const {
         *date_added_);
   }
 
-  // optional .google.protobuf.Timestamp last_login = 4 [json_name = "lastLogin"];
   cached_has_bits = _has_bits_[0];
-  if (cached_has_bits & 0x00000001u) {
-    total_size += 1 +
-      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
-        *last_login_);
-  }
+  if (cached_has_bits & 0x00000003u) {
+    // optional .google.protobuf.Timestamp last_login = 4 [json_name = "lastLogin"];
+    if (cached_has_bits & 0x00000001u) {
+      total_size += 1 +
+        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+          *last_login_);
+    }
 
+    // optional .google.protobuf.Timestamp last_access = 5 [json_name = "lastAccess"];
+    if (cached_has_bits & 0x00000002u) {
+      total_size += 1 +
+        ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+          *last_access_);
+    }
+
+  }
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
@@ -10341,8 +10398,14 @@ void OrganizationMember::MergeFrom(const OrganizationMember& from) {
   if (from._internal_has_date_added()) {
     _internal_mutable_date_added()->::PROTOBUF_NAMESPACE_ID::Timestamp::MergeFrom(from._internal_date_added());
   }
-  if (from._internal_has_last_login()) {
-    _internal_mutable_last_login()->::PROTOBUF_NAMESPACE_ID::Timestamp::MergeFrom(from._internal_last_login());
+  cached_has_bits = from._has_bits_[0];
+  if (cached_has_bits & 0x00000003u) {
+    if (cached_has_bits & 0x00000001u) {
+      _internal_mutable_last_login()->::PROTOBUF_NAMESPACE_ID::Timestamp::MergeFrom(from._internal_last_login());
+    }
+    if (cached_has_bits & 0x00000002u) {
+      _internal_mutable_last_access()->::PROTOBUF_NAMESPACE_ID::Timestamp::MergeFrom(from._internal_last_access());
+    }
   }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
@@ -10370,8 +10433,8 @@ void OrganizationMember::InternalSwap(OrganizationMember* other) {
       &other->user_id_, rhs_arena
   );
   ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(OrganizationMember, last_login_)
-      + sizeof(OrganizationMember::last_login_)
+      PROTOBUF_FIELD_OFFSET(OrganizationMember, last_access_)
+      + sizeof(OrganizationMember::last_access_)
       - PROTOBUF_FIELD_OFFSET(OrganizationMember, date_added_)>(
           reinterpret_cast<char*>(&date_added_),
           reinterpret_cast<char*>(&other->date_added_));
@@ -11672,6 +11735,14 @@ GetOrganizationNamespaceAvailabilityRequest::GetOrganizationNamespaceAvailabilit
     public_namespace_.Set(from._internal_public_namespace(), 
       GetArenaForAllocation());
   }
+  organization_id_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    organization_id_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_organization_id().empty()) {
+    organization_id_.Set(from._internal_organization_id(), 
+      GetArenaForAllocation());
+  }
   // @@protoc_insertion_point(copy_constructor:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest)
 }
 
@@ -11680,6 +11751,10 @@ public_namespace_.InitDefault();
 #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
   public_namespace_.Set("", GetArenaForAllocation());
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+organization_id_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  organization_id_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
 }
 
 GetOrganizationNamespaceAvailabilityRequest::~GetOrganizationNamespaceAvailabilityRequest() {
@@ -11694,6 +11769,7 @@ GetOrganizationNamespaceAvailabilityRequest::~GetOrganizationNamespaceAvailabili
 inline void GetOrganizationNamespaceAvailabilityRequest::SharedDtor() {
   GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
   public_namespace_.Destroy();
+  organization_id_.Destroy();
 }
 
 void GetOrganizationNamespaceAvailabilityRequest::SetCachedSize(int size) const {
@@ -11707,6 +11783,7 @@ void GetOrganizationNamespaceAvailabilityRequest::Clear() {
   (void) cached_has_bits;
 
   public_namespace_.ClearToEmpty();
+  organization_id_.ClearToEmpty();
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
@@ -11726,6 +11803,16 @@ const char* GetOrganizationNamespaceAvailabilityRequest::_InternalParse(const ch
         } else
           goto handle_unusual;
         continue;
+      // string organization_id = 2 [json_name = "organizationId"];
+      case 2:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 18)) {
+          auto str = _internal_mutable_organization_id();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id"));
+        } else
+          goto handle_unusual;
+        continue;
       default:
         goto handle_unusual;
     }  // switch
@@ -11765,6 +11852,16 @@ uint8_t* GetOrganizationNamespaceAvailabilityRequest::_InternalSerialize(
         1, this->_internal_public_namespace(), target);
   }
 
+  // string organization_id = 2 [json_name = "organizationId"];
+  if (!this->_internal_organization_id().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_organization_id().data(), static_cast<int>(this->_internal_organization_id().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id");
+    target = stream->WriteStringMaybeAliased(
+        2, this->_internal_organization_id(), target);
+  }
+
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
@@ -11788,6 +11885,13 @@ size_t GetOrganizationNamespaceAvailabilityRequest::ByteSizeLong() const {
         this->_internal_public_namespace());
   }
 
+  // string organization_id = 2 [json_name = "organizationId"];
+  if (!this->_internal_organization_id().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_organization_id());
+  }
+
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
@@ -11813,6 +11917,9 @@ void GetOrganizationNamespaceAvailabilityRequest::MergeFrom(const GetOrganizatio
   if (!from._internal_public_namespace().empty()) {
     _internal_set_public_namespace(from._internal_public_namespace());
   }
+  if (!from._internal_organization_id().empty()) {
+    _internal_set_organization_id(from._internal_organization_id());
+  }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
@@ -11836,6 +11943,10 @@ void GetOrganizationNamespaceAvailabilityRequest::InternalSwap(GetOrganizationNa
       &public_namespace_, lhs_arena,
       &other->public_namespace_, rhs_arena
   );
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &organization_id_, lhs_arena,
+      &other->organization_id_, rhs_arena
+  );
 }
 
 ::PROTOBUF_NAMESPACE_ID::Metadata GetOrganizationNamespaceAvailabilityRequest::GetMetadata() const {
diff --git a/src/viam/api/app/v1/app.pb.h b/src/viam/api/app/v1/app.pb.h
index 807c44902..0eb1a6baa 100644
--- a/src/viam/api/app/v1/app.pb.h
+++ b/src/viam/api/app/v1/app.pb.h
@@ -2870,6 +2870,7 @@ class OrganizationMember final :
     kUserIdFieldNumber = 1,
     kDateAddedFieldNumber = 3,
     kLastLoginFieldNumber = 4,
+    kLastAccessFieldNumber = 5,
   };
   // repeated string emails = 2 [json_name = "emails"];
   int emails_size() const;
@@ -2945,6 +2946,24 @@ class OrganizationMember final :
       ::PROTOBUF_NAMESPACE_ID::Timestamp* last_login);
   ::PROTOBUF_NAMESPACE_ID::Timestamp* unsafe_arena_release_last_login();
 
+  // optional .google.protobuf.Timestamp last_access = 5 [json_name = "lastAccess"];
+  bool has_last_access() const;
+  private:
+  bool _internal_has_last_access() const;
+  public:
+  void clear_last_access();
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp& last_access() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Timestamp* release_last_access();
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* mutable_last_access();
+  void set_allocated_last_access(::PROTOBUF_NAMESPACE_ID::Timestamp* last_access);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp& _internal_last_access() const;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* _internal_mutable_last_access();
+  public:
+  void unsafe_arena_set_allocated_last_access(
+      ::PROTOBUF_NAMESPACE_ID::Timestamp* last_access);
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* unsafe_arena_release_last_access();
+
   // @@protoc_insertion_point(class_scope:viam.app.v1.OrganizationMember)
  private:
   class _Internal;
@@ -2958,6 +2977,7 @@ class OrganizationMember final :
   ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr user_id_;
   ::PROTOBUF_NAMESPACE_ID::Timestamp* date_added_;
   ::PROTOBUF_NAMESPACE_ID::Timestamp* last_login_;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* last_access_;
   friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
 };
 // -------------------------------------------------------------------
@@ -4038,6 +4058,7 @@ class GetOrganizationNamespaceAvailabilityRequest final :
 
   enum : int {
     kPublicNamespaceFieldNumber = 1,
+    kOrganizationIdFieldNumber = 2,
   };
   // string public_namespace = 1 [json_name = "publicNamespace"];
   void clear_public_namespace();
@@ -4053,6 +4074,20 @@ class GetOrganizationNamespaceAvailabilityRequest final :
   std::string* _internal_mutable_public_namespace();
   public:
 
+  // string organization_id = 2 [json_name = "organizationId"];
+  void clear_organization_id();
+  const std::string& organization_id() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_organization_id(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_organization_id();
+  PROTOBUF_NODISCARD std::string* release_organization_id();
+  void set_allocated_organization_id(std::string* organization_id);
+  private:
+  const std::string& _internal_organization_id() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_organization_id(const std::string& value);
+  std::string* _internal_mutable_organization_id();
+  public:
+
   // @@protoc_insertion_point(class_scope:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest)
  private:
   class _Internal;
@@ -4061,6 +4096,7 @@ class GetOrganizationNamespaceAvailabilityRequest final :
   typedef void InternalArenaConstructable_;
   typedef void DestructorSkippable_;
   ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr public_namespace_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr organization_id_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_app_2fv1_2fapp_2eproto;
 };
@@ -47876,6 +47912,93 @@ inline void OrganizationMember::set_allocated_last_login(::PROTOBUF_NAMESPACE_ID
   // @@protoc_insertion_point(field_set_allocated:viam.app.v1.OrganizationMember.last_login)
 }
 
+// optional .google.protobuf.Timestamp last_access = 5 [json_name = "lastAccess"];
+inline bool OrganizationMember::_internal_has_last_access() const {
+  bool value = (_has_bits_[0] & 0x00000002u) != 0;
+  PROTOBUF_ASSUME(!value || last_access_ != nullptr);
+  return value;
+}
+inline bool OrganizationMember::has_last_access() const {
+  return _internal_has_last_access();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& OrganizationMember::_internal_last_access() const {
+  const ::PROTOBUF_NAMESPACE_ID::Timestamp* p = last_access_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Timestamp&>(
+      ::PROTOBUF_NAMESPACE_ID::_Timestamp_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Timestamp& OrganizationMember::last_access() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.OrganizationMember.last_access)
+  return _internal_last_access();
+}
+inline void OrganizationMember::unsafe_arena_set_allocated_last_access(
+    ::PROTOBUF_NAMESPACE_ID::Timestamp* last_access) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(last_access_);
+  }
+  last_access_ = last_access;
+  if (last_access) {
+    _has_bits_[0] |= 0x00000002u;
+  } else {
+    _has_bits_[0] &= ~0x00000002u;
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.app.v1.OrganizationMember.last_access)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* OrganizationMember::release_last_access() {
+  _has_bits_[0] &= ~0x00000002u;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = last_access_;
+  last_access_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* OrganizationMember::unsafe_arena_release_last_access() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.OrganizationMember.last_access)
+  _has_bits_[0] &= ~0x00000002u;
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* temp = last_access_;
+  last_access_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* OrganizationMember::_internal_mutable_last_access() {
+  _has_bits_[0] |= 0x00000002u;
+  if (last_access_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Timestamp>(GetArenaForAllocation());
+    last_access_ = p;
+  }
+  return last_access_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Timestamp* OrganizationMember::mutable_last_access() {
+  ::PROTOBUF_NAMESPACE_ID::Timestamp* _msg = _internal_mutable_last_access();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.OrganizationMember.last_access)
+  return _msg;
+}
+inline void OrganizationMember::set_allocated_last_access(::PROTOBUF_NAMESPACE_ID::Timestamp* last_access) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(last_access_);
+  }
+  if (last_access) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(last_access));
+    if (message_arena != submessage_arena) {
+      last_access = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, last_access, submessage_arena);
+    }
+    _has_bits_[0] |= 0x00000002u;
+  } else {
+    _has_bits_[0] &= ~0x00000002u;
+  }
+  last_access_ = last_access;
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.OrganizationMember.last_access)
+}
+
 // -------------------------------------------------------------------
 
 // ListOrganizationsResponse
@@ -48499,6 +48622,56 @@ inline void GetOrganizationNamespaceAvailabilityRequest::set_allocated_public_na
   // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.public_namespace)
 }
 
+// string organization_id = 2 [json_name = "organizationId"];
+inline void GetOrganizationNamespaceAvailabilityRequest::clear_organization_id() {
+  organization_id_.ClearToEmpty();
+}
+inline const std::string& GetOrganizationNamespaceAvailabilityRequest::organization_id() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id)
+  return _internal_organization_id();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void GetOrganizationNamespaceAvailabilityRequest::set_organization_id(ArgT0&& arg0, ArgT... args) {
+ 
+ organization_id_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id)
+}
+inline std::string* GetOrganizationNamespaceAvailabilityRequest::mutable_organization_id() {
+  std::string* _s = _internal_mutable_organization_id();
+  // @@protoc_insertion_point(field_mutable:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id)
+  return _s;
+}
+inline const std::string& GetOrganizationNamespaceAvailabilityRequest::_internal_organization_id() const {
+  return organization_id_.Get();
+}
+inline void GetOrganizationNamespaceAvailabilityRequest::_internal_set_organization_id(const std::string& value) {
+  
+  organization_id_.Set(value, GetArenaForAllocation());
+}
+inline std::string* GetOrganizationNamespaceAvailabilityRequest::_internal_mutable_organization_id() {
+  
+  return organization_id_.Mutable(GetArenaForAllocation());
+}
+inline std::string* GetOrganizationNamespaceAvailabilityRequest::release_organization_id() {
+  // @@protoc_insertion_point(field_release:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id)
+  return organization_id_.Release();
+}
+inline void GetOrganizationNamespaceAvailabilityRequest::set_allocated_organization_id(std::string* organization_id) {
+  if (organization_id != nullptr) {
+    
+  } else {
+    
+  }
+  organization_id_.SetAllocated(organization_id, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (organization_id_.IsDefault()) {
+    organization_id_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.app.v1.GetOrganizationNamespaceAvailabilityRequest.organization_id)
+}
+
 // -------------------------------------------------------------------
 
 // GetOrganizationNamespaceAvailabilityResponse
diff --git a/src/viam/api/app/v1/robot.pb.cc b/src/viam/api/app/v1/robot.pb.cc
index 42e558ae7..b4e801a8f 100644
--- a/src/viam/api/app/v1/robot.pb.cc
+++ b/src/viam/api/app/v1/robot.pb.cc
@@ -618,7 +618,8 @@ PROTOBUF_CONSTEXPR ModuleConfig::ModuleConfig(
   , type_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
   , module_id_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
   , status_(nullptr)
-  , first_run_timeout_(nullptr){}
+  , first_run_timeout_(nullptr)
+  , tcp_mode_(false){}
 struct ModuleConfigDefaultTypeInternal {
   PROTOBUF_CONSTEXPR ModuleConfigDefaultTypeInternal()
       : _instance(::_pbi::ConstantInitialized{}) {}
@@ -1106,6 +1107,7 @@ const uint32_t TableStruct_app_2fv1_2frobot_2eproto::offsets[] PROTOBUF_SECTION_
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::ModuleConfig, env_),
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::ModuleConfig, status_),
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::ModuleConfig, first_run_timeout_),
+  PROTOBUF_FIELD_OFFSET(::viam::app::v1::ModuleConfig, tcp_mode_),
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::viam::app::v1::PackageConfig, _internal_metadata_),
   ~0u,  // no _extensions_
@@ -1168,8 +1170,8 @@ static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protode
   { 408, -1, -1, sizeof(::viam::app::v1::NeedsRestartResponse)},
   { 417, 425, -1, sizeof(::viam::app::v1::ModuleConfig_EnvEntry_DoNotUse)},
   { 427, -1, -1, sizeof(::viam::app::v1::ModuleConfig)},
-  { 441, -1, -1, sizeof(::viam::app::v1::PackageConfig)},
-  { 452, -1, -1, sizeof(::viam::app::v1::MaintenanceConfig)},
+  { 442, -1, -1, sizeof(::viam::app::v1::PackageConfig)},
+  { 453, -1, -1, sizeof(::viam::app::v1::MaintenanceConfig)},
 };
 
 static const ::_pb::Message* const file_default_instances[] = {
@@ -1392,7 +1394,7 @@ const char descriptor_table_protodef_app_2fv1_2frobot_2eproto[] PROTOBUF_SECTION
   "d\030\001 \001(\tR\002id\022!\n\014must_restart\030\002 \001(\010R\013mustR"
   "estart\022O\n\026restart_check_interval\030\003 \001(\0132\031"
   ".google.protobuf.DurationR\024restartCheckI"
-  "nterval\"\363\002\n\014ModuleConfig\022\022\n\004name\030\001 \001(\tR\004"
+  "nterval\"\216\003\n\014ModuleConfig\022\022\n\004name\030\001 \001(\tR\004"
   "name\022\022\n\004path\030\002 \001(\tR\004path\022\033\n\tlog_level\030\003 "
   "\001(\tR\010logLevel\022\022\n\004type\030\004 \001(\tR\004type\022\033\n\tmod"
   "ule_id\030\005 \001(\tR\010moduleId\0224\n\003env\030\006 \003(\0132\".vi"
@@ -1400,29 +1402,30 @@ const char descriptor_table_protodef_app_2fv1_2frobot_2eproto[] PROTOBUF_SECTION
   "status\030\007 \001(\0132 .viam.app.v1.AppValidation"
   "StatusR\006status\022E\n\021first_run_timeout\030\010 \001("
   "\0132\031.google.protobuf.DurationR\017firstRunTi"
-  "meout\0326\n\010EnvEntry\022\020\n\003key\030\001 \001(\tR\003key\022\024\n\005v"
-  "alue\030\002 \001(\tR\005value:\0028\001\"\245\001\n\rPackageConfig\022"
-  "\022\n\004name\030\001 \001(\tR\004name\022\030\n\007package\030\002 \001(\tR\007pa"
-  "ckage\022\030\n\007version\030\003 \001(\tR\007version\022\022\n\004type\030"
-  "\004 \001(\tR\004type\0228\n\006status\030\005 \001(\0132 .viam.app.v"
-  "1.AppValidationStatusR\006status\"\212\001\n\021Mainte"
-  "nanceConfig\022=\n\013sensor_name\030\001 \001(\0132\034.viam."
-  "common.v1.ResourceNameR\nsensorName\0226\n\027ma"
-  "intenance_allowed_key\030\002 \001(\tR\025maintenance"
-  "AllowedKey*\277\001\n\017CredentialsType\022 \n\034CREDEN"
-  "TIALS_TYPE_UNSPECIFIED\020\000\022\035\n\031CREDENTIALS_"
-  "TYPE_INTERNAL\020\001\022\034\n\030CREDENTIALS_TYPE_API_"
-  "KEY\020\002\022!\n\035CREDENTIALS_TYPE_ROBOT_SECRET\020\003"
-  "\022*\n&CREDENTIALS_TYPE_ROBOT_LOCATION_SECR"
-  "ET\020\0042\262\002\n\014RobotService\022A\n\006Config\022\032.viam.a"
-  "pp.v1.ConfigRequest\032\033.viam.app.v1.Config"
-  "Response\022P\n\013Certificate\022\037.viam.app.v1.Ce"
-  "rtificateRequest\032 .viam.app.v1.Certifica"
-  "teResponse\0228\n\003Log\022\027.viam.app.v1.LogReque"
-  "st\032\030.viam.app.v1.LogResponse\022S\n\014NeedsRes"
-  "tart\022 .viam.app.v1.NeedsRestartRequest\032!"
-  ".viam.app.v1.NeedsRestartResponseB\030Z\026go."
-  "viam.com/api/app/v1b\006proto3"
+  "meout\022\031\n\010tcp_mode\030\t \001(\010R\007tcpMode\0326\n\010EnvE"
+  "ntry\022\020\n\003key\030\001 \001(\tR\003key\022\024\n\005value\030\002 \001(\tR\005v"
+  "alue:\0028\001\"\245\001\n\rPackageConfig\022\022\n\004name\030\001 \001(\t"
+  "R\004name\022\030\n\007package\030\002 \001(\tR\007package\022\030\n\007vers"
+  "ion\030\003 \001(\tR\007version\022\022\n\004type\030\004 \001(\tR\004type\0228"
+  "\n\006status\030\005 \001(\0132 .viam.app.v1.AppValidati"
+  "onStatusR\006status\"\212\001\n\021MaintenanceConfig\022="
+  "\n\013sensor_name\030\001 \001(\0132\034.viam.common.v1.Res"
+  "ourceNameR\nsensorName\0226\n\027maintenance_all"
+  "owed_key\030\002 \001(\tR\025maintenanceAllowedKey*\277\001"
+  "\n\017CredentialsType\022 \n\034CREDENTIALS_TYPE_UN"
+  "SPECIFIED\020\000\022\035\n\031CREDENTIALS_TYPE_INTERNAL"
+  "\020\001\022\034\n\030CREDENTIALS_TYPE_API_KEY\020\002\022!\n\035CRED"
+  "ENTIALS_TYPE_ROBOT_SECRET\020\003\022*\n&CREDENTIA"
+  "LS_TYPE_ROBOT_LOCATION_SECRET\020\0042\262\002\n\014Robo"
+  "tService\022A\n\006Config\022\032.viam.app.v1.ConfigR"
+  "equest\032\033.viam.app.v1.ConfigResponse\022P\n\013C"
+  "ertificate\022\037.viam.app.v1.CertificateRequ"
+  "est\032 .viam.app.v1.CertificateResponse\0228\n"
+  "\003Log\022\027.viam.app.v1.LogRequest\032\030.viam.app"
+  ".v1.LogResponse\022S\n\014NeedsRestart\022 .viam.a"
+  "pp.v1.NeedsRestartRequest\032!.viam.app.v1."
+  "NeedsRestartResponseB\030Z\026go.viam.com/api/"
+  "app/v1b\006proto3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_app_2fv1_2frobot_2eproto_deps[4] = {
   &::descriptor_table_common_2fv1_2fcommon_2eproto,
@@ -1432,7 +1435,7 @@ static const ::_pbi::DescriptorTable* const descriptor_table_app_2fv1_2frobot_2e
 };
 static ::_pbi::once_flag descriptor_table_app_2fv1_2frobot_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_app_2fv1_2frobot_2eproto = {
-    false, false, 8147, descriptor_table_protodef_app_2fv1_2frobot_2eproto,
+    false, false, 8174, descriptor_table_protodef_app_2fv1_2frobot_2eproto,
     "app/v1/robot.proto",
     &descriptor_table_app_2fv1_2frobot_2eproto_once, descriptor_table_app_2fv1_2frobot_2eproto_deps, 4, 43,
     schemas, file_default_instances, TableStruct_app_2fv1_2frobot_2eproto::offsets,
@@ -13379,6 +13382,7 @@ ModuleConfig::ModuleConfig(const ModuleConfig& from)
   } else {
     first_run_timeout_ = nullptr;
   }
+  tcp_mode_ = from.tcp_mode_;
   // @@protoc_insertion_point(copy_constructor:viam.app.v1.ModuleConfig)
 }
 
@@ -13405,8 +13409,8 @@ module_id_.InitDefault();
 #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
 ::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
     reinterpret_cast<char*>(&status_) - reinterpret_cast<char*>(this)),
-    0, static_cast<size_t>(reinterpret_cast<char*>(&first_run_timeout_) -
-    reinterpret_cast<char*>(&status_)) + sizeof(first_run_timeout_));
+    0, static_cast<size_t>(reinterpret_cast<char*>(&tcp_mode_) -
+    reinterpret_cast<char*>(&status_)) + sizeof(tcp_mode_));
 }
 
 ModuleConfig::~ModuleConfig() {
@@ -13459,6 +13463,7 @@ void ModuleConfig::Clear() {
     delete first_run_timeout_;
   }
   first_run_timeout_ = nullptr;
+  tcp_mode_ = false;
   _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
 }
 
@@ -13547,6 +13552,14 @@ const char* ModuleConfig::_InternalParse(const char* ptr, ::_pbi::ParseContext*
         } else
           goto handle_unusual;
         continue;
+      // bool tcp_mode = 9 [json_name = "tcpMode"];
+      case 9:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 72)) {
+          tcp_mode_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
       default:
         goto handle_unusual;
     }  // switch
@@ -13670,6 +13683,12 @@ uint8_t* ModuleConfig::_InternalSerialize(
         _Internal::first_run_timeout(this).GetCachedSize(), target, stream);
   }
 
+  // bool tcp_mode = 9 [json_name = "tcpMode"];
+  if (this->_internal_tcp_mode() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteBoolToArray(9, this->_internal_tcp_mode(), target);
+  }
+
   if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
     target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
         _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
@@ -13744,6 +13763,11 @@ size_t ModuleConfig::ByteSizeLong() const {
         *first_run_timeout_);
   }
 
+  // bool tcp_mode = 9 [json_name = "tcpMode"];
+  if (this->_internal_tcp_mode() != 0) {
+    total_size += 1 + 1;
+  }
+
   return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
 }
 
@@ -13788,6 +13812,9 @@ void ModuleConfig::MergeFrom(const ModuleConfig& from) {
   if (from._internal_has_first_run_timeout()) {
     _internal_mutable_first_run_timeout()->::PROTOBUF_NAMESPACE_ID::Duration::MergeFrom(from._internal_first_run_timeout());
   }
+  if (from._internal_tcp_mode() != 0) {
+    _internal_set_tcp_mode(from._internal_tcp_mode());
+  }
   _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
 }
 
@@ -13829,8 +13856,8 @@ void ModuleConfig::InternalSwap(ModuleConfig* other) {
       &other->module_id_, rhs_arena
   );
   ::PROTOBUF_NAMESPACE_ID::internal::memswap<
-      PROTOBUF_FIELD_OFFSET(ModuleConfig, first_run_timeout_)
-      + sizeof(ModuleConfig::first_run_timeout_)
+      PROTOBUF_FIELD_OFFSET(ModuleConfig, tcp_mode_)
+      + sizeof(ModuleConfig::tcp_mode_)
       - PROTOBUF_FIELD_OFFSET(ModuleConfig, status_)>(
           reinterpret_cast<char*>(&status_),
           reinterpret_cast<char*>(&other->status_));
diff --git a/src/viam/api/app/v1/robot.pb.h b/src/viam/api/app/v1/robot.pb.h
index 343a0050c..ccfe1b604 100644
--- a/src/viam/api/app/v1/robot.pb.h
+++ b/src/viam/api/app/v1/robot.pb.h
@@ -7963,6 +7963,7 @@ class ModuleConfig final :
     kModuleIdFieldNumber = 5,
     kStatusFieldNumber = 7,
     kFirstRunTimeoutFieldNumber = 8,
+    kTcpModeFieldNumber = 9,
   };
   // map<string, string> env = 6 [json_name = "env"];
   int env_size() const;
@@ -8087,6 +8088,15 @@ class ModuleConfig final :
       ::PROTOBUF_NAMESPACE_ID::Duration* first_run_timeout);
   ::PROTOBUF_NAMESPACE_ID::Duration* unsafe_arena_release_first_run_timeout();
 
+  // bool tcp_mode = 9 [json_name = "tcpMode"];
+  void clear_tcp_mode();
+  bool tcp_mode() const;
+  void set_tcp_mode(bool value);
+  private:
+  bool _internal_tcp_mode() const;
+  void _internal_set_tcp_mode(bool value);
+  public:
+
   // @@protoc_insertion_point(class_scope:viam.app.v1.ModuleConfig)
  private:
   class _Internal;
@@ -8106,6 +8116,7 @@ class ModuleConfig final :
   ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr module_id_;
   ::viam::app::v1::AppValidationStatus* status_;
   ::PROTOBUF_NAMESPACE_ID::Duration* first_run_timeout_;
+  bool tcp_mode_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_app_2fv1_2frobot_2eproto;
 };
@@ -16747,6 +16758,26 @@ inline void ModuleConfig::set_allocated_first_run_timeout(::PROTOBUF_NAMESPACE_I
   // @@protoc_insertion_point(field_set_allocated:viam.app.v1.ModuleConfig.first_run_timeout)
 }
 
+// bool tcp_mode = 9 [json_name = "tcpMode"];
+inline void ModuleConfig::clear_tcp_mode() {
+  tcp_mode_ = false;
+}
+inline bool ModuleConfig::_internal_tcp_mode() const {
+  return tcp_mode_;
+}
+inline bool ModuleConfig::tcp_mode() const {
+  // @@protoc_insertion_point(field_get:viam.app.v1.ModuleConfig.tcp_mode)
+  return _internal_tcp_mode();
+}
+inline void ModuleConfig::_internal_set_tcp_mode(bool value) {
+  
+  tcp_mode_ = value;
+}
+inline void ModuleConfig::set_tcp_mode(bool value) {
+  _internal_set_tcp_mode(value);
+  // @@protoc_insertion_point(field_set:viam.app.v1.ModuleConfig.tcp_mode)
+}
+
 // -------------------------------------------------------------------
 
 // PackageConfig
diff --git a/src/viam/api/buf.lock b/src/viam/api/buf.lock
index 3a4855441..aa45bee8b 100644
--- a/src/viam/api/buf.lock
+++ b/src/viam/api/buf.lock
@@ -8,7 +8,7 @@ deps:
   - remote: buf.build
     owner: viamrobotics
     repository: api
-    commit: 75616646eb1f402a83301af8b055a29d
+    commit: 3117150844c14d53949787503b2fc9c5
   - remote: buf.build
     owner: viamrobotics
     repository: goutils
diff --git a/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc b/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc
index eeda92e71..6d36466ef 100644
--- a/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc
+++ b/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc
@@ -29,6 +29,7 @@ static const char* GripperService_method_names[] = {
   "/viam.component.gripper.v1.GripperService/Grab",
   "/viam.component.gripper.v1.GripperService/Stop",
   "/viam.component.gripper.v1.GripperService/IsMoving",
+  "/viam.component.gripper.v1.GripperService/IsHoldingSomething",
   "/viam.component.gripper.v1.GripperService/DoCommand",
   "/viam.component.gripper.v1.GripperService/GetGeometries",
   "/viam.component.gripper.v1.GripperService/GetKinematics",
@@ -45,9 +46,10 @@ GripperService::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& cha
   , rpcmethod_Grab_(GripperService_method_names[1], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_Stop_(GripperService_method_names[2], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_IsMoving_(GripperService_method_names[3], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_DoCommand_(GripperService_method_names[4], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_GetGeometries_(GripperService_method_names[5], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
-  , rpcmethod_GetKinematics_(GripperService_method_names[6], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_IsHoldingSomething_(GripperService_method_names[4], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_DoCommand_(GripperService_method_names[5], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetGeometries_(GripperService_method_names[6], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetKinematics_(GripperService_method_names[7], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   {}
 
 ::grpc::Status GripperService::Stub::Open(::grpc::ClientContext* context, const ::viam::component::gripper::v1::OpenRequest& request, ::viam::component::gripper::v1::OpenResponse* response) {
@@ -162,6 +164,34 @@ ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsMovingRespo
   return ::grpc_impl::internal::ClientAsyncResponseReaderFactory< ::viam::component::gripper::v1::IsMovingResponse>::Create(channel_.get(), cq, rpcmethod_IsMoving_, context, request, false);
 }
 
+::grpc::Status GripperService::Stub::IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall(channel_.get(), rpcmethod_IsHoldingSomething_, context, request, response);
+}
+
+void GripperService::Stub::experimental_async::IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc_impl::internal::CallbackUnaryCall(stub_->channel_.get(), stub_->rpcmethod_IsHoldingSomething_, context, request, response, std::move(f));
+}
+
+void GripperService::Stub::experimental_async::IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc_impl::internal::CallbackUnaryCall(stub_->channel_.get(), stub_->rpcmethod_IsHoldingSomething_, context, request, response, std::move(f));
+}
+
+void GripperService::Stub::experimental_async::IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc_impl::internal::ClientCallbackUnaryFactory::Create(stub_->channel_.get(), stub_->rpcmethod_IsHoldingSomething_, context, request, response, reactor);
+}
+
+void GripperService::Stub::experimental_async::IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc_impl::internal::ClientCallbackUnaryFactory::Create(stub_->channel_.get(), stub_->rpcmethod_IsHoldingSomething_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* GripperService::Stub::AsyncIsHoldingSomethingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc_impl::internal::ClientAsyncResponseReaderFactory< ::viam::component::gripper::v1::IsHoldingSomethingResponse>::Create(channel_.get(), cq, rpcmethod_IsHoldingSomething_, context, request, true);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* GripperService::Stub::PrepareAsyncIsHoldingSomethingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc_impl::internal::ClientAsyncResponseReaderFactory< ::viam::component::gripper::v1::IsHoldingSomethingResponse>::Create(channel_.get(), cq, rpcmethod_IsHoldingSomething_, context, request, false);
+}
+
 ::grpc::Status GripperService::Stub::DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::viam::common::v1::DoCommandResponse* response) {
   return ::grpc::internal::BlockingUnaryCall(channel_.get(), rpcmethod_DoCommand_, context, request, response);
 }
@@ -290,6 +320,16 @@ GripperService::Service::Service() {
   AddMethod(new ::grpc::internal::RpcServiceMethod(
       GripperService_method_names[4],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< GripperService::Service, ::viam::component::gripper::v1::IsHoldingSomethingRequest, ::viam::component::gripper::v1::IsHoldingSomethingResponse>(
+          [](GripperService::Service* service,
+             ::grpc_impl::ServerContext* ctx,
+             const ::viam::component::gripper::v1::IsHoldingSomethingRequest* req,
+             ::viam::component::gripper::v1::IsHoldingSomethingResponse* resp) {
+               return service->IsHoldingSomething(ctx, req, resp);
+             }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      GripperService_method_names[5],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< GripperService::Service, ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>(
           [](GripperService::Service* service,
              ::grpc_impl::ServerContext* ctx,
@@ -298,7 +338,7 @@ GripperService::Service::Service() {
                return service->DoCommand(ctx, req, resp);
              }, this)));
   AddMethod(new ::grpc::internal::RpcServiceMethod(
-      GripperService_method_names[5],
+      GripperService_method_names[6],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< GripperService::Service, ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>(
           [](GripperService::Service* service,
@@ -308,7 +348,7 @@ GripperService::Service::Service() {
                return service->GetGeometries(ctx, req, resp);
              }, this)));
   AddMethod(new ::grpc::internal::RpcServiceMethod(
-      GripperService_method_names[6],
+      GripperService_method_names[7],
       ::grpc::internal::RpcMethod::NORMAL_RPC,
       new ::grpc::internal::RpcMethodHandler< GripperService::Service, ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>(
           [](GripperService::Service* service,
@@ -350,6 +390,13 @@ ::grpc::Status GripperService::Service::IsMoving(::grpc::ServerContext* context,
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status GripperService::Service::IsHoldingSomething(::grpc::ServerContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 ::grpc::Status GripperService::Service::DoCommand(::grpc::ServerContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response) {
   (void) context;
   (void) request;
diff --git a/src/viam/api/component/gripper/v1/gripper.grpc.pb.h b/src/viam/api/component/gripper/v1/gripper.grpc.pb.h
index 3c8c9515f..8ce1b7185 100644
--- a/src/viam/api/component/gripper/v1/gripper.grpc.pb.h
+++ b/src/viam/api/component/gripper/v1/gripper.grpc.pb.h
@@ -72,6 +72,14 @@ class GripperService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsMovingResponse>> PrepareAsyncIsMoving(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsMovingRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsMovingResponse>>(PrepareAsyncIsMovingRaw(context, request, cq));
     }
+    // IsHoldingSomething returns whether the gripper is currently holding onto an object
+    virtual ::grpc::Status IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsHoldingSomethingResponse>> AsyncIsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsHoldingSomethingResponse>>(AsyncIsHoldingSomethingRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsHoldingSomethingResponse>> PrepareAsyncIsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsHoldingSomethingResponse>>(PrepareAsyncIsHoldingSomethingRaw(context, request, cq));
+    }
     // DoCommand sends/receives arbitrary commands
     virtual ::grpc::Status DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::viam::common::v1::DoCommandResponse* response) = 0;
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>> AsyncDoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) {
@@ -151,6 +159,19 @@ class GripperService final {
       #else
       virtual void IsMoving(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsMovingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
       #endif
+      // IsHoldingSomething returns whether the gripper is currently holding onto an object
+      virtual void IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
       // DoCommand sends/receives arbitrary commands
       virtual void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, std::function<void(::grpc::Status)>) = 0;
       virtual void DoCommand(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::DoCommandResponse* response, std::function<void(::grpc::Status)>) = 0;
@@ -207,6 +228,8 @@ class GripperService final {
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::StopResponse>* PrepareAsyncStopRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::StopRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsMovingResponse>* AsyncIsMovingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsMovingRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsMovingResponse>* PrepareAsyncIsMovingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsMovingRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* AsyncIsHoldingSomethingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* PrepareAsyncIsHoldingSomethingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>* AsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>* AsyncGetGeometriesRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) = 0;
@@ -245,6 +268,13 @@ class GripperService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsMovingResponse>> PrepareAsyncIsMoving(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsMovingRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsMovingResponse>>(PrepareAsyncIsMovingRaw(context, request, cq));
     }
+    ::grpc::Status IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>> AsyncIsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>>(AsyncIsHoldingSomethingRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>> PrepareAsyncIsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>>(PrepareAsyncIsHoldingSomethingRaw(context, request, cq));
+    }
     ::grpc::Status DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::viam::common::v1::DoCommandResponse* response) override;
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>> AsyncDoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>>(AsyncDoCommandRaw(context, request, cq));
@@ -317,6 +347,18 @@ class GripperService final {
       #else
       void IsMoving(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsMovingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
       #endif
+      void IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, std::function<void(::grpc::Status)>) override;
+      void IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void IsHoldingSomething(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void IsHoldingSomething(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
       void DoCommand(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response, std::function<void(::grpc::Status)>) override;
       void DoCommand(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::DoCommandResponse* response, std::function<void(::grpc::Status)>) override;
       #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -372,6 +414,8 @@ class GripperService final {
     ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::StopResponse>* PrepareAsyncStopRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::StopRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsMovingResponse>* AsyncIsMovingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsMovingRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsMovingResponse>* PrepareAsyncIsMovingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsMovingRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* AsyncIsHoldingSomethingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* PrepareAsyncIsHoldingSomethingRaw(::grpc::ClientContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>* AsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetGeometriesResponse>* AsyncGetGeometriesRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) override;
@@ -382,6 +426,7 @@ class GripperService final {
     const ::grpc::internal::RpcMethod rpcmethod_Grab_;
     const ::grpc::internal::RpcMethod rpcmethod_Stop_;
     const ::grpc::internal::RpcMethod rpcmethod_IsMoving_;
+    const ::grpc::internal::RpcMethod rpcmethod_IsHoldingSomething_;
     const ::grpc::internal::RpcMethod rpcmethod_DoCommand_;
     const ::grpc::internal::RpcMethod rpcmethod_GetGeometries_;
     const ::grpc::internal::RpcMethod rpcmethod_GetKinematics_;
@@ -400,6 +445,8 @@ class GripperService final {
     virtual ::grpc::Status Stop(::grpc::ServerContext* context, const ::viam::component::gripper::v1::StopRequest* request, ::viam::component::gripper::v1::StopResponse* response);
     // IsMoving reports if a component is in motion
     virtual ::grpc::Status IsMoving(::grpc::ServerContext* context, const ::viam::component::gripper::v1::IsMovingRequest* request, ::viam::component::gripper::v1::IsMovingResponse* response);
+    // IsHoldingSomething returns whether the gripper is currently holding onto an object
+    virtual ::grpc::Status IsHoldingSomething(::grpc::ServerContext* context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response);
     // DoCommand sends/receives arbitrary commands
     virtual ::grpc::Status DoCommand(::grpc::ServerContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response);
     // GetGeometries returns the geometries of the component in their current configuration
@@ -488,12 +535,32 @@ class GripperService final {
     }
   };
   template <class BaseClass>
+  class WithAsyncMethod_IsHoldingSomething : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_IsHoldingSomething() {
+      ::grpc::Service::MarkMethodAsync(4);
+    }
+    ~WithAsyncMethod_IsHoldingSomething() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsHoldingSomething(::grpc::ServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestIsHoldingSomething(::grpc::ServerContext* context, ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::component::gripper::v1::IsHoldingSomethingResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithAsyncMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_DoCommand() {
-      ::grpc::Service::MarkMethodAsync(4);
+      ::grpc::Service::MarkMethodAsync(5);
     }
     ~WithAsyncMethod_DoCommand() override {
       BaseClassMustBeDerivedFromService(this);
@@ -504,7 +571,7 @@ class GripperService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestDoCommand(::grpc::ServerContext* context, ::viam::common::v1::DoCommandRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::common::v1::DoCommandResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -513,7 +580,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodAsync(5);
+      ::grpc::Service::MarkMethodAsync(6);
     }
     ~WithAsyncMethod_GetGeometries() override {
       BaseClassMustBeDerivedFromService(this);
@@ -524,7 +591,7 @@ class GripperService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetGeometries(::grpc::ServerContext* context, ::viam::common::v1::GetGeometriesRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::common::v1::GetGeometriesResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -533,7 +600,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithAsyncMethod_GetKinematics() {
-      ::grpc::Service::MarkMethodAsync(6);
+      ::grpc::Service::MarkMethodAsync(7);
     }
     ~WithAsyncMethod_GetKinematics() override {
       BaseClassMustBeDerivedFromService(this);
@@ -544,10 +611,10 @@ class GripperService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetKinematics(::grpc::ServerContext* context, ::viam::common::v1::GetKinematicsRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::common::v1::GetKinematicsResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(7, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
-  typedef WithAsyncMethod_Open<WithAsyncMethod_Grab<WithAsyncMethod_Stop<WithAsyncMethod_IsMoving<WithAsyncMethod_DoCommand<WithAsyncMethod_GetGeometries<WithAsyncMethod_GetKinematics<Service > > > > > > > AsyncService;
+  typedef WithAsyncMethod_Open<WithAsyncMethod_Grab<WithAsyncMethod_Stop<WithAsyncMethod_IsMoving<WithAsyncMethod_IsHoldingSomething<WithAsyncMethod_DoCommand<WithAsyncMethod_GetGeometries<WithAsyncMethod_GetKinematics<Service > > > > > > > > AsyncService;
   template <class BaseClass>
   class ExperimentalWithCallbackMethod_Open : public BaseClass {
    private:
@@ -737,6 +804,53 @@ class GripperService final {
       { return nullptr; }
   };
   template <class BaseClass>
+  class ExperimentalWithCallbackMethod_IsHoldingSomething : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_IsHoldingSomething() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(4,
+          new ::grpc_impl::internal::CallbackUnaryHandler< ::viam::component::gripper::v1::IsHoldingSomethingRequest, ::viam::component::gripper::v1::IsHoldingSomethingResponse>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request, ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) { return this->IsHoldingSomething(context, request, response); }));}
+    void SetMessageAllocatorFor_IsHoldingSomething(
+        ::grpc::experimental::MessageAllocator< ::viam::component::gripper::v1::IsHoldingSomethingRequest, ::viam::component::gripper::v1::IsHoldingSomethingResponse>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(4);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(4);
+    #endif
+      static_cast<::grpc_impl::internal::CallbackUnaryHandler< ::viam::component::gripper::v1::IsHoldingSomethingRequest, ::viam::component::gripper::v1::IsHoldingSomethingResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_IsHoldingSomething() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsHoldingSomething(::grpc::ServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* IsHoldingSomething(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* IsHoldingSomething(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
   class ExperimentalWithCallbackMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -747,7 +861,7 @@ class GripperService final {
     #else
       ::grpc::Service::experimental().
     #endif
-        MarkMethodCallback(4,
+        MarkMethodCallback(5,
           new ::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>(
             [this](
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -759,9 +873,9 @@ class GripperService final {
     void SetMessageAllocatorFor_DoCommand(
         ::grpc::experimental::MessageAllocator< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>* allocator) {
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(4);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(5);
     #else
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(4);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(5);
     #endif
       static_cast<::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>*>(handler)
               ->SetMessageAllocator(allocator);
@@ -794,7 +908,7 @@ class GripperService final {
     #else
       ::grpc::Service::experimental().
     #endif
-        MarkMethodCallback(5,
+        MarkMethodCallback(6,
           new ::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>(
             [this](
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -806,9 +920,9 @@ class GripperService final {
     void SetMessageAllocatorFor_GetGeometries(
         ::grpc::experimental::MessageAllocator< ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>* allocator) {
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(5);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(6);
     #else
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(5);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(6);
     #endif
       static_cast<::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>*>(handler)
               ->SetMessageAllocator(allocator);
@@ -841,7 +955,7 @@ class GripperService final {
     #else
       ::grpc::Service::experimental().
     #endif
-        MarkMethodCallback(6,
+        MarkMethodCallback(7,
           new ::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>(
             [this](
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -853,9 +967,9 @@ class GripperService final {
     void SetMessageAllocatorFor_GetKinematics(
         ::grpc::experimental::MessageAllocator< ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>* allocator) {
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(6);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(7);
     #else
-      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(6);
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(7);
     #endif
       static_cast<::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>*>(handler)
               ->SetMessageAllocator(allocator);
@@ -878,10 +992,10 @@ class GripperService final {
       { return nullptr; }
   };
   #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
-  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<ExperimentalWithCallbackMethod_GetKinematics<Service > > > > > > > CallbackService;
+  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_IsHoldingSomething<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<ExperimentalWithCallbackMethod_GetKinematics<Service > > > > > > > > CallbackService;
   #endif
 
-  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<ExperimentalWithCallbackMethod_GetKinematics<Service > > > > > > > ExperimentalCallbackService;
+  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_IsHoldingSomething<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<ExperimentalWithCallbackMethod_GetKinematics<Service > > > > > > > > ExperimentalCallbackService;
   template <class BaseClass>
   class WithGenericMethod_Open : public BaseClass {
    private:
@@ -951,12 +1065,29 @@ class GripperService final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_IsHoldingSomething : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_IsHoldingSomething() {
+      ::grpc::Service::MarkMethodGeneric(4);
+    }
+    ~WithGenericMethod_IsHoldingSomething() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsHoldingSomething(::grpc::ServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithGenericMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_DoCommand() {
-      ::grpc::Service::MarkMethodGeneric(4);
+      ::grpc::Service::MarkMethodGeneric(5);
     }
     ~WithGenericMethod_DoCommand() override {
       BaseClassMustBeDerivedFromService(this);
@@ -973,7 +1104,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodGeneric(5);
+      ::grpc::Service::MarkMethodGeneric(6);
     }
     ~WithGenericMethod_GetGeometries() override {
       BaseClassMustBeDerivedFromService(this);
@@ -990,7 +1121,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithGenericMethod_GetKinematics() {
-      ::grpc::Service::MarkMethodGeneric(6);
+      ::grpc::Service::MarkMethodGeneric(7);
     }
     ~WithGenericMethod_GetKinematics() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1082,12 +1213,32 @@ class GripperService final {
     }
   };
   template <class BaseClass>
+  class WithRawMethod_IsHoldingSomething : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_IsHoldingSomething() {
+      ::grpc::Service::MarkMethodRaw(4);
+    }
+    ~WithRawMethod_IsHoldingSomething() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsHoldingSomething(::grpc::ServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestIsHoldingSomething(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class WithRawMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_DoCommand() {
-      ::grpc::Service::MarkMethodRaw(4);
+      ::grpc::Service::MarkMethodRaw(5);
     }
     ~WithRawMethod_DoCommand() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1098,7 +1249,7 @@ class GripperService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestDoCommand(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(4, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -1107,7 +1258,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodRaw(5);
+      ::grpc::Service::MarkMethodRaw(6);
     }
     ~WithRawMethod_GetGeometries() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1118,7 +1269,7 @@ class GripperService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetGeometries(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -1127,7 +1278,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithRawMethod_GetKinematics() {
-      ::grpc::Service::MarkMethodRaw(6);
+      ::grpc::Service::MarkMethodRaw(7);
     }
     ~WithRawMethod_GetKinematics() override {
       BaseClassMustBeDerivedFromService(this);
@@ -1138,7 +1289,7 @@ class GripperService final {
       return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
     }
     void RequestGetKinematics(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
-      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
+      ::grpc::Service::RequestAsyncUnary(7, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
   template <class BaseClass>
@@ -1294,6 +1445,44 @@ class GripperService final {
       { return nullptr; }
   };
   template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_IsHoldingSomething : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_IsHoldingSomething() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(4,
+          new ::grpc_impl::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->IsHoldingSomething(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_IsHoldingSomething() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status IsHoldingSomething(::grpc::ServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* IsHoldingSomething(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* IsHoldingSomething(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
   class ExperimentalWithRawCallbackMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -1304,7 +1493,7 @@ class GripperService final {
     #else
       ::grpc::Service::experimental().
     #endif
-        MarkMethodRawCallback(4,
+        MarkMethodRawCallback(5,
           new ::grpc_impl::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -1342,7 +1531,7 @@ class GripperService final {
     #else
       ::grpc::Service::experimental().
     #endif
-        MarkMethodRawCallback(5,
+        MarkMethodRawCallback(6,
           new ::grpc_impl::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -1380,7 +1569,7 @@ class GripperService final {
     #else
       ::grpc::Service::experimental().
     #endif
-        MarkMethodRawCallback(6,
+        MarkMethodRawCallback(7,
           new ::grpc_impl::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
             [this](
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
@@ -1516,12 +1705,39 @@ class GripperService final {
     virtual ::grpc::Status StreamedIsMoving(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::component::gripper::v1::IsMovingRequest,::viam::component::gripper::v1::IsMovingResponse>* server_unary_streamer) = 0;
   };
   template <class BaseClass>
+  class WithStreamedUnaryMethod_IsHoldingSomething : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_IsHoldingSomething() {
+      ::grpc::Service::MarkMethodStreamed(4,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::component::gripper::v1::IsHoldingSomethingRequest, ::viam::component::gripper::v1::IsHoldingSomethingResponse>(
+            [this](::grpc_impl::ServerContext* context,
+                   ::grpc_impl::ServerUnaryStreamer<
+                     ::viam::component::gripper::v1::IsHoldingSomethingRequest, ::viam::component::gripper::v1::IsHoldingSomethingResponse>* streamer) {
+                       return this->StreamedIsHoldingSomething(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_IsHoldingSomething() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status IsHoldingSomething(::grpc::ServerContext* /*context*/, const ::viam::component::gripper::v1::IsHoldingSomethingRequest* /*request*/, ::viam::component::gripper::v1::IsHoldingSomethingResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedIsHoldingSomething(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::component::gripper::v1::IsHoldingSomethingRequest,::viam::component::gripper::v1::IsHoldingSomethingResponse>* server_unary_streamer) = 0;
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_DoCommand : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_DoCommand() {
-      ::grpc::Service::MarkMethodStreamed(4,
+      ::grpc::Service::MarkMethodStreamed(5,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::common::v1::DoCommandRequest, ::viam::common::v1::DoCommandResponse>(
             [this](::grpc_impl::ServerContext* context,
@@ -1548,7 +1764,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_GetGeometries() {
-      ::grpc::Service::MarkMethodStreamed(5,
+      ::grpc::Service::MarkMethodStreamed(6,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::common::v1::GetGeometriesRequest, ::viam::common::v1::GetGeometriesResponse>(
             [this](::grpc_impl::ServerContext* context,
@@ -1575,7 +1791,7 @@ class GripperService final {
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
    public:
     WithStreamedUnaryMethod_GetKinematics() {
-      ::grpc::Service::MarkMethodStreamed(6,
+      ::grpc::Service::MarkMethodStreamed(7,
         new ::grpc::internal::StreamedUnaryHandler<
           ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>(
             [this](::grpc_impl::ServerContext* context,
@@ -1596,9 +1812,9 @@ class GripperService final {
     // replace default version of method with streamed unary
     virtual ::grpc::Status StreamedGetKinematics(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::common::v1::GetKinematicsRequest,::viam::common::v1::GetKinematicsResponse>* server_unary_streamer) = 0;
   };
-  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<WithStreamedUnaryMethod_GetKinematics<Service > > > > > > > StreamedUnaryService;
+  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_IsHoldingSomething<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<WithStreamedUnaryMethod_GetKinematics<Service > > > > > > > > StreamedUnaryService;
   typedef Service SplitStreamedService;
-  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<WithStreamedUnaryMethod_GetKinematics<Service > > > > > > > StreamedService;
+  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_IsHoldingSomething<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<WithStreamedUnaryMethod_GetKinematics<Service > > > > > > > > StreamedService;
 };
 
 }  // namespace v1
diff --git a/src/viam/api/component/gripper/v1/gripper.pb.cc b/src/viam/api/component/gripper/v1/gripper.pb.cc
index c20f80a16..b7e2d400d 100644
--- a/src/viam/api/component/gripper/v1/gripper.pb.cc
+++ b/src/viam/api/component/gripper/v1/gripper.pb.cc
@@ -122,11 +122,37 @@ struct IsMovingResponseDefaultTypeInternal {
   };
 };
 PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 IsMovingResponseDefaultTypeInternal _IsMovingResponse_default_instance_;
+PROTOBUF_CONSTEXPR IsHoldingSomethingRequest::IsHoldingSomethingRequest(
+    ::_pbi::ConstantInitialized)
+  : name_(&::_pbi::fixed_address_empty_string, ::_pbi::ConstantInitialized{})
+  , extra_(nullptr){}
+struct IsHoldingSomethingRequestDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR IsHoldingSomethingRequestDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~IsHoldingSomethingRequestDefaultTypeInternal() {}
+  union {
+    IsHoldingSomethingRequest _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 IsHoldingSomethingRequestDefaultTypeInternal _IsHoldingSomethingRequest_default_instance_;
+PROTOBUF_CONSTEXPR IsHoldingSomethingResponse::IsHoldingSomethingResponse(
+    ::_pbi::ConstantInitialized)
+  : meta_(nullptr)
+  , is_holding_something_(false){}
+struct IsHoldingSomethingResponseDefaultTypeInternal {
+  PROTOBUF_CONSTEXPR IsHoldingSomethingResponseDefaultTypeInternal()
+      : _instance(::_pbi::ConstantInitialized{}) {}
+  ~IsHoldingSomethingResponseDefaultTypeInternal() {}
+  union {
+    IsHoldingSomethingResponse _instance;
+  };
+};
+PROTOBUF_ATTRIBUTE_NO_DESTROY PROTOBUF_CONSTINIT PROTOBUF_ATTRIBUTE_INIT_PRIORITY1 IsHoldingSomethingResponseDefaultTypeInternal _IsHoldingSomethingResponse_default_instance_;
 }  // namespace v1
 }  // namespace gripper
 }  // namespace component
 }  // namespace viam
-static ::_pb::Metadata file_level_metadata_component_2fgripper_2fv1_2fgripper_2eproto[8];
+static ::_pb::Metadata file_level_metadata_component_2fgripper_2fv1_2fgripper_2eproto[10];
 static constexpr ::_pb::EnumDescriptor const** file_level_enum_descriptors_component_2fgripper_2fv1_2fgripper_2eproto = nullptr;
 static constexpr ::_pb::ServiceDescriptor const** file_level_service_descriptors_component_2fgripper_2fv1_2fgripper_2eproto = nullptr;
 
@@ -189,6 +215,22 @@ const uint32_t TableStruct_component_2fgripper_2fv1_2fgripper_2eproto::offsets[]
   ~0u,  // no _weak_field_map_
   ~0u,  // no _inlined_string_donated_
   PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsMovingResponse, is_moving_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsHoldingSomethingRequest, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsHoldingSomethingRequest, name_),
+  PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsHoldingSomethingRequest, extra_),
+  ~0u,  // no _has_bits_
+  PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsHoldingSomethingResponse, _internal_metadata_),
+  ~0u,  // no _extensions_
+  ~0u,  // no _oneof_case_
+  ~0u,  // no _weak_field_map_
+  ~0u,  // no _inlined_string_donated_
+  PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsHoldingSomethingResponse, is_holding_something_),
+  PROTOBUF_FIELD_OFFSET(::viam::component::gripper::v1::IsHoldingSomethingResponse, meta_),
 };
 static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) = {
   { 0, -1, -1, sizeof(::viam::component::gripper::v1::OpenRequest)},
@@ -199,6 +241,8 @@ static const ::_pbi::MigrationSchema schemas[] PROTOBUF_SECTION_VARIABLE(protode
   { 38, -1, -1, sizeof(::viam::component::gripper::v1::StopResponse)},
   { 44, -1, -1, sizeof(::viam::component::gripper::v1::IsMovingRequest)},
   { 51, -1, -1, sizeof(::viam::component::gripper::v1::IsMovingResponse)},
+  { 58, -1, -1, sizeof(::viam::component::gripper::v1::IsHoldingSomethingRequest)},
+  { 66, -1, -1, sizeof(::viam::component::gripper::v1::IsHoldingSomethingResponse)},
 };
 
 static const ::_pb::Message* const file_default_instances[] = {
@@ -210,6 +254,8 @@ static const ::_pb::Message* const file_default_instances[] = {
   &::viam::component::gripper::v1::_StopResponse_default_instance_._instance,
   &::viam::component::gripper::v1::_IsMovingRequest_default_instance_._instance,
   &::viam::component::gripper::v1::_IsMovingResponse_default_instance_._instance,
+  &::viam::component::gripper::v1::_IsHoldingSomethingRequest_default_instance_._instance,
+  &::viam::component::gripper::v1::_IsHoldingSomethingResponse_default_instance_._instance,
 };
 
 const char descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto[] PROTOBUF_SECTION_VARIABLE(protodesc_cold) =
@@ -228,35 +274,46 @@ const char descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto[
   "obuf.StructR\005extra\"\016\n\014StopResponse\"%\n\017Is"
   "MovingRequest\022\022\n\004name\030\001 \001(\tR\004name\"/\n\020IsM"
   "ovingResponse\022\033\n\tis_moving\030\001 \001(\010R\010isMovi"
-  "ng2\240\010\n\016GripperService\022\217\001\n\004Open\022&.viam.co"
-  "mponent.gripper.v1.OpenRequest\032\'.viam.co"
-  "mponent.gripper.v1.OpenResponse\"6\240\222)\001\202\323\344"
-  "\223\002,\032*/viam/api/v1/component/gripper/{nam"
-  "e}/open\022\217\001\n\004Grab\022&.viam.component.grippe"
-  "r.v1.GrabRequest\032\'.viam.component.grippe"
-  "r.v1.GrabResponse\"6\240\222)\001\202\323\344\223\002,\032*/viam/api"
-  "/v1/component/gripper/{name}/grab\022\213\001\n\004St"
-  "op\022&.viam.component.gripper.v1.StopReque"
-  "st\032\'.viam.component.gripper.v1.StopRespo"
-  "nse\"2\202\323\344\223\002,\"*/viam/api/v1/component/grip"
-  "per/{name}/stop\022\234\001\n\010IsMoving\022*.viam.comp"
-  "onent.gripper.v1.IsMovingRequest\032+.viam."
-  "component.gripper.v1.IsMovingResponse\"7\202"
-  "\323\344\223\0021\022//viam/api/v1/component/gripper/{n"
-  "ame}/is_moving\022\212\001\n\tDoCommand\022 .viam.comm"
-  "on.v1.DoCommandRequest\032!.viam.common.v1."
-  "DoCommandResponse\"8\202\323\344\223\0022\"0/viam/api/v1/"
-  "component/gripper/{name}/do_command\022\226\001\n\r"
-  "GetGeometries\022$.viam.common.v1.GetGeomet"
-  "riesRequest\032%.viam.common.v1.GetGeometri"
-  "esResponse\"8\202\323\344\223\0022\0220/viam/api/v1/compone"
-  "nt/gripper/{name}/geometries\022\226\001\n\rGetKine"
-  "matics\022$.viam.common.v1.GetKinematicsReq"
-  "uest\032%.viam.common.v1.GetKinematicsRespo"
-  "nse\"8\202\323\344\223\0022\0220/viam/api/v1/component/grip"
-  "per/{name}/kinematicsBE\n\035com.viam.compon"
-  "ent.gripper.v1Z$go.viam.com/api/componen"
-  "t/gripper/v1b\006proto3"
+  "ng\"^\n\031IsHoldingSomethingRequest\022\022\n\004name\030"
+  "\001 \001(\tR\004name\022-\n\005extra\030c \001(\0132\027.google.prot"
+  "obuf.StructR\005extra\"{\n\032IsHoldingSomething"
+  "Response\0220\n\024is_holding_something\030\001 \001(\010R\022"
+  "isHoldingSomething\022+\n\004meta\030c \001(\0132\027.googl"
+  "e.protobuf.StructR\004meta2\350\t\n\016GripperServi"
+  "ce\022\217\001\n\004Open\022&.viam.component.gripper.v1."
+  "OpenRequest\032\'.viam.component.gripper.v1."
+  "OpenResponse\"6\240\222)\001\202\323\344\223\002,\032*/viam/api/v1/c"
+  "omponent/gripper/{name}/open\022\217\001\n\004Grab\022&."
+  "viam.component.gripper.v1.GrabRequest\032\'."
+  "viam.component.gripper.v1.GrabResponse\"6"
+  "\240\222)\001\202\323\344\223\002,\032*/viam/api/v1/component/gripp"
+  "er/{name}/grab\022\213\001\n\004Stop\022&.viam.component"
+  ".gripper.v1.StopRequest\032\'.viam.component"
+  ".gripper.v1.StopResponse\"2\202\323\344\223\002,\"*/viam/"
+  "api/v1/component/gripper/{name}/stop\022\234\001\n"
+  "\010IsMoving\022*.viam.component.gripper.v1.Is"
+  "MovingRequest\032+.viam.component.gripper.v"
+  "1.IsMovingResponse\"7\202\323\344\223\0021\022//viam/api/v1"
+  "/component/gripper/{name}/is_moving\022\305\001\n\022"
+  "IsHoldingSomething\0224.viam.component.grip"
+  "per.v1.IsHoldingSomethingRequest\0325.viam."
+  "component.gripper.v1.IsHoldingSomethingR"
+  "esponse\"B\202\323\344\223\002<\022:/viam/api/v1/component/"
+  "gripper/{name}/is_holding_something\022\212\001\n\t"
+  "DoCommand\022 .viam.common.v1.DoCommandRequ"
+  "est\032!.viam.common.v1.DoCommandResponse\"8"
+  "\202\323\344\223\0022\"0/viam/api/v1/component/gripper/{"
+  "name}/do_command\022\226\001\n\rGetGeometries\022$.via"
+  "m.common.v1.GetGeometriesRequest\032%.viam."
+  "common.v1.GetGeometriesResponse\"8\202\323\344\223\0022\022"
+  "0/viam/api/v1/component/gripper/{name}/g"
+  "eometries\022\226\001\n\rGetKinematics\022$.viam.commo"
+  "n.v1.GetKinematicsRequest\032%.viam.common."
+  "v1.GetKinematicsResponse\"8\202\323\344\223\0022\0220/viam/"
+  "api/v1/component/gripper/{name}/kinemati"
+  "csBE\n\035com.viam.component.gripper.v1Z$go."
+  "viam.com/api/component/gripper/v1b\006proto"
+  "3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_deps[3] = {
   &::descriptor_table_common_2fv1_2fcommon_2eproto,
@@ -265,9 +322,9 @@ static const ::_pbi::DescriptorTable* const descriptor_table_component_2fgripper
 };
 static ::_pbi::once_flag descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto = {
-    false, false, 1740, descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto,
+    false, false, 2161, descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto,
     "component/gripper/v1/gripper.proto",
-    &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once, descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_deps, 3, 8,
+    &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once, descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_deps, 3, 10,
     schemas, file_default_instances, TableStruct_component_2fgripper_2fv1_2fgripper_2eproto::offsets,
     file_level_metadata_component_2fgripper_2fv1_2fgripper_2eproto, file_level_enum_descriptors_component_2fgripper_2fv1_2fgripper_2eproto,
     file_level_service_descriptors_component_2fgripper_2fv1_2fgripper_2eproto,
@@ -1681,6 +1738,474 @@ ::PROTOBUF_NAMESPACE_ID::Metadata IsMovingResponse::GetMetadata() const {
       file_level_metadata_component_2fgripper_2fv1_2fgripper_2eproto[7]);
 }
 
+// ===================================================================
+
+class IsHoldingSomethingRequest::_Internal {
+ public:
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& extra(const IsHoldingSomethingRequest* msg);
+};
+
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+IsHoldingSomethingRequest::_Internal::extra(const IsHoldingSomethingRequest* msg) {
+  return *msg->extra_;
+}
+void IsHoldingSomethingRequest::clear_extra() {
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+}
+IsHoldingSomethingRequest::IsHoldingSomethingRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.component.gripper.v1.IsHoldingSomethingRequest)
+}
+IsHoldingSomethingRequest::IsHoldingSomethingRequest(const IsHoldingSomethingRequest& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  name_.InitDefault();
+  #ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+    name_.Set("", GetArenaForAllocation());
+  #endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (!from._internal_name().empty()) {
+    name_.Set(from._internal_name(), 
+      GetArenaForAllocation());
+  }
+  if (from._internal_has_extra()) {
+    extra_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.extra_);
+  } else {
+    extra_ = nullptr;
+  }
+  // @@protoc_insertion_point(copy_constructor:viam.component.gripper.v1.IsHoldingSomethingRequest)
+}
+
+inline void IsHoldingSomethingRequest::SharedCtor() {
+name_.InitDefault();
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  name_.Set("", GetArenaForAllocation());
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+extra_ = nullptr;
+}
+
+IsHoldingSomethingRequest::~IsHoldingSomethingRequest() {
+  // @@protoc_insertion_point(destructor:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void IsHoldingSomethingRequest::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  name_.Destroy();
+  if (this != internal_default_instance()) delete extra_;
+}
+
+void IsHoldingSomethingRequest::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void IsHoldingSomethingRequest::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  name_.ClearToEmpty();
+  if (GetArenaForAllocation() == nullptr && extra_ != nullptr) {
+    delete extra_;
+  }
+  extra_ = nullptr;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* IsHoldingSomethingRequest::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // string name = 1 [json_name = "name"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 10)) {
+          auto str = _internal_mutable_name();
+          ptr = ::_pbi::InlineGreedyStringParser(str, ptr, ctx);
+          CHK_(ptr);
+          CHK_(::_pbi::VerifyUTF8(str, "viam.component.gripper.v1.IsHoldingSomethingRequest.name"));
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_extra(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* IsHoldingSomethingRequest::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::VerifyUtf8String(
+      this->_internal_name().data(), static_cast<int>(this->_internal_name().length()),
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::SERIALIZE,
+      "viam.component.gripper.v1.IsHoldingSomethingRequest.name");
+    target = stream->WriteStringMaybeAliased(
+        1, this->_internal_name(), target);
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::extra(this),
+        _Internal::extra(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  return target;
+}
+
+size_t IsHoldingSomethingRequest::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // string name = 1 [json_name = "name"];
+  if (!this->_internal_name().empty()) {
+    total_size += 1 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::StringSize(
+        this->_internal_name());
+  }
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  if (this->_internal_has_extra()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *extra_);
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData IsHoldingSomethingRequest::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    IsHoldingSomethingRequest::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*IsHoldingSomethingRequest::GetClassData() const { return &_class_data_; }
+
+void IsHoldingSomethingRequest::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<IsHoldingSomethingRequest *>(to)->MergeFrom(
+      static_cast<const IsHoldingSomethingRequest &>(from));
+}
+
+
+void IsHoldingSomethingRequest::MergeFrom(const IsHoldingSomethingRequest& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (!from._internal_name().empty()) {
+    _internal_set_name(from._internal_name());
+  }
+  if (from._internal_has_extra()) {
+    _internal_mutable_extra()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_extra());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void IsHoldingSomethingRequest::CopyFrom(const IsHoldingSomethingRequest& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.component.gripper.v1.IsHoldingSomethingRequest)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool IsHoldingSomethingRequest::IsInitialized() const {
+  return true;
+}
+
+void IsHoldingSomethingRequest::InternalSwap(IsHoldingSomethingRequest* other) {
+  using std::swap;
+  auto* lhs_arena = GetArenaForAllocation();
+  auto* rhs_arena = other->GetArenaForAllocation();
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr::InternalSwap(
+      &name_, lhs_arena,
+      &other->name_, rhs_arena
+  );
+  swap(extra_, other->extra_);
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata IsHoldingSomethingRequest::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_getter, &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once,
+      file_level_metadata_component_2fgripper_2fv1_2fgripper_2eproto[8]);
+}
+
+// ===================================================================
+
+class IsHoldingSomethingResponse::_Internal {
+ public:
+  static const ::PROTOBUF_NAMESPACE_ID::Struct& meta(const IsHoldingSomethingResponse* msg);
+};
+
+const ::PROTOBUF_NAMESPACE_ID::Struct&
+IsHoldingSomethingResponse::_Internal::meta(const IsHoldingSomethingResponse* msg) {
+  return *msg->meta_;
+}
+void IsHoldingSomethingResponse::clear_meta() {
+  if (GetArenaForAllocation() == nullptr && meta_ != nullptr) {
+    delete meta_;
+  }
+  meta_ = nullptr;
+}
+IsHoldingSomethingResponse::IsHoldingSomethingResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                         bool is_message_owned)
+  : ::PROTOBUF_NAMESPACE_ID::Message(arena, is_message_owned) {
+  SharedCtor();
+  // @@protoc_insertion_point(arena_constructor:viam.component.gripper.v1.IsHoldingSomethingResponse)
+}
+IsHoldingSomethingResponse::IsHoldingSomethingResponse(const IsHoldingSomethingResponse& from)
+  : ::PROTOBUF_NAMESPACE_ID::Message() {
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+  if (from._internal_has_meta()) {
+    meta_ = new ::PROTOBUF_NAMESPACE_ID::Struct(*from.meta_);
+  } else {
+    meta_ = nullptr;
+  }
+  is_holding_something_ = from.is_holding_something_;
+  // @@protoc_insertion_point(copy_constructor:viam.component.gripper.v1.IsHoldingSomethingResponse)
+}
+
+inline void IsHoldingSomethingResponse::SharedCtor() {
+::memset(reinterpret_cast<char*>(this) + static_cast<size_t>(
+    reinterpret_cast<char*>(&meta_) - reinterpret_cast<char*>(this)),
+    0, static_cast<size_t>(reinterpret_cast<char*>(&is_holding_something_) -
+    reinterpret_cast<char*>(&meta_)) + sizeof(is_holding_something_));
+}
+
+IsHoldingSomethingResponse::~IsHoldingSomethingResponse() {
+  // @@protoc_insertion_point(destructor:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  if (auto *arena = _internal_metadata_.DeleteReturnArena<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>()) {
+  (void)arena;
+    return;
+  }
+  SharedDtor();
+}
+
+inline void IsHoldingSomethingResponse::SharedDtor() {
+  GOOGLE_DCHECK(GetArenaForAllocation() == nullptr);
+  if (this != internal_default_instance()) delete meta_;
+}
+
+void IsHoldingSomethingResponse::SetCachedSize(int size) const {
+  _cached_size_.Set(size);
+}
+
+void IsHoldingSomethingResponse::Clear() {
+// @@protoc_insertion_point(message_clear_start:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  if (GetArenaForAllocation() == nullptr && meta_ != nullptr) {
+    delete meta_;
+  }
+  meta_ = nullptr;
+  is_holding_something_ = false;
+  _internal_metadata_.Clear<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>();
+}
+
+const char* IsHoldingSomethingResponse::_InternalParse(const char* ptr, ::_pbi::ParseContext* ctx) {
+#define CHK_(x) if (PROTOBUF_PREDICT_FALSE(!(x))) goto failure
+  while (!ctx->Done(&ptr)) {
+    uint32_t tag;
+    ptr = ::_pbi::ReadTag(ptr, &tag);
+    switch (tag >> 3) {
+      // bool is_holding_something = 1 [json_name = "isHoldingSomething"];
+      case 1:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 8)) {
+          is_holding_something_ = ::PROTOBUF_NAMESPACE_ID::internal::ReadVarint64(&ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      // .google.protobuf.Struct meta = 99 [json_name = "meta"];
+      case 99:
+        if (PROTOBUF_PREDICT_TRUE(static_cast<uint8_t>(tag) == 26)) {
+          ptr = ctx->ParseMessage(_internal_mutable_meta(), ptr);
+          CHK_(ptr);
+        } else
+          goto handle_unusual;
+        continue;
+      default:
+        goto handle_unusual;
+    }  // switch
+  handle_unusual:
+    if ((tag == 0) || ((tag & 7) == 4)) {
+      CHK_(ptr);
+      ctx->SetLastTag(tag);
+      goto message_done;
+    }
+    ptr = UnknownFieldParse(
+        tag,
+        _internal_metadata_.mutable_unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(),
+        ptr, ctx);
+    CHK_(ptr != nullptr);
+  }  // while
+message_done:
+  return ptr;
+failure:
+  ptr = nullptr;
+  goto message_done;
+#undef CHK_
+}
+
+uint8_t* IsHoldingSomethingResponse::_InternalSerialize(
+    uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const {
+  // @@protoc_insertion_point(serialize_to_array_start:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  // bool is_holding_something = 1 [json_name = "isHoldingSomething"];
+  if (this->_internal_is_holding_something() != 0) {
+    target = stream->EnsureSpace(target);
+    target = ::_pbi::WireFormatLite::WriteBoolToArray(1, this->_internal_is_holding_something(), target);
+  }
+
+  // .google.protobuf.Struct meta = 99 [json_name = "meta"];
+  if (this->_internal_has_meta()) {
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::
+      InternalWriteMessage(99, _Internal::meta(this),
+        _Internal::meta(this).GetCachedSize(), target, stream);
+  }
+
+  if (PROTOBUF_PREDICT_FALSE(_internal_metadata_.have_unknown_fields())) {
+    target = ::_pbi::WireFormat::InternalSerializeUnknownFieldsToArray(
+        _internal_metadata_.unknown_fields<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(::PROTOBUF_NAMESPACE_ID::UnknownFieldSet::default_instance), target, stream);
+  }
+  // @@protoc_insertion_point(serialize_to_array_end:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  return target;
+}
+
+size_t IsHoldingSomethingResponse::ByteSizeLong() const {
+// @@protoc_insertion_point(message_byte_size_start:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  size_t total_size = 0;
+
+  uint32_t cached_has_bits = 0;
+  // Prevent compiler warnings about cached_has_bits being unused
+  (void) cached_has_bits;
+
+  // .google.protobuf.Struct meta = 99 [json_name = "meta"];
+  if (this->_internal_has_meta()) {
+    total_size += 2 +
+      ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::MessageSize(
+        *meta_);
+  }
+
+  // bool is_holding_something = 1 [json_name = "isHoldingSomething"];
+  if (this->_internal_is_holding_something() != 0) {
+    total_size += 1 + 1;
+  }
+
+  return MaybeComputeUnknownFieldsSize(total_size, &_cached_size_);
+}
+
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData IsHoldingSomethingResponse::_class_data_ = {
+    ::PROTOBUF_NAMESPACE_ID::Message::CopyWithSizeCheck,
+    IsHoldingSomethingResponse::MergeImpl
+};
+const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*IsHoldingSomethingResponse::GetClassData() const { return &_class_data_; }
+
+void IsHoldingSomethingResponse::MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to,
+                      const ::PROTOBUF_NAMESPACE_ID::Message& from) {
+  static_cast<IsHoldingSomethingResponse *>(to)->MergeFrom(
+      static_cast<const IsHoldingSomethingResponse &>(from));
+}
+
+
+void IsHoldingSomethingResponse::MergeFrom(const IsHoldingSomethingResponse& from) {
+// @@protoc_insertion_point(class_specific_merge_from_start:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  GOOGLE_DCHECK_NE(&from, this);
+  uint32_t cached_has_bits = 0;
+  (void) cached_has_bits;
+
+  if (from._internal_has_meta()) {
+    _internal_mutable_meta()->::PROTOBUF_NAMESPACE_ID::Struct::MergeFrom(from._internal_meta());
+  }
+  if (from._internal_is_holding_something() != 0) {
+    _internal_set_is_holding_something(from._internal_is_holding_something());
+  }
+  _internal_metadata_.MergeFrom<::PROTOBUF_NAMESPACE_ID::UnknownFieldSet>(from._internal_metadata_);
+}
+
+void IsHoldingSomethingResponse::CopyFrom(const IsHoldingSomethingResponse& from) {
+// @@protoc_insertion_point(class_specific_copy_from_start:viam.component.gripper.v1.IsHoldingSomethingResponse)
+  if (&from == this) return;
+  Clear();
+  MergeFrom(from);
+}
+
+bool IsHoldingSomethingResponse::IsInitialized() const {
+  return true;
+}
+
+void IsHoldingSomethingResponse::InternalSwap(IsHoldingSomethingResponse* other) {
+  using std::swap;
+  _internal_metadata_.InternalSwap(&other->_internal_metadata_);
+  ::PROTOBUF_NAMESPACE_ID::internal::memswap<
+      PROTOBUF_FIELD_OFFSET(IsHoldingSomethingResponse, is_holding_something_)
+      + sizeof(IsHoldingSomethingResponse::is_holding_something_)
+      - PROTOBUF_FIELD_OFFSET(IsHoldingSomethingResponse, meta_)>(
+          reinterpret_cast<char*>(&meta_),
+          reinterpret_cast<char*>(&other->meta_));
+}
+
+::PROTOBUF_NAMESPACE_ID::Metadata IsHoldingSomethingResponse::GetMetadata() const {
+  return ::_pbi::AssignDescriptors(
+      &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_getter, &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once,
+      file_level_metadata_component_2fgripper_2fv1_2fgripper_2eproto[9]);
+}
+
 // @@protoc_insertion_point(namespace_scope)
 }  // namespace v1
 }  // namespace gripper
@@ -1719,6 +2244,14 @@ template<> PROTOBUF_NOINLINE ::viam::component::gripper::v1::IsMovingResponse*
 Arena::CreateMaybeMessage< ::viam::component::gripper::v1::IsMovingResponse >(Arena* arena) {
   return Arena::CreateMessageInternal< ::viam::component::gripper::v1::IsMovingResponse >(arena);
 }
+template<> PROTOBUF_NOINLINE ::viam::component::gripper::v1::IsHoldingSomethingRequest*
+Arena::CreateMaybeMessage< ::viam::component::gripper::v1::IsHoldingSomethingRequest >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::component::gripper::v1::IsHoldingSomethingRequest >(arena);
+}
+template<> PROTOBUF_NOINLINE ::viam::component::gripper::v1::IsHoldingSomethingResponse*
+Arena::CreateMaybeMessage< ::viam::component::gripper::v1::IsHoldingSomethingResponse >(Arena* arena) {
+  return Arena::CreateMessageInternal< ::viam::component::gripper::v1::IsHoldingSomethingResponse >(arena);
+}
 PROTOBUF_NAMESPACE_CLOSE
 
 // @@protoc_insertion_point(global_scope)
diff --git a/src/viam/api/component/gripper/v1/gripper.pb.h b/src/viam/api/component/gripper/v1/gripper.pb.h
index 40ebf03bb..259d39415 100644
--- a/src/viam/api/component/gripper/v1/gripper.pb.h
+++ b/src/viam/api/component/gripper/v1/gripper.pb.h
@@ -58,6 +58,12 @@ extern GrabRequestDefaultTypeInternal _GrabRequest_default_instance_;
 class GrabResponse;
 struct GrabResponseDefaultTypeInternal;
 extern GrabResponseDefaultTypeInternal _GrabResponse_default_instance_;
+class IsHoldingSomethingRequest;
+struct IsHoldingSomethingRequestDefaultTypeInternal;
+extern IsHoldingSomethingRequestDefaultTypeInternal _IsHoldingSomethingRequest_default_instance_;
+class IsHoldingSomethingResponse;
+struct IsHoldingSomethingResponseDefaultTypeInternal;
+extern IsHoldingSomethingResponseDefaultTypeInternal _IsHoldingSomethingResponse_default_instance_;
 class IsMovingRequest;
 struct IsMovingRequestDefaultTypeInternal;
 extern IsMovingRequestDefaultTypeInternal _IsMovingRequest_default_instance_;
@@ -83,6 +89,8 @@ extern StopResponseDefaultTypeInternal _StopResponse_default_instance_;
 PROTOBUF_NAMESPACE_OPEN
 template<> ::viam::component::gripper::v1::GrabRequest* Arena::CreateMaybeMessage<::viam::component::gripper::v1::GrabRequest>(Arena*);
 template<> ::viam::component::gripper::v1::GrabResponse* Arena::CreateMaybeMessage<::viam::component::gripper::v1::GrabResponse>(Arena*);
+template<> ::viam::component::gripper::v1::IsHoldingSomethingRequest* Arena::CreateMaybeMessage<::viam::component::gripper::v1::IsHoldingSomethingRequest>(Arena*);
+template<> ::viam::component::gripper::v1::IsHoldingSomethingResponse* Arena::CreateMaybeMessage<::viam::component::gripper::v1::IsHoldingSomethingResponse>(Arena*);
 template<> ::viam::component::gripper::v1::IsMovingRequest* Arena::CreateMaybeMessage<::viam::component::gripper::v1::IsMovingRequest>(Arena*);
 template<> ::viam::component::gripper::v1::IsMovingResponse* Arena::CreateMaybeMessage<::viam::component::gripper::v1::IsMovingResponse>(Arena*);
 template<> ::viam::component::gripper::v1::OpenRequest* Arena::CreateMaybeMessage<::viam::component::gripper::v1::OpenRequest>(Arena*);
@@ -1285,6 +1293,337 @@ class IsMovingResponse final :
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_component_2fgripper_2fv1_2fgripper_2eproto;
 };
+// -------------------------------------------------------------------
+
+class IsHoldingSomethingRequest final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.component.gripper.v1.IsHoldingSomethingRequest) */ {
+ public:
+  inline IsHoldingSomethingRequest() : IsHoldingSomethingRequest(nullptr) {}
+  ~IsHoldingSomethingRequest() override;
+  explicit PROTOBUF_CONSTEXPR IsHoldingSomethingRequest(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  IsHoldingSomethingRequest(const IsHoldingSomethingRequest& from);
+  IsHoldingSomethingRequest(IsHoldingSomethingRequest&& from) noexcept
+    : IsHoldingSomethingRequest() {
+    *this = ::std::move(from);
+  }
+
+  inline IsHoldingSomethingRequest& operator=(const IsHoldingSomethingRequest& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline IsHoldingSomethingRequest& operator=(IsHoldingSomethingRequest&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const IsHoldingSomethingRequest& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const IsHoldingSomethingRequest* internal_default_instance() {
+    return reinterpret_cast<const IsHoldingSomethingRequest*>(
+               &_IsHoldingSomethingRequest_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    8;
+
+  friend void swap(IsHoldingSomethingRequest& a, IsHoldingSomethingRequest& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(IsHoldingSomethingRequest* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(IsHoldingSomethingRequest* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  IsHoldingSomethingRequest* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<IsHoldingSomethingRequest>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const IsHoldingSomethingRequest& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const IsHoldingSomethingRequest& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(IsHoldingSomethingRequest* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.component.gripper.v1.IsHoldingSomethingRequest";
+  }
+  protected:
+  explicit IsHoldingSomethingRequest(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kNameFieldNumber = 1,
+    kExtraFieldNumber = 99,
+  };
+  // string name = 1 [json_name = "name"];
+  void clear_name();
+  const std::string& name() const;
+  template <typename ArgT0 = const std::string&, typename... ArgT>
+  void set_name(ArgT0&& arg0, ArgT... args);
+  std::string* mutable_name();
+  PROTOBUF_NODISCARD std::string* release_name();
+  void set_allocated_name(std::string* name);
+  private:
+  const std::string& _internal_name() const;
+  inline PROTOBUF_ALWAYS_INLINE void _internal_set_name(const std::string& value);
+  std::string* _internal_mutable_name();
+  public:
+
+  // .google.protobuf.Struct extra = 99 [json_name = "extra"];
+  bool has_extra() const;
+  private:
+  bool _internal_has_extra() const;
+  public:
+  void clear_extra();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& extra() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_extra();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_extra();
+  void set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_extra() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_extra();
+  public:
+  void unsafe_arena_set_allocated_extra(
+      ::PROTOBUF_NAMESPACE_ID::Struct* extra);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_extra();
+
+  // @@protoc_insertion_point(class_scope:viam.component.gripper.v1.IsHoldingSomethingRequest)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::internal::ArenaStringPtr name_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* extra_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_component_2fgripper_2fv1_2fgripper_2eproto;
+};
+// -------------------------------------------------------------------
+
+class IsHoldingSomethingResponse final :
+    public ::PROTOBUF_NAMESPACE_ID::Message /* @@protoc_insertion_point(class_definition:viam.component.gripper.v1.IsHoldingSomethingResponse) */ {
+ public:
+  inline IsHoldingSomethingResponse() : IsHoldingSomethingResponse(nullptr) {}
+  ~IsHoldingSomethingResponse() override;
+  explicit PROTOBUF_CONSTEXPR IsHoldingSomethingResponse(::PROTOBUF_NAMESPACE_ID::internal::ConstantInitialized);
+
+  IsHoldingSomethingResponse(const IsHoldingSomethingResponse& from);
+  IsHoldingSomethingResponse(IsHoldingSomethingResponse&& from) noexcept
+    : IsHoldingSomethingResponse() {
+    *this = ::std::move(from);
+  }
+
+  inline IsHoldingSomethingResponse& operator=(const IsHoldingSomethingResponse& from) {
+    CopyFrom(from);
+    return *this;
+  }
+  inline IsHoldingSomethingResponse& operator=(IsHoldingSomethingResponse&& from) noexcept {
+    if (this == &from) return *this;
+    if (GetOwningArena() == from.GetOwningArena()
+  #ifdef PROTOBUF_FORCE_COPY_IN_MOVE
+        && GetOwningArena() != nullptr
+  #endif  // !PROTOBUF_FORCE_COPY_IN_MOVE
+    ) {
+      InternalSwap(&from);
+    } else {
+      CopyFrom(from);
+    }
+    return *this;
+  }
+
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* descriptor() {
+    return GetDescriptor();
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Descriptor* GetDescriptor() {
+    return default_instance().GetMetadata().descriptor;
+  }
+  static const ::PROTOBUF_NAMESPACE_ID::Reflection* GetReflection() {
+    return default_instance().GetMetadata().reflection;
+  }
+  static const IsHoldingSomethingResponse& default_instance() {
+    return *internal_default_instance();
+  }
+  static inline const IsHoldingSomethingResponse* internal_default_instance() {
+    return reinterpret_cast<const IsHoldingSomethingResponse*>(
+               &_IsHoldingSomethingResponse_default_instance_);
+  }
+  static constexpr int kIndexInFileMessages =
+    9;
+
+  friend void swap(IsHoldingSomethingResponse& a, IsHoldingSomethingResponse& b) {
+    a.Swap(&b);
+  }
+  inline void Swap(IsHoldingSomethingResponse* other) {
+    if (other == this) return;
+  #ifdef PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() != nullptr &&
+        GetOwningArena() == other->GetOwningArena()) {
+   #else  // PROTOBUF_FORCE_COPY_IN_SWAP
+    if (GetOwningArena() == other->GetOwningArena()) {
+  #endif  // !PROTOBUF_FORCE_COPY_IN_SWAP
+      InternalSwap(other);
+    } else {
+      ::PROTOBUF_NAMESPACE_ID::internal::GenericSwap(this, other);
+    }
+  }
+  void UnsafeArenaSwap(IsHoldingSomethingResponse* other) {
+    if (other == this) return;
+    GOOGLE_DCHECK(GetOwningArena() == other->GetOwningArena());
+    InternalSwap(other);
+  }
+
+  // implements Message ----------------------------------------------
+
+  IsHoldingSomethingResponse* New(::PROTOBUF_NAMESPACE_ID::Arena* arena = nullptr) const final {
+    return CreateMaybeMessage<IsHoldingSomethingResponse>(arena);
+  }
+  using ::PROTOBUF_NAMESPACE_ID::Message::CopyFrom;
+  void CopyFrom(const IsHoldingSomethingResponse& from);
+  using ::PROTOBUF_NAMESPACE_ID::Message::MergeFrom;
+  void MergeFrom(const IsHoldingSomethingResponse& from);
+  private:
+  static void MergeImpl(::PROTOBUF_NAMESPACE_ID::Message* to, const ::PROTOBUF_NAMESPACE_ID::Message& from);
+  public:
+  PROTOBUF_ATTRIBUTE_REINITIALIZES void Clear() final;
+  bool IsInitialized() const final;
+
+  size_t ByteSizeLong() const final;
+  const char* _InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE_ID::internal::ParseContext* ctx) final;
+  uint8_t* _InternalSerialize(
+      uint8_t* target, ::PROTOBUF_NAMESPACE_ID::io::EpsCopyOutputStream* stream) const final;
+  int GetCachedSize() const final { return _cached_size_.Get(); }
+
+  private:
+  void SharedCtor();
+  void SharedDtor();
+  void SetCachedSize(int size) const final;
+  void InternalSwap(IsHoldingSomethingResponse* other);
+
+  private:
+  friend class ::PROTOBUF_NAMESPACE_ID::internal::AnyMetadata;
+  static ::PROTOBUF_NAMESPACE_ID::StringPiece FullMessageName() {
+    return "viam.component.gripper.v1.IsHoldingSomethingResponse";
+  }
+  protected:
+  explicit IsHoldingSomethingResponse(::PROTOBUF_NAMESPACE_ID::Arena* arena,
+                       bool is_message_owned = false);
+  public:
+
+  static const ClassData _class_data_;
+  const ::PROTOBUF_NAMESPACE_ID::Message::ClassData*GetClassData() const final;
+
+  ::PROTOBUF_NAMESPACE_ID::Metadata GetMetadata() const final;
+
+  // nested types ----------------------------------------------------
+
+  // accessors -------------------------------------------------------
+
+  enum : int {
+    kMetaFieldNumber = 99,
+    kIsHoldingSomethingFieldNumber = 1,
+  };
+  // .google.protobuf.Struct meta = 99 [json_name = "meta"];
+  bool has_meta() const;
+  private:
+  bool _internal_has_meta() const;
+  public:
+  void clear_meta();
+  const ::PROTOBUF_NAMESPACE_ID::Struct& meta() const;
+  PROTOBUF_NODISCARD ::PROTOBUF_NAMESPACE_ID::Struct* release_meta();
+  ::PROTOBUF_NAMESPACE_ID::Struct* mutable_meta();
+  void set_allocated_meta(::PROTOBUF_NAMESPACE_ID::Struct* meta);
+  private:
+  const ::PROTOBUF_NAMESPACE_ID::Struct& _internal_meta() const;
+  ::PROTOBUF_NAMESPACE_ID::Struct* _internal_mutable_meta();
+  public:
+  void unsafe_arena_set_allocated_meta(
+      ::PROTOBUF_NAMESPACE_ID::Struct* meta);
+  ::PROTOBUF_NAMESPACE_ID::Struct* unsafe_arena_release_meta();
+
+  // bool is_holding_something = 1 [json_name = "isHoldingSomething"];
+  void clear_is_holding_something();
+  bool is_holding_something() const;
+  void set_is_holding_something(bool value);
+  private:
+  bool _internal_is_holding_something() const;
+  void _internal_set_is_holding_something(bool value);
+  public:
+
+  // @@protoc_insertion_point(class_scope:viam.component.gripper.v1.IsHoldingSomethingResponse)
+ private:
+  class _Internal;
+
+  template <typename T> friend class ::PROTOBUF_NAMESPACE_ID::Arena::InternalHelper;
+  typedef void InternalArenaConstructable_;
+  typedef void DestructorSkippable_;
+  ::PROTOBUF_NAMESPACE_ID::Struct* meta_;
+  bool is_holding_something_;
+  mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
+  friend struct ::TableStruct_component_2fgripper_2fv1_2fgripper_2eproto;
+};
 // ===================================================================
 
 
@@ -1904,6 +2243,254 @@ inline void IsMovingResponse::set_is_moving(bool value) {
   // @@protoc_insertion_point(field_set:viam.component.gripper.v1.IsMovingResponse.is_moving)
 }
 
+// -------------------------------------------------------------------
+
+// IsHoldingSomethingRequest
+
+// string name = 1 [json_name = "name"];
+inline void IsHoldingSomethingRequest::clear_name() {
+  name_.ClearToEmpty();
+}
+inline const std::string& IsHoldingSomethingRequest::name() const {
+  // @@protoc_insertion_point(field_get:viam.component.gripper.v1.IsHoldingSomethingRequest.name)
+  return _internal_name();
+}
+template <typename ArgT0, typename... ArgT>
+inline PROTOBUF_ALWAYS_INLINE
+void IsHoldingSomethingRequest::set_name(ArgT0&& arg0, ArgT... args) {
+ 
+ name_.Set(static_cast<ArgT0 &&>(arg0), args..., GetArenaForAllocation());
+  // @@protoc_insertion_point(field_set:viam.component.gripper.v1.IsHoldingSomethingRequest.name)
+}
+inline std::string* IsHoldingSomethingRequest::mutable_name() {
+  std::string* _s = _internal_mutable_name();
+  // @@protoc_insertion_point(field_mutable:viam.component.gripper.v1.IsHoldingSomethingRequest.name)
+  return _s;
+}
+inline const std::string& IsHoldingSomethingRequest::_internal_name() const {
+  return name_.Get();
+}
+inline void IsHoldingSomethingRequest::_internal_set_name(const std::string& value) {
+  
+  name_.Set(value, GetArenaForAllocation());
+}
+inline std::string* IsHoldingSomethingRequest::_internal_mutable_name() {
+  
+  return name_.Mutable(GetArenaForAllocation());
+}
+inline std::string* IsHoldingSomethingRequest::release_name() {
+  // @@protoc_insertion_point(field_release:viam.component.gripper.v1.IsHoldingSomethingRequest.name)
+  return name_.Release();
+}
+inline void IsHoldingSomethingRequest::set_allocated_name(std::string* name) {
+  if (name != nullptr) {
+    
+  } else {
+    
+  }
+  name_.SetAllocated(name, GetArenaForAllocation());
+#ifdef PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  if (name_.IsDefault()) {
+    name_.Set("", GetArenaForAllocation());
+  }
+#endif // PROTOBUF_FORCE_COPY_DEFAULT_STRING
+  // @@protoc_insertion_point(field_set_allocated:viam.component.gripper.v1.IsHoldingSomethingRequest.name)
+}
+
+// .google.protobuf.Struct extra = 99 [json_name = "extra"];
+inline bool IsHoldingSomethingRequest::_internal_has_extra() const {
+  return this != internal_default_instance() && extra_ != nullptr;
+}
+inline bool IsHoldingSomethingRequest::has_extra() const {
+  return _internal_has_extra();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& IsHoldingSomethingRequest::_internal_extra() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = extra_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& IsHoldingSomethingRequest::extra() const {
+  // @@protoc_insertion_point(field_get:viam.component.gripper.v1.IsHoldingSomethingRequest.extra)
+  return _internal_extra();
+}
+inline void IsHoldingSomethingRequest::unsafe_arena_set_allocated_extra(
+    ::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  extra_ = extra;
+  if (extra) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.component.gripper.v1.IsHoldingSomethingRequest.extra)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingRequest::release_extra() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingRequest::unsafe_arena_release_extra() {
+  // @@protoc_insertion_point(field_release:viam.component.gripper.v1.IsHoldingSomethingRequest.extra)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = extra_;
+  extra_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingRequest::_internal_mutable_extra() {
+  
+  if (extra_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    extra_ = p;
+  }
+  return extra_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingRequest::mutable_extra() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_extra();
+  // @@protoc_insertion_point(field_mutable:viam.component.gripper.v1.IsHoldingSomethingRequest.extra)
+  return _msg;
+}
+inline void IsHoldingSomethingRequest::set_allocated_extra(::PROTOBUF_NAMESPACE_ID::Struct* extra) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra_);
+  }
+  if (extra) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(extra));
+    if (message_arena != submessage_arena) {
+      extra = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, extra, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  extra_ = extra;
+  // @@protoc_insertion_point(field_set_allocated:viam.component.gripper.v1.IsHoldingSomethingRequest.extra)
+}
+
+// -------------------------------------------------------------------
+
+// IsHoldingSomethingResponse
+
+// bool is_holding_something = 1 [json_name = "isHoldingSomething"];
+inline void IsHoldingSomethingResponse::clear_is_holding_something() {
+  is_holding_something_ = false;
+}
+inline bool IsHoldingSomethingResponse::_internal_is_holding_something() const {
+  return is_holding_something_;
+}
+inline bool IsHoldingSomethingResponse::is_holding_something() const {
+  // @@protoc_insertion_point(field_get:viam.component.gripper.v1.IsHoldingSomethingResponse.is_holding_something)
+  return _internal_is_holding_something();
+}
+inline void IsHoldingSomethingResponse::_internal_set_is_holding_something(bool value) {
+  
+  is_holding_something_ = value;
+}
+inline void IsHoldingSomethingResponse::set_is_holding_something(bool value) {
+  _internal_set_is_holding_something(value);
+  // @@protoc_insertion_point(field_set:viam.component.gripper.v1.IsHoldingSomethingResponse.is_holding_something)
+}
+
+// .google.protobuf.Struct meta = 99 [json_name = "meta"];
+inline bool IsHoldingSomethingResponse::_internal_has_meta() const {
+  return this != internal_default_instance() && meta_ != nullptr;
+}
+inline bool IsHoldingSomethingResponse::has_meta() const {
+  return _internal_has_meta();
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& IsHoldingSomethingResponse::_internal_meta() const {
+  const ::PROTOBUF_NAMESPACE_ID::Struct* p = meta_;
+  return p != nullptr ? *p : reinterpret_cast<const ::PROTOBUF_NAMESPACE_ID::Struct&>(
+      ::PROTOBUF_NAMESPACE_ID::_Struct_default_instance_);
+}
+inline const ::PROTOBUF_NAMESPACE_ID::Struct& IsHoldingSomethingResponse::meta() const {
+  // @@protoc_insertion_point(field_get:viam.component.gripper.v1.IsHoldingSomethingResponse.meta)
+  return _internal_meta();
+}
+inline void IsHoldingSomethingResponse::unsafe_arena_set_allocated_meta(
+    ::PROTOBUF_NAMESPACE_ID::Struct* meta) {
+  if (GetArenaForAllocation() == nullptr) {
+    delete reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(meta_);
+  }
+  meta_ = meta;
+  if (meta) {
+    
+  } else {
+    
+  }
+  // @@protoc_insertion_point(field_unsafe_arena_set_allocated:viam.component.gripper.v1.IsHoldingSomethingResponse.meta)
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingResponse::release_meta() {
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = meta_;
+  meta_ = nullptr;
+#ifdef PROTOBUF_FORCE_COPY_IN_RELEASE
+  auto* old =  reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(temp);
+  temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  if (GetArenaForAllocation() == nullptr) { delete old; }
+#else  // PROTOBUF_FORCE_COPY_IN_RELEASE
+  if (GetArenaForAllocation() != nullptr) {
+    temp = ::PROTOBUF_NAMESPACE_ID::internal::DuplicateIfNonNull(temp);
+  }
+#endif  // !PROTOBUF_FORCE_COPY_IN_RELEASE
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingResponse::unsafe_arena_release_meta() {
+  // @@protoc_insertion_point(field_release:viam.component.gripper.v1.IsHoldingSomethingResponse.meta)
+  
+  ::PROTOBUF_NAMESPACE_ID::Struct* temp = meta_;
+  meta_ = nullptr;
+  return temp;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingResponse::_internal_mutable_meta() {
+  
+  if (meta_ == nullptr) {
+    auto* p = CreateMaybeMessage<::PROTOBUF_NAMESPACE_ID::Struct>(GetArenaForAllocation());
+    meta_ = p;
+  }
+  return meta_;
+}
+inline ::PROTOBUF_NAMESPACE_ID::Struct* IsHoldingSomethingResponse::mutable_meta() {
+  ::PROTOBUF_NAMESPACE_ID::Struct* _msg = _internal_mutable_meta();
+  // @@protoc_insertion_point(field_mutable:viam.component.gripper.v1.IsHoldingSomethingResponse.meta)
+  return _msg;
+}
+inline void IsHoldingSomethingResponse::set_allocated_meta(::PROTOBUF_NAMESPACE_ID::Struct* meta) {
+  ::PROTOBUF_NAMESPACE_ID::Arena* message_arena = GetArenaForAllocation();
+  if (message_arena == nullptr) {
+    delete reinterpret_cast< ::PROTOBUF_NAMESPACE_ID::MessageLite*>(meta_);
+  }
+  if (meta) {
+    ::PROTOBUF_NAMESPACE_ID::Arena* submessage_arena =
+        ::PROTOBUF_NAMESPACE_ID::Arena::InternalGetOwningArena(
+                reinterpret_cast<::PROTOBUF_NAMESPACE_ID::MessageLite*>(meta));
+    if (message_arena != submessage_arena) {
+      meta = ::PROTOBUF_NAMESPACE_ID::internal::GetOwnedMessage(
+          message_arena, meta, submessage_arena);
+    }
+    
+  } else {
+    
+  }
+  meta_ = meta;
+  // @@protoc_insertion_point(field_set_allocated:viam.component.gripper.v1.IsHoldingSomethingResponse.meta)
+}
+
 #ifdef __GNUC__
   #pragma GCC diagnostic pop
 #endif  // __GNUC__
@@ -1921,6 +2508,10 @@ inline void IsMovingResponse::set_is_moving(bool value) {
 
 // -------------------------------------------------------------------
 
+// -------------------------------------------------------------------
+
+// -------------------------------------------------------------------
+
 
 // @@protoc_insertion_point(namespace_scope)
 
diff --git a/src/viam/sdk/components/gripper.hpp b/src/viam/sdk/components/gripper.hpp
index c74095b2c..d76414eb0 100644
--- a/src/viam/sdk/components/gripper.hpp
+++ b/src/viam/sdk/components/gripper.hpp
@@ -5,6 +5,7 @@
 
 #include <string>
 
+#include <viam/sdk/common/proto_value.hpp>
 #include <viam/sdk/resource/stoppable.hpp>
 
 namespace viam {
@@ -20,6 +21,13 @@ namespace sdk {
 /// specific gripper implementations. This class cannot be used on its own.
 class Gripper : public Component, public Stoppable {
    public:
+    /// @struct holding_status
+    /// @brief whether the gripper is holding something (along with other contextual info)
+    struct holding_status {
+        bool is_holding_something;
+        ProtoStruct meta;
+    };
+
     /// @brief Open the gripper.
     inline void open() {
         return open({});
@@ -40,6 +48,17 @@ class Gripper : public Component, public Stoppable {
     /// @return bool indicating if the gripper grabbed something.
     virtual bool grab(const ProtoStruct& extra) = 0;
 
+    /// @brief Reports whether the gripper is holding onto a object (alongside other information).
+    /// @return holding_status (see `holding_status` struct for more info).
+    inline holding_status is_holding_something() {
+        return holding_status({});
+    }
+
+    /// @brief Reports whether the gripper is holding onto a object (alongside other information).
+    /// @param extra Any additional arguments to the method.
+    /// @return holding_status (see `holding_status` struct for more info).
+    virtual holding_status is_holding_something(const ProtoStruct& extra) = 0;
+
     /// @brief Reports if the gripper is in motion.
     virtual bool is_moving() = 0;
 
diff --git a/src/viam/sdk/components/private/gripper_client.cpp b/src/viam/sdk/components/private/gripper_client.cpp
index 439517bff..b7e3083c6 100644
--- a/src/viam/sdk/components/private/gripper_client.cpp
+++ b/src/viam/sdk/components/private/gripper_client.cpp
@@ -4,7 +4,7 @@
 #include <viam/api/component/gripper/v1/gripper.pb.h>
 
 #include <viam/sdk/common/client_helper.hpp>
-#include <viam/sdk/common/proto_value.hpp>
+#include <viam/sdk/common/proto_convert.hpp>
 #include <viam/sdk/spatialmath/geometry.hpp>
 
 namespace viam {
@@ -26,6 +26,17 @@ bool GripperClient::grab(const ProtoStruct& extra) {
     });
 }
 
+Gripper::holding_status GripperClient::is_holding_something(const ProtoStruct& extra) {
+    return make_client_helper(this, *stub_, &StubType::IsHoldingSomething)
+        .with(extra)
+        .invoke([](auto& response) {
+            Gripper::holding_status holding_status;
+            holding_status.is_holding_something = response.is_holding_something();
+            holding_status.meta = from_proto(response.meta());
+            return holding_status;
+        });
+}
+
 bool GripperClient::is_moving() {
     return make_client_helper(this, *stub_, &StubType::IsMoving).invoke([](auto& response) {
         return response.is_moving();
diff --git a/src/viam/sdk/components/private/gripper_client.hpp b/src/viam/sdk/components/private/gripper_client.hpp
index 1d118eda9..68930003e 100644
--- a/src/viam/sdk/components/private/gripper_client.hpp
+++ b/src/viam/sdk/components/private/gripper_client.hpp
@@ -9,6 +9,8 @@
 
 #include <viam/api/component/gripper/v1/gripper.grpc.pb.h>
 
+#include <viam/sdk/common/proto_value.hpp>
+
 #include <viam/sdk/components/gripper.hpp>
 
 namespace viam {
@@ -25,6 +27,7 @@ class GripperClient : public Gripper {
 
     void open(const ProtoStruct& extra) override;
     bool grab(const ProtoStruct& extra) override;
+    Gripper::holding_status is_holding_something(const ProtoStruct& extra) override;
     void stop(const ProtoStruct& extra) override;
     bool is_moving() override;
     ProtoStruct do_command(const ProtoStruct& command) override;
diff --git a/src/viam/sdk/components/private/gripper_server.cpp b/src/viam/sdk/components/private/gripper_server.cpp
index 9205d96fe..cd1320d98 100644
--- a/src/viam/sdk/components/private/gripper_server.cpp
+++ b/src/viam/sdk/components/private/gripper_server.cpp
@@ -26,6 +26,18 @@ ::grpc::Status GripperServer::Grab(
     });
 }
 
+::grpc::Status GripperServer::IsHoldingSomething(
+    ::grpc::ServerContext*,
+    const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request,
+    ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) noexcept {
+    return make_service_helper<Gripper>(
+        "GripperServer::IsHoldingSomething", this, request)([&](auto& helper, auto& gripper) {
+        const Gripper::holding_status res = gripper->is_holding_something(helper.getExtra());
+        response->set_is_holding_something(res.is_holding_something);
+        *(response->mutable_meta()) = to_proto(res.meta);
+    });
+}
+
 ::grpc::Status GripperServer::Stop(::grpc::ServerContext*,
                                    const ::viam::component::gripper::v1::StopRequest* request,
                                    ::viam::component::gripper::v1::StopResponse*) noexcept {
diff --git a/src/viam/sdk/components/private/gripper_server.hpp b/src/viam/sdk/components/private/gripper_server.hpp
index bc58f17bb..33b51a0e1 100644
--- a/src/viam/sdk/components/private/gripper_server.hpp
+++ b/src/viam/sdk/components/private/gripper_server.hpp
@@ -34,6 +34,11 @@ class GripperServer : public ResourceServer,
                         const ::viam::component::gripper::v1::StopRequest* request,
                         ::viam::component::gripper::v1::StopResponse* response) noexcept override;
 
+    ::grpc::Status IsHoldingSomething(
+        ::grpc::ServerContext* context,
+        const ::viam::component::gripper::v1::IsHoldingSomethingRequest* request,
+        ::viam::component::gripper::v1::IsHoldingSomethingResponse* response) noexcept override;
+
     ::grpc::Status IsMoving(
         ::grpc::ServerContext* context,
         const ::viam::component::gripper::v1::IsMovingRequest* request,
diff --git a/src/viam/sdk/tests/mocks/mock_gripper.cpp b/src/viam/sdk/tests/mocks/mock_gripper.cpp
index 2df4a685b..c2b455885 100644
--- a/src/viam/sdk/tests/mocks/mock_gripper.cpp
+++ b/src/viam/sdk/tests/mocks/mock_gripper.cpp
@@ -28,6 +28,13 @@ bool MockGripper::is_moving() {
     return false;
 }
 
+Gripper::holding_status MockGripper::is_holding_something(const ProtoStruct& extra) {
+    Gripper::holding_status res;
+    res.is_holding_something = false;
+    res.meta = extra;
+    return res;
+}
+
 ProtoStruct MockGripper::do_command(const ProtoStruct& command) {
     return (peek_command = command);
 }
diff --git a/src/viam/sdk/tests/mocks/mock_gripper.hpp b/src/viam/sdk/tests/mocks/mock_gripper.hpp
index 95662862e..46cc78283 100644
--- a/src/viam/sdk/tests/mocks/mock_gripper.hpp
+++ b/src/viam/sdk/tests/mocks/mock_gripper.hpp
@@ -17,6 +17,7 @@ class MockGripper : public sdk::Gripper {
 
     void open(const sdk::ProtoStruct& extra) override;
     bool grab(const sdk::ProtoStruct& extra) override;
+    Gripper::holding_status is_holding_something(const sdk::ProtoStruct& extra) override;
     void stop(const sdk::ProtoStruct& extra) override;
     bool is_moving() override;
     sdk::ProtoStruct do_command(const sdk::ProtoStruct& command) override;
diff --git a/src/viam/sdk/tests/test_gripper.cpp b/src/viam/sdk/tests/test_gripper.cpp
index ad7910e9a..3212aa03c 100644
--- a/src/viam/sdk/tests/test_gripper.cpp
+++ b/src/viam/sdk/tests/test_gripper.cpp
@@ -8,6 +8,8 @@
 
 BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<viam::sdk::GeometryConfig>)
 
+BOOST_TEST_DONT_PRINT_LOG_VALUE(viam::sdk::ProtoValue)
+
 namespace viam {
 namespace sdktests {
 
@@ -38,6 +40,18 @@ BOOST_AUTO_TEST_CASE(test_grab) {
     client_to_mock_pipeline<Gripper>(mock, [](Gripper& client) { BOOST_CHECK(client.grab()); });
 }
 
+BOOST_AUTO_TEST_CASE(test_is_holding_something) {
+    std::shared_ptr<MockGripper> mock = MockGripper::get_mock_gripper();
+    client_to_mock_pipeline<Gripper>(mock, [](Gripper& client) {
+        const ProtoStruct extra = {
+            {"BEEP", "BOOP"},
+        };
+        Gripper::holding_status holding_status = client.is_holding_something(extra);
+        BOOST_CHECK_EQUAL(holding_status.is_holding_something, false);
+        BOOST_CHECK_EQUAL(holding_status.meta["BEEP"], ProtoValue("BOOP"));
+    });
+}
+
 BOOST_AUTO_TEST_CASE(test_stop) {
     std::shared_ptr<MockGripper> mock = MockGripper::get_mock_gripper();
     client_to_mock_pipeline<Gripper>(mock, [&](Gripper& client) {