diff --git a/common/v1/common.pb.go b/common/v1/common.pb.go
index 3e6d07a56..2cc834669 100644
--- a/common/v1/common.pb.go
+++ b/common/v1/common.pb.go
@@ -638,6 +638,83 @@ func (x *Capsule) GetLengthMm() float64 {
 	return 0
 }
 
+// Cylinder is a finite right circular cylinder. Its central axis is the local
+// frame's Z axis and its pose is at its center. Unlike a capsule, a cylinder has
+// flat end caps and may be arbitrarily flat (no length >= 2*radius constraint).
+type Cylinder struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	RadiusMm float64 `protobuf:"fixed64,1,opt,name=radius_mm,json=radiusMm,proto3" json:"radius_mm,omitempty"`
+	// Total height, cap to cap.
+	HeightMm float64 `protobuf:"fixed64,2,opt,name=height_mm,json=heightMm,proto3" json:"height_mm,omitempty"`
+	// When true the flat end caps are omitted, producing an open tube: a
+	// cylindrical surface, which models open containers a robot reaches into.
+	//
+	// Phrased negatively so the proto3 default (false) is the solid cylinder,
+	// which is the overwhelmingly common case and matches what a cylinder means
+	// in URDF and SDF. A consumer that ignores this field reads every cylinder as
+	// solid.
+	//
+	// This is a defaulting convention, not a safety guarantee: whether solid or
+	// open is the conservative reading depends on the consumer's collision
+	// semantics, so producers should set the field rather than rely on the
+	// default carrying meaning.
+	Uncapped bool `protobuf:"varint,3,opt,name=uncapped,proto3" json:"uncapped,omitempty"`
+}
+
+func (x *Cylinder) Reset() {
+	*x = Cylinder{}
+	mi := &file_common_v1_common_proto_msgTypes[8]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *Cylinder) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*Cylinder) ProtoMessage() {}
+
+func (x *Cylinder) ProtoReflect() protoreflect.Message {
+	mi := &file_common_v1_common_proto_msgTypes[8]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use Cylinder.ProtoReflect.Descriptor instead.
+func (*Cylinder) Descriptor() ([]byte, []int) {
+	return file_common_v1_common_proto_rawDescGZIP(), []int{8}
+}
+
+func (x *Cylinder) GetRadiusMm() float64 {
+	if x != nil {
+		return x.RadiusMm
+	}
+	return 0
+}
+
+func (x *Cylinder) GetHeightMm() float64 {
+	if x != nil {
+		return x.HeightMm
+	}
+	return 0
+}
+
+func (x *Cylinder) GetUncapped() bool {
+	if x != nil {
+		return x.Uncapped
+	}
+	return false
+}
+
 // RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
 // These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
 type RectangularPrism struct {
@@ -650,7 +727,7 @@ type RectangularPrism struct {
 
 func (x *RectangularPrism) Reset() {
 	*x = RectangularPrism{}
-	mi := &file_common_v1_common_proto_msgTypes[8]
+	mi := &file_common_v1_common_proto_msgTypes[9]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -662,7 +739,7 @@ func (x *RectangularPrism) String() string {
 func (*RectangularPrism) ProtoMessage() {}
 
 func (x *RectangularPrism) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[8]
+	mi := &file_common_v1_common_proto_msgTypes[9]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -675,7 +752,7 @@ func (x *RectangularPrism) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use RectangularPrism.ProtoReflect.Descriptor instead.
 func (*RectangularPrism) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{8}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{9}
 }
 
 func (x *RectangularPrism) GetDimsMm() *Vector3 {
@@ -698,7 +775,7 @@ type Mesh struct {
 
 func (x *Mesh) Reset() {
 	*x = Mesh{}
-	mi := &file_common_v1_common_proto_msgTypes[9]
+	mi := &file_common_v1_common_proto_msgTypes[10]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -710,7 +787,7 @@ func (x *Mesh) String() string {
 func (*Mesh) ProtoMessage() {}
 
 func (x *Mesh) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[9]
+	mi := &file_common_v1_common_proto_msgTypes[10]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -723,7 +800,7 @@ func (x *Mesh) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Mesh.ProtoReflect.Descriptor instead.
 func (*Mesh) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{9}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{10}
 }
 
 func (x *Mesh) GetContentType() string {
@@ -750,7 +827,7 @@ type PointCloud struct {
 
 func (x *PointCloud) Reset() {
 	*x = PointCloud{}
-	mi := &file_common_v1_common_proto_msgTypes[10]
+	mi := &file_common_v1_common_proto_msgTypes[11]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -762,7 +839,7 @@ func (x *PointCloud) String() string {
 func (*PointCloud) ProtoMessage() {}
 
 func (x *PointCloud) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[10]
+	mi := &file_common_v1_common_proto_msgTypes[11]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -775,7 +852,7 @@ func (x *PointCloud) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use PointCloud.ProtoReflect.Descriptor instead.
 func (*PointCloud) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{10}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{11}
 }
 
 func (x *PointCloud) GetPointCloud() []byte {
@@ -802,6 +879,7 @@ type Geometry struct {
 	//	*Geometry_Capsule
 	//	*Geometry_Mesh
 	//	*Geometry_Pointcloud
+	//	*Geometry_Cylinder
 	GeometryType isGeometry_GeometryType `protobuf_oneof:"geometry_type"`
 	// Label of the geometry. If none supplied, will be an empty string.
 	Label string `protobuf:"bytes,4,opt,name=label,proto3" json:"label,omitempty"`
@@ -809,7 +887,7 @@ type Geometry struct {
 
 func (x *Geometry) Reset() {
 	*x = Geometry{}
-	mi := &file_common_v1_common_proto_msgTypes[11]
+	mi := &file_common_v1_common_proto_msgTypes[12]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -821,7 +899,7 @@ func (x *Geometry) String() string {
 func (*Geometry) ProtoMessage() {}
 
 func (x *Geometry) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[11]
+	mi := &file_common_v1_common_proto_msgTypes[12]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -834,7 +912,7 @@ func (x *Geometry) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Geometry.ProtoReflect.Descriptor instead.
 func (*Geometry) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{11}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{12}
 }
 
 func (x *Geometry) GetCenter() *Pose {
@@ -886,6 +964,13 @@ func (x *Geometry) GetPointcloud() *PointCloud {
 	return nil
 }
 
+func (x *Geometry) GetCylinder() *Cylinder {
+	if x, ok := x.GetGeometryType().(*Geometry_Cylinder); ok {
+		return x.Cylinder
+	}
+	return nil
+}
+
 func (x *Geometry) GetLabel() string {
 	if x != nil {
 		return x.Label
@@ -917,6 +1002,10 @@ type Geometry_Pointcloud struct {
 	Pointcloud *PointCloud `protobuf:"bytes,7,opt,name=pointcloud,proto3,oneof"`
 }
 
+type Geometry_Cylinder struct {
+	Cylinder *Cylinder `protobuf:"bytes,8,opt,name=cylinder,proto3,oneof"`
+}
+
 func (*Geometry_Sphere) isGeometry_GeometryType() {}
 
 func (*Geometry_Box) isGeometry_GeometryType() {}
@@ -927,6 +1016,8 @@ func (*Geometry_Mesh) isGeometry_GeometryType() {}
 
 func (*Geometry_Pointcloud) isGeometry_GeometryType() {}
 
+func (*Geometry_Cylinder) isGeometry_GeometryType() {}
+
 // GeometriesinFrame contains the dimensions of a given geometry, pose of its center point, and the reference frame by which it was
 // observed.
 type GeometriesInFrame struct {
@@ -942,7 +1033,7 @@ type GeometriesInFrame struct {
 
 func (x *GeometriesInFrame) Reset() {
 	*x = GeometriesInFrame{}
-	mi := &file_common_v1_common_proto_msgTypes[12]
+	mi := &file_common_v1_common_proto_msgTypes[13]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -954,7 +1045,7 @@ func (x *GeometriesInFrame) String() string {
 func (*GeometriesInFrame) ProtoMessage() {}
 
 func (x *GeometriesInFrame) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[12]
+	mi := &file_common_v1_common_proto_msgTypes[13]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -967,7 +1058,7 @@ func (x *GeometriesInFrame) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GeometriesInFrame.ProtoReflect.Descriptor instead.
 func (*GeometriesInFrame) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{12}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{13}
 }
 
 func (x *GeometriesInFrame) GetReferenceFrame() string {
@@ -999,7 +1090,7 @@ type PointCloudObject struct {
 
 func (x *PointCloudObject) Reset() {
 	*x = PointCloudObject{}
-	mi := &file_common_v1_common_proto_msgTypes[13]
+	mi := &file_common_v1_common_proto_msgTypes[14]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1011,7 +1102,7 @@ func (x *PointCloudObject) String() string {
 func (*PointCloudObject) ProtoMessage() {}
 
 func (x *PointCloudObject) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[13]
+	mi := &file_common_v1_common_proto_msgTypes[14]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1024,7 +1115,7 @@ func (x *PointCloudObject) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use PointCloudObject.ProtoReflect.Descriptor instead.
 func (*PointCloudObject) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{13}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{14}
 }
 
 func (x *PointCloudObject) GetPointCloud() []byte {
@@ -1052,7 +1143,7 @@ type GeoPoint struct {
 
 func (x *GeoPoint) Reset() {
 	*x = GeoPoint{}
-	mi := &file_common_v1_common_proto_msgTypes[14]
+	mi := &file_common_v1_common_proto_msgTypes[15]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1064,7 +1155,7 @@ func (x *GeoPoint) String() string {
 func (*GeoPoint) ProtoMessage() {}
 
 func (x *GeoPoint) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[14]
+	mi := &file_common_v1_common_proto_msgTypes[15]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1077,7 +1168,7 @@ func (x *GeoPoint) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GeoPoint.ProtoReflect.Descriptor instead.
 func (*GeoPoint) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{14}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{15}
 }
 
 func (x *GeoPoint) GetLatitude() float64 {
@@ -1108,7 +1199,7 @@ type GeoGeometry struct {
 
 func (x *GeoGeometry) Reset() {
 	*x = GeoGeometry{}
-	mi := &file_common_v1_common_proto_msgTypes[15]
+	mi := &file_common_v1_common_proto_msgTypes[16]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1120,7 +1211,7 @@ func (x *GeoGeometry) String() string {
 func (*GeoGeometry) ProtoMessage() {}
 
 func (x *GeoGeometry) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[15]
+	mi := &file_common_v1_common_proto_msgTypes[16]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1133,7 +1224,7 @@ func (x *GeoGeometry) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GeoGeometry.ProtoReflect.Descriptor instead.
 func (*GeoGeometry) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{15}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{16}
 }
 
 func (x *GeoGeometry) GetLocation() *GeoPoint {
@@ -1171,7 +1262,7 @@ type Transform struct {
 
 func (x *Transform) Reset() {
 	*x = Transform{}
-	mi := &file_common_v1_common_proto_msgTypes[16]
+	mi := &file_common_v1_common_proto_msgTypes[17]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1183,7 +1274,7 @@ func (x *Transform) String() string {
 func (*Transform) ProtoMessage() {}
 
 func (x *Transform) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[16]
+	mi := &file_common_v1_common_proto_msgTypes[17]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1196,7 +1287,7 @@ func (x *Transform) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Transform.ProtoReflect.Descriptor instead.
 func (*Transform) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{16}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{17}
 }
 
 func (x *Transform) GetReferenceFrame() string {
@@ -1251,7 +1342,7 @@ type WorldState struct {
 
 func (x *WorldState) Reset() {
 	*x = WorldState{}
-	mi := &file_common_v1_common_proto_msgTypes[17]
+	mi := &file_common_v1_common_proto_msgTypes[18]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1263,7 +1354,7 @@ func (x *WorldState) String() string {
 func (*WorldState) ProtoMessage() {}
 
 func (x *WorldState) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[17]
+	mi := &file_common_v1_common_proto_msgTypes[18]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1276,7 +1367,7 @@ func (x *WorldState) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use WorldState.ProtoReflect.Descriptor instead.
 func (*WorldState) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{17}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{18}
 }
 
 func (x *WorldState) GetObstacles() []*GeometriesInFrame {
@@ -1304,7 +1395,7 @@ type ActuatorStatus struct {
 
 func (x *ActuatorStatus) Reset() {
 	*x = ActuatorStatus{}
-	mi := &file_common_v1_common_proto_msgTypes[18]
+	mi := &file_common_v1_common_proto_msgTypes[19]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1316,7 +1407,7 @@ func (x *ActuatorStatus) String() string {
 func (*ActuatorStatus) ProtoMessage() {}
 
 func (x *ActuatorStatus) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[18]
+	mi := &file_common_v1_common_proto_msgTypes[19]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1329,7 +1420,7 @@ func (x *ActuatorStatus) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ActuatorStatus.ProtoReflect.Descriptor instead.
 func (*ActuatorStatus) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{18}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{19}
 }
 
 func (x *ActuatorStatus) GetIsMoving() bool {
@@ -1353,7 +1444,7 @@ type ResponseMetadata struct {
 
 func (x *ResponseMetadata) Reset() {
 	*x = ResponseMetadata{}
-	mi := &file_common_v1_common_proto_msgTypes[19]
+	mi := &file_common_v1_common_proto_msgTypes[20]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1365,7 +1456,7 @@ func (x *ResponseMetadata) String() string {
 func (*ResponseMetadata) ProtoMessage() {}
 
 func (x *ResponseMetadata) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[19]
+	mi := &file_common_v1_common_proto_msgTypes[20]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1378,7 +1469,7 @@ func (x *ResponseMetadata) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use ResponseMetadata.ProtoReflect.Descriptor instead.
 func (*ResponseMetadata) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{19}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{20}
 }
 
 func (x *ResponseMetadata) GetCapturedAt() *timestamppb.Timestamp {
@@ -1400,7 +1491,7 @@ type DoCommandRequest struct {
 
 func (x *DoCommandRequest) Reset() {
 	*x = DoCommandRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[20]
+	mi := &file_common_v1_common_proto_msgTypes[21]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1412,7 +1503,7 @@ func (x *DoCommandRequest) String() string {
 func (*DoCommandRequest) ProtoMessage() {}
 
 func (x *DoCommandRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[20]
+	mi := &file_common_v1_common_proto_msgTypes[21]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1425,7 +1516,7 @@ func (x *DoCommandRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use DoCommandRequest.ProtoReflect.Descriptor instead.
 func (*DoCommandRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{20}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{21}
 }
 
 func (x *DoCommandRequest) GetName() string {
@@ -1453,7 +1544,7 @@ type DoCommandResponse struct {
 
 func (x *DoCommandResponse) Reset() {
 	*x = DoCommandResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[21]
+	mi := &file_common_v1_common_proto_msgTypes[22]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1465,7 +1556,7 @@ func (x *DoCommandResponse) String() string {
 func (*DoCommandResponse) ProtoMessage() {}
 
 func (x *DoCommandResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[21]
+	mi := &file_common_v1_common_proto_msgTypes[22]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1478,7 +1569,7 @@ func (x *DoCommandResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use DoCommandResponse.ProtoReflect.Descriptor instead.
 func (*DoCommandResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{21}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{22}
 }
 
 func (x *DoCommandResponse) GetResult() *structpb.Struct {
@@ -1499,7 +1590,7 @@ type GetStatusRequest struct {
 
 func (x *GetStatusRequest) Reset() {
 	*x = GetStatusRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[22]
+	mi := &file_common_v1_common_proto_msgTypes[23]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1511,7 +1602,7 @@ func (x *GetStatusRequest) String() string {
 func (*GetStatusRequest) ProtoMessage() {}
 
 func (x *GetStatusRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[22]
+	mi := &file_common_v1_common_proto_msgTypes[23]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1524,7 +1615,7 @@ func (x *GetStatusRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetStatusRequest.ProtoReflect.Descriptor instead.
 func (*GetStatusRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{22}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{23}
 }
 
 func (x *GetStatusRequest) GetName() string {
@@ -1545,7 +1636,7 @@ type GetStatusResponse struct {
 
 func (x *GetStatusResponse) Reset() {
 	*x = GetStatusResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[23]
+	mi := &file_common_v1_common_proto_msgTypes[24]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1557,7 +1648,7 @@ func (x *GetStatusResponse) String() string {
 func (*GetStatusResponse) ProtoMessage() {}
 
 func (x *GetStatusResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[23]
+	mi := &file_common_v1_common_proto_msgTypes[24]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1570,7 +1661,7 @@ func (x *GetStatusResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetStatusResponse.ProtoReflect.Descriptor instead.
 func (*GetStatusResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{23}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{24}
 }
 
 func (x *GetStatusResponse) GetResult() *structpb.Struct {
@@ -1593,7 +1684,7 @@ type GetKinematicsRequest struct {
 
 func (x *GetKinematicsRequest) Reset() {
 	*x = GetKinematicsRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[24]
+	mi := &file_common_v1_common_proto_msgTypes[25]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1605,7 +1696,7 @@ func (x *GetKinematicsRequest) String() string {
 func (*GetKinematicsRequest) ProtoMessage() {}
 
 func (x *GetKinematicsRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[24]
+	mi := &file_common_v1_common_proto_msgTypes[25]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1618,7 +1709,7 @@ func (x *GetKinematicsRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetKinematicsRequest.ProtoReflect.Descriptor instead.
 func (*GetKinematicsRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{24}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{25}
 }
 
 func (x *GetKinematicsRequest) GetName() string {
@@ -1651,7 +1742,7 @@ type GetKinematicsResponse struct {
 
 func (x *GetKinematicsResponse) Reset() {
 	*x = GetKinematicsResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[25]
+	mi := &file_common_v1_common_proto_msgTypes[26]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1663,7 +1754,7 @@ func (x *GetKinematicsResponse) String() string {
 func (*GetKinematicsResponse) ProtoMessage() {}
 
 func (x *GetKinematicsResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[25]
+	mi := &file_common_v1_common_proto_msgTypes[26]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1676,7 +1767,7 @@ func (x *GetKinematicsResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetKinematicsResponse.ProtoReflect.Descriptor instead.
 func (*GetKinematicsResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{25}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{26}
 }
 
 func (x *GetKinematicsResponse) GetFormat() KinematicsFileFormat {
@@ -1713,7 +1804,7 @@ type GetGeometriesRequest struct {
 
 func (x *GetGeometriesRequest) Reset() {
 	*x = GetGeometriesRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[26]
+	mi := &file_common_v1_common_proto_msgTypes[27]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1725,7 +1816,7 @@ func (x *GetGeometriesRequest) String() string {
 func (*GetGeometriesRequest) ProtoMessage() {}
 
 func (x *GetGeometriesRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[26]
+	mi := &file_common_v1_common_proto_msgTypes[27]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1738,7 +1829,7 @@ func (x *GetGeometriesRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetGeometriesRequest.ProtoReflect.Descriptor instead.
 func (*GetGeometriesRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{26}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{27}
 }
 
 func (x *GetGeometriesRequest) GetName() string {
@@ -1766,7 +1857,7 @@ type GetGeometriesResponse struct {
 
 func (x *GetGeometriesResponse) Reset() {
 	*x = GetGeometriesResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[27]
+	mi := &file_common_v1_common_proto_msgTypes[28]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1778,7 +1869,7 @@ func (x *GetGeometriesResponse) String() string {
 func (*GetGeometriesResponse) ProtoMessage() {}
 
 func (x *GetGeometriesResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[27]
+	mi := &file_common_v1_common_proto_msgTypes[28]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1791,7 +1882,7 @@ func (x *GetGeometriesResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetGeometriesResponse.ProtoReflect.Descriptor instead.
 func (*GetGeometriesResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{27}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{28}
 }
 
 func (x *GetGeometriesResponse) GetGeometries() []*Geometry {
@@ -1814,7 +1905,7 @@ type Get3DModelsRequest struct {
 
 func (x *Get3DModelsRequest) Reset() {
 	*x = Get3DModelsRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[28]
+	mi := &file_common_v1_common_proto_msgTypes[29]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1826,7 +1917,7 @@ func (x *Get3DModelsRequest) String() string {
 func (*Get3DModelsRequest) ProtoMessage() {}
 
 func (x *Get3DModelsRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[28]
+	mi := &file_common_v1_common_proto_msgTypes[29]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1839,7 +1930,7 @@ func (x *Get3DModelsRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Get3DModelsRequest.ProtoReflect.Descriptor instead.
 func (*Get3DModelsRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{28}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{29}
 }
 
 func (x *Get3DModelsRequest) GetName() string {
@@ -1867,7 +1958,7 @@ type Get3DModelsResponse struct {
 
 func (x *Get3DModelsResponse) Reset() {
 	*x = Get3DModelsResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[29]
+	mi := &file_common_v1_common_proto_msgTypes[30]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1879,7 +1970,7 @@ func (x *Get3DModelsResponse) String() string {
 func (*Get3DModelsResponse) ProtoMessage() {}
 
 func (x *Get3DModelsResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[29]
+	mi := &file_common_v1_common_proto_msgTypes[30]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1892,7 +1983,7 @@ func (x *Get3DModelsResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Get3DModelsResponse.ProtoReflect.Descriptor instead.
 func (*Get3DModelsResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{29}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{30}
 }
 
 func (x *Get3DModelsResponse) GetModels() map[string]*Mesh {
@@ -1913,7 +2004,7 @@ type GetWorldPoseResponse struct {
 
 func (x *GetWorldPoseResponse) Reset() {
 	*x = GetWorldPoseResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[30]
+	mi := &file_common_v1_common_proto_msgTypes[31]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1925,7 +2016,7 @@ func (x *GetWorldPoseResponse) String() string {
 func (*GetWorldPoseResponse) ProtoMessage() {}
 
 func (x *GetWorldPoseResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[30]
+	mi := &file_common_v1_common_proto_msgTypes[31]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1938,7 +2029,7 @@ func (x *GetWorldPoseResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetWorldPoseResponse.ProtoReflect.Descriptor instead.
 func (*GetWorldPoseResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{30}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{31}
 }
 
 func (x *GetWorldPoseResponse) GetPose() *Pose {
@@ -1961,7 +2052,7 @@ type GetReadingsRequest struct {
 
 func (x *GetReadingsRequest) Reset() {
 	*x = GetReadingsRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[31]
+	mi := &file_common_v1_common_proto_msgTypes[32]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1973,7 +2064,7 @@ func (x *GetReadingsRequest) String() string {
 func (*GetReadingsRequest) ProtoMessage() {}
 
 func (x *GetReadingsRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[31]
+	mi := &file_common_v1_common_proto_msgTypes[32]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -1986,7 +2077,7 @@ func (x *GetReadingsRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetReadingsRequest.ProtoReflect.Descriptor instead.
 func (*GetReadingsRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{31}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{32}
 }
 
 func (x *GetReadingsRequest) GetName() string {
@@ -2013,7 +2104,7 @@ type GetReadingsResponse struct {
 
 func (x *GetReadingsResponse) Reset() {
 	*x = GetReadingsResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[32]
+	mi := &file_common_v1_common_proto_msgTypes[33]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -2025,7 +2116,7 @@ func (x *GetReadingsResponse) String() string {
 func (*GetReadingsResponse) ProtoMessage() {}
 
 func (x *GetReadingsResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[32]
+	mi := &file_common_v1_common_proto_msgTypes[33]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -2038,7 +2129,7 @@ func (x *GetReadingsResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetReadingsResponse.ProtoReflect.Descriptor instead.
 func (*GetReadingsResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{32}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{33}
 }
 
 func (x *GetReadingsResponse) GetReadings() map[string]*structpb.Value {
@@ -2065,7 +2156,7 @@ type LogEntry struct {
 
 func (x *LogEntry) Reset() {
 	*x = LogEntry{}
-	mi := &file_common_v1_common_proto_msgTypes[33]
+	mi := &file_common_v1_common_proto_msgTypes[34]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -2077,7 +2168,7 @@ func (x *LogEntry) String() string {
 func (*LogEntry) ProtoMessage() {}
 
 func (x *LogEntry) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[33]
+	mi := &file_common_v1_common_proto_msgTypes[34]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -2090,7 +2181,7 @@ func (x *LogEntry) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use LogEntry.ProtoReflect.Descriptor instead.
 func (*LogEntry) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{33}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{34}
 }
 
 func (x *LogEntry) GetHost() string {
@@ -2165,7 +2256,7 @@ type AudioInfo struct {
 
 func (x *AudioInfo) Reset() {
 	*x = AudioInfo{}
-	mi := &file_common_v1_common_proto_msgTypes[34]
+	mi := &file_common_v1_common_proto_msgTypes[35]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -2177,7 +2268,7 @@ func (x *AudioInfo) String() string {
 func (*AudioInfo) ProtoMessage() {}
 
 func (x *AudioInfo) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[34]
+	mi := &file_common_v1_common_proto_msgTypes[35]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -2190,7 +2281,7 @@ func (x *AudioInfo) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use AudioInfo.ProtoReflect.Descriptor instead.
 func (*AudioInfo) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{34}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{35}
 }
 
 func (x *AudioInfo) GetCodec() string {
@@ -2226,7 +2317,7 @@ type GetPropertiesRequest struct {
 
 func (x *GetPropertiesRequest) Reset() {
 	*x = GetPropertiesRequest{}
-	mi := &file_common_v1_common_proto_msgTypes[35]
+	mi := &file_common_v1_common_proto_msgTypes[36]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -2238,7 +2329,7 @@ func (x *GetPropertiesRequest) String() string {
 func (*GetPropertiesRequest) ProtoMessage() {}
 
 func (x *GetPropertiesRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[35]
+	mi := &file_common_v1_common_proto_msgTypes[36]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -2251,7 +2342,7 @@ func (x *GetPropertiesRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetPropertiesRequest.ProtoReflect.Descriptor instead.
 func (*GetPropertiesRequest) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{35}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{36}
 }
 
 func (x *GetPropertiesRequest) GetName() string {
@@ -2283,7 +2374,7 @@ type GetPropertiesResponse struct {
 
 func (x *GetPropertiesResponse) Reset() {
 	*x = GetPropertiesResponse{}
-	mi := &file_common_v1_common_proto_msgTypes[36]
+	mi := &file_common_v1_common_proto_msgTypes[37]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -2295,7 +2386,7 @@ func (x *GetPropertiesResponse) String() string {
 func (*GetPropertiesResponse) ProtoMessage() {}
 
 func (x *GetPropertiesResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_common_v1_common_proto_msgTypes[36]
+	mi := &file_common_v1_common_proto_msgTypes[37]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -2308,7 +2399,7 @@ func (x *GetPropertiesResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use GetPropertiesResponse.ProtoReflect.Descriptor instead.
 func (*GetPropertiesResponse) Descriptor() ([]byte, []int) {
-	return file_common_v1_common_proto_rawDescGZIP(), []int{36}
+	return file_common_v1_common_proto_rawDescGZIP(), []int{37}
 }
 
 func (x *GetPropertiesResponse) GetSupportedCodecs() []string {
@@ -2413,256 +2504,266 @@ var file_common_v1_common_proto_rawDesc = []byte{
 	0x73, 0x75, 0x6c, 0x65, 0x12, 0x1b, 0x0a, 0x09, 0x72, 0x61, 0x64, 0x69, 0x75, 0x73, 0x5f, 0x6d,
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+	0x69, 0x6e, 0x65, 0x6d, 0x61, 0x74, 0x69, 0x63, 0x73, 0x46, 0x69, 0x6c, 0x65, 0x46, 0x6f, 0x72,
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+	0x53, 0x5f, 0x46, 0x49, 0x4c, 0x45, 0x5f, 0x46, 0x4f, 0x52, 0x4d, 0x41, 0x54, 0x5f, 0x55, 0x4e,
+	0x53, 0x50, 0x45, 0x43, 0x49, 0x46, 0x49, 0x45, 0x44, 0x10, 0x00, 0x12, 0x1e, 0x0a, 0x1a, 0x4b,
+	0x49, 0x4e, 0x45, 0x4d, 0x41, 0x54, 0x49, 0x43, 0x53, 0x5f, 0x46, 0x49, 0x4c, 0x45, 0x5f, 0x46,
+	0x4f, 0x52, 0x4d, 0x41, 0x54, 0x5f, 0x53, 0x56, 0x41, 0x10, 0x01, 0x12, 0x1f, 0x0a, 0x1b, 0x4b,
+	0x49, 0x4e, 0x45, 0x4d, 0x41, 0x54, 0x49, 0x43, 0x53, 0x5f, 0x46, 0x49, 0x4c, 0x45, 0x5f, 0x46,
+	0x4f, 0x52, 0x4d, 0x41, 0x54, 0x5f, 0x55, 0x52, 0x44, 0x46, 0x10, 0x02, 0x3a, 0x61, 0x0a, 0x1a,
+	0x73, 0x61, 0x66, 0x65, 0x74, 0x79, 0x5f, 0x68, 0x65, 0x61, 0x72, 0x74, 0x62, 0x65, 0x61, 0x74,
+	0x5f, 0x6d, 0x6f, 0x6e, 0x69, 0x74, 0x6f, 0x72, 0x65, 0x64, 0x12, 0x1e, 0x2e, 0x67, 0x6f, 0x6f,
+	0x67, 0x6c, 0x65, 0x2e, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x75, 0x66, 0x2e, 0x4d, 0x65, 0x74,
+	0x68, 0x6f, 0x64, 0x4f, 0x70, 0x74, 0x69, 0x6f, 0x6e, 0x73, 0x18, 0xa4, 0x92, 0x05, 0x20, 0x01,
+	0x28, 0x08, 0x52, 0x18, 0x73, 0x61, 0x66, 0x65, 0x74, 0x79, 0x48, 0x65, 0x61, 0x72, 0x74, 0x62,
+	0x65, 0x61, 0x74, 0x4d, 0x6f, 0x6e, 0x69, 0x74, 0x6f, 0x72, 0x65, 0x64, 0x88, 0x01, 0x01, 0x42,
+	0x2f, 0x0a, 0x12, 0x63, 0x6f, 0x6d, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x6d,
+	0x6f, 0x6e, 0x2e, 0x76, 0x31, 0x5a, 0x19, 0x67, 0x6f, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63,
+	0x6f, 0x6d, 0x2f, 0x61, 0x70, 0x69, 0x2f, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x2f, 0x76, 0x31,
+	0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -2678,7 +2779,7 @@ func file_common_v1_common_proto_rawDescGZIP() []byte {
 }
 
 var file_common_v1_common_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_common_v1_common_proto_msgTypes = make([]protoimpl.MessageInfo, 40)
+var file_common_v1_common_proto_msgTypes = make([]protoimpl.MessageInfo, 41)
 var file_common_v1_common_proto_goTypes = []any{
 	(KinematicsFileFormat)(0),          // 0: viam.common.v1.KinematicsFileFormat
 	(*ResourceName)(nil),               // 1: viam.common.v1.ResourceName
@@ -2689,42 +2790,43 @@ var file_common_v1_common_proto_goTypes = []any{
 	(*Vector3)(nil),                    // 6: viam.common.v1.Vector3
 	(*Sphere)(nil),                     // 7: viam.common.v1.Sphere
 	(*Capsule)(nil),                    // 8: viam.common.v1.Capsule
-	(*RectangularPrism)(nil),           // 9: viam.common.v1.RectangularPrism
-	(*Mesh)(nil),                       // 10: viam.common.v1.Mesh
-	(*PointCloud)(nil),                 // 11: viam.common.v1.PointCloud
-	(*Geometry)(nil),                   // 12: viam.common.v1.Geometry
-	(*GeometriesInFrame)(nil),          // 13: viam.common.v1.GeometriesInFrame
-	(*PointCloudObject)(nil),           // 14: viam.common.v1.PointCloudObject
-	(*GeoPoint)(nil),                   // 15: viam.common.v1.GeoPoint
-	(*GeoGeometry)(nil),                // 16: viam.common.v1.GeoGeometry
-	(*Transform)(nil),                  // 17: viam.common.v1.Transform
-	(*WorldState)(nil),                 // 18: viam.common.v1.WorldState
-	(*ActuatorStatus)(nil),             // 19: viam.common.v1.ActuatorStatus
-	(*ResponseMetadata)(nil),           // 20: viam.common.v1.ResponseMetadata
-	(*DoCommandRequest)(nil),           // 21: viam.common.v1.DoCommandRequest
-	(*DoCommandResponse)(nil),          // 22: viam.common.v1.DoCommandResponse
-	(*GetStatusRequest)(nil),           // 23: viam.common.v1.GetStatusRequest
-	(*GetStatusResponse)(nil),          // 24: viam.common.v1.GetStatusResponse
-	(*GetKinematicsRequest)(nil),       // 25: viam.common.v1.GetKinematicsRequest
-	(*GetKinematicsResponse)(nil),      // 26: viam.common.v1.GetKinematicsResponse
-	(*GetGeometriesRequest)(nil),       // 27: viam.common.v1.GetGeometriesRequest
-	(*GetGeometriesResponse)(nil),      // 28: viam.common.v1.GetGeometriesResponse
-	(*Get3DModelsRequest)(nil),         // 29: viam.common.v1.Get3DModelsRequest
-	(*Get3DModelsResponse)(nil),        // 30: viam.common.v1.Get3DModelsResponse
-	(*GetWorldPoseResponse)(nil),       // 31: viam.common.v1.GetWorldPoseResponse
-	(*GetReadingsRequest)(nil),         // 32: viam.common.v1.GetReadingsRequest
-	(*GetReadingsResponse)(nil),        // 33: viam.common.v1.GetReadingsResponse
-	(*LogEntry)(nil),                   // 34: viam.common.v1.LogEntry
-	(*AudioInfo)(nil),                  // 35: viam.common.v1.AudioInfo
-	(*GetPropertiesRequest)(nil),       // 36: viam.common.v1.GetPropertiesRequest
-	(*GetPropertiesResponse)(nil),      // 37: viam.common.v1.GetPropertiesResponse
-	nil,                                // 38: viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry
-	nil,                                // 39: viam.common.v1.Get3DModelsResponse.ModelsEntry
-	nil,                                // 40: viam.common.v1.GetReadingsResponse.ReadingsEntry
-	(*structpb.Struct)(nil),            // 41: google.protobuf.Struct
-	(*timestamppb.Timestamp)(nil),      // 42: google.protobuf.Timestamp
-	(*structpb.Value)(nil),             // 43: google.protobuf.Value
-	(*descriptorpb.MethodOptions)(nil), // 44: google.protobuf.MethodOptions
+	(*Cylinder)(nil),                   // 9: viam.common.v1.Cylinder
+	(*RectangularPrism)(nil),           // 10: viam.common.v1.RectangularPrism
+	(*Mesh)(nil),                       // 11: viam.common.v1.Mesh
+	(*PointCloud)(nil),                 // 12: viam.common.v1.PointCloud
+	(*Geometry)(nil),                   // 13: viam.common.v1.Geometry
+	(*GeometriesInFrame)(nil),          // 14: viam.common.v1.GeometriesInFrame
+	(*PointCloudObject)(nil),           // 15: viam.common.v1.PointCloudObject
+	(*GeoPoint)(nil),                   // 16: viam.common.v1.GeoPoint
+	(*GeoGeometry)(nil),                // 17: viam.common.v1.GeoGeometry
+	(*Transform)(nil),                  // 18: viam.common.v1.Transform
+	(*WorldState)(nil),                 // 19: viam.common.v1.WorldState
+	(*ActuatorStatus)(nil),             // 20: viam.common.v1.ActuatorStatus
+	(*ResponseMetadata)(nil),           // 21: viam.common.v1.ResponseMetadata
+	(*DoCommandRequest)(nil),           // 22: viam.common.v1.DoCommandRequest
+	(*DoCommandResponse)(nil),          // 23: viam.common.v1.DoCommandResponse
+	(*GetStatusRequest)(nil),           // 24: viam.common.v1.GetStatusRequest
+	(*GetStatusResponse)(nil),          // 25: viam.common.v1.GetStatusResponse
+	(*GetKinematicsRequest)(nil),       // 26: viam.common.v1.GetKinematicsRequest
+	(*GetKinematicsResponse)(nil),      // 27: viam.common.v1.GetKinematicsResponse
+	(*GetGeometriesRequest)(nil),       // 28: viam.common.v1.GetGeometriesRequest
+	(*GetGeometriesResponse)(nil),      // 29: viam.common.v1.GetGeometriesResponse
+	(*Get3DModelsRequest)(nil),         // 30: viam.common.v1.Get3DModelsRequest
+	(*Get3DModelsResponse)(nil),        // 31: viam.common.v1.Get3DModelsResponse
+	(*GetWorldPoseResponse)(nil),       // 32: viam.common.v1.GetWorldPoseResponse
+	(*GetReadingsRequest)(nil),         // 33: viam.common.v1.GetReadingsRequest
+	(*GetReadingsResponse)(nil),        // 34: viam.common.v1.GetReadingsResponse
+	(*LogEntry)(nil),                   // 35: viam.common.v1.LogEntry
+	(*AudioInfo)(nil),                  // 36: viam.common.v1.AudioInfo
+	(*GetPropertiesRequest)(nil),       // 37: viam.common.v1.GetPropertiesRequest
+	(*GetPropertiesResponse)(nil),      // 38: viam.common.v1.GetPropertiesResponse
+	nil,                                // 39: viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry
+	nil,                                // 40: viam.common.v1.Get3DModelsResponse.ModelsEntry
+	nil,                                // 41: viam.common.v1.GetReadingsResponse.ReadingsEntry
+	(*structpb.Struct)(nil),            // 42: google.protobuf.Struct
+	(*timestamppb.Timestamp)(nil),      // 43: google.protobuf.Timestamp
+	(*structpb.Value)(nil),             // 44: google.protobuf.Value
+	(*descriptorpb.MethodOptions)(nil), // 45: google.protobuf.MethodOptions
 }
 var file_common_v1_common_proto_depIdxs = []int32{
 	2,  // 0: viam.common.v1.PoseInFrame.pose:type_name -> viam.common.v1.Pose
@@ -2732,46 +2834,47 @@ var file_common_v1_common_proto_depIdxs = []int32{
 	6,  // 2: viam.common.v1.RectangularPrism.dims_mm:type_name -> viam.common.v1.Vector3
 	2,  // 3: viam.common.v1.Geometry.center:type_name -> viam.common.v1.Pose
 	7,  // 4: viam.common.v1.Geometry.sphere:type_name -> viam.common.v1.Sphere
-	9,  // 5: viam.common.v1.Geometry.box:type_name -> viam.common.v1.RectangularPrism
+	10, // 5: viam.common.v1.Geometry.box:type_name -> viam.common.v1.RectangularPrism
 	8,  // 6: viam.common.v1.Geometry.capsule:type_name -> viam.common.v1.Capsule
-	10, // 7: viam.common.v1.Geometry.mesh:type_name -> viam.common.v1.Mesh
-	11, // 8: viam.common.v1.Geometry.pointcloud:type_name -> viam.common.v1.PointCloud
-	12, // 9: viam.common.v1.GeometriesInFrame.geometries:type_name -> viam.common.v1.Geometry
-	13, // 10: viam.common.v1.PointCloudObject.geometries:type_name -> viam.common.v1.GeometriesInFrame
-	15, // 11: viam.common.v1.GeoGeometry.location:type_name -> viam.common.v1.GeoPoint
-	12, // 12: viam.common.v1.GeoGeometry.geometries:type_name -> viam.common.v1.Geometry
-	5,  // 13: viam.common.v1.Transform.pose_in_observer_frame:type_name -> viam.common.v1.PoseInFrame
-	12, // 14: viam.common.v1.Transform.physical_object:type_name -> viam.common.v1.Geometry
-	41, // 15: viam.common.v1.Transform.metadata:type_name -> google.protobuf.Struct
-	13, // 16: viam.common.v1.WorldState.obstacles:type_name -> viam.common.v1.GeometriesInFrame
-	17, // 17: viam.common.v1.WorldState.transforms:type_name -> viam.common.v1.Transform
-	42, // 18: viam.common.v1.ResponseMetadata.captured_at:type_name -> google.protobuf.Timestamp
-	41, // 19: viam.common.v1.DoCommandRequest.command:type_name -> google.protobuf.Struct
-	41, // 20: viam.common.v1.DoCommandResponse.result:type_name -> google.protobuf.Struct
-	41, // 21: viam.common.v1.GetStatusResponse.result:type_name -> google.protobuf.Struct
-	41, // 22: viam.common.v1.GetKinematicsRequest.extra:type_name -> google.protobuf.Struct
-	0,  // 23: viam.common.v1.GetKinematicsResponse.format:type_name -> viam.common.v1.KinematicsFileFormat
-	38, // 24: viam.common.v1.GetKinematicsResponse.meshes_by_urdf_filepath:type_name -> viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry
-	41, // 25: viam.common.v1.GetGeometriesRequest.extra:type_name -> google.protobuf.Struct
-	12, // 26: viam.common.v1.GetGeometriesResponse.geometries:type_name -> viam.common.v1.Geometry
-	41, // 27: viam.common.v1.Get3DModelsRequest.extra:type_name -> google.protobuf.Struct
-	39, // 28: viam.common.v1.Get3DModelsResponse.models:type_name -> viam.common.v1.Get3DModelsResponse.ModelsEntry
-	2,  // 29: viam.common.v1.GetWorldPoseResponse.pose:type_name -> viam.common.v1.Pose
-	41, // 30: viam.common.v1.GetReadingsRequest.extra:type_name -> google.protobuf.Struct
-	40, // 31: viam.common.v1.GetReadingsResponse.readings:type_name -> viam.common.v1.GetReadingsResponse.ReadingsEntry
-	42, // 32: viam.common.v1.LogEntry.time:type_name -> google.protobuf.Timestamp
-	41, // 33: viam.common.v1.LogEntry.caller:type_name -> google.protobuf.Struct
-	41, // 34: viam.common.v1.LogEntry.fields:type_name -> google.protobuf.Struct
-	41, // 35: viam.common.v1.GetPropertiesRequest.extra:type_name -> google.protobuf.Struct
-	10, // 36: viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry.value:type_name -> viam.common.v1.Mesh
-	10, // 37: viam.common.v1.Get3DModelsResponse.ModelsEntry.value:type_name -> viam.common.v1.Mesh
-	43, // 38: viam.common.v1.GetReadingsResponse.ReadingsEntry.value:type_name -> google.protobuf.Value
-	44, // 39: viam.common.v1.safety_heartbeat_monitored:extendee -> google.protobuf.MethodOptions
-	40, // [40:40] is the sub-list for method output_type
-	40, // [40:40] is the sub-list for method input_type
-	40, // [40:40] is the sub-list for extension type_name
-	39, // [39:40] is the sub-list for extension extendee
-	0,  // [0:39] is the sub-list for field type_name
+	11, // 7: viam.common.v1.Geometry.mesh:type_name -> viam.common.v1.Mesh
+	12, // 8: viam.common.v1.Geometry.pointcloud:type_name -> viam.common.v1.PointCloud
+	9,  // 9: viam.common.v1.Geometry.cylinder:type_name -> viam.common.v1.Cylinder
+	13, // 10: viam.common.v1.GeometriesInFrame.geometries:type_name -> viam.common.v1.Geometry
+	14, // 11: viam.common.v1.PointCloudObject.geometries:type_name -> viam.common.v1.GeometriesInFrame
+	16, // 12: viam.common.v1.GeoGeometry.location:type_name -> viam.common.v1.GeoPoint
+	13, // 13: viam.common.v1.GeoGeometry.geometries:type_name -> viam.common.v1.Geometry
+	5,  // 14: viam.common.v1.Transform.pose_in_observer_frame:type_name -> viam.common.v1.PoseInFrame
+	13, // 15: viam.common.v1.Transform.physical_object:type_name -> viam.common.v1.Geometry
+	42, // 16: viam.common.v1.Transform.metadata:type_name -> google.protobuf.Struct
+	14, // 17: viam.common.v1.WorldState.obstacles:type_name -> viam.common.v1.GeometriesInFrame
+	18, // 18: viam.common.v1.WorldState.transforms:type_name -> viam.common.v1.Transform
+	43, // 19: viam.common.v1.ResponseMetadata.captured_at:type_name -> google.protobuf.Timestamp
+	42, // 20: viam.common.v1.DoCommandRequest.command:type_name -> google.protobuf.Struct
+	42, // 21: viam.common.v1.DoCommandResponse.result:type_name -> google.protobuf.Struct
+	42, // 22: viam.common.v1.GetStatusResponse.result:type_name -> google.protobuf.Struct
+	42, // 23: viam.common.v1.GetKinematicsRequest.extra:type_name -> google.protobuf.Struct
+	0,  // 24: viam.common.v1.GetKinematicsResponse.format:type_name -> viam.common.v1.KinematicsFileFormat
+	39, // 25: viam.common.v1.GetKinematicsResponse.meshes_by_urdf_filepath:type_name -> viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry
+	42, // 26: viam.common.v1.GetGeometriesRequest.extra:type_name -> google.protobuf.Struct
+	13, // 27: viam.common.v1.GetGeometriesResponse.geometries:type_name -> viam.common.v1.Geometry
+	42, // 28: viam.common.v1.Get3DModelsRequest.extra:type_name -> google.protobuf.Struct
+	40, // 29: viam.common.v1.Get3DModelsResponse.models:type_name -> viam.common.v1.Get3DModelsResponse.ModelsEntry
+	2,  // 30: viam.common.v1.GetWorldPoseResponse.pose:type_name -> viam.common.v1.Pose
+	42, // 31: viam.common.v1.GetReadingsRequest.extra:type_name -> google.protobuf.Struct
+	41, // 32: viam.common.v1.GetReadingsResponse.readings:type_name -> viam.common.v1.GetReadingsResponse.ReadingsEntry
+	43, // 33: viam.common.v1.LogEntry.time:type_name -> google.protobuf.Timestamp
+	42, // 34: viam.common.v1.LogEntry.caller:type_name -> google.protobuf.Struct
+	42, // 35: viam.common.v1.LogEntry.fields:type_name -> google.protobuf.Struct
+	42, // 36: viam.common.v1.GetPropertiesRequest.extra:type_name -> google.protobuf.Struct
+	11, // 37: viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry.value:type_name -> viam.common.v1.Mesh
+	11, // 38: viam.common.v1.Get3DModelsResponse.ModelsEntry.value:type_name -> viam.common.v1.Mesh
+	44, // 39: viam.common.v1.GetReadingsResponse.ReadingsEntry.value:type_name -> google.protobuf.Value
+	45, // 40: viam.common.v1.safety_heartbeat_monitored:extendee -> google.protobuf.MethodOptions
+	41, // [41:41] is the sub-list for method output_type
+	41, // [41:41] is the sub-list for method input_type
+	41, // [41:41] is the sub-list for extension type_name
+	40, // [40:41] is the sub-list for extension extendee
+	0,  // [0:40] is the sub-list for field type_name
 }
 
 func init() { file_common_v1_common_proto_init() }
@@ -2780,22 +2883,23 @@ func file_common_v1_common_proto_init() {
 		return
 	}
 	file_common_v1_common_proto_msgTypes[4].OneofWrappers = []any{}
-	file_common_v1_common_proto_msgTypes[11].OneofWrappers = []any{
+	file_common_v1_common_proto_msgTypes[12].OneofWrappers = []any{
 		(*Geometry_Sphere)(nil),
 		(*Geometry_Box)(nil),
 		(*Geometry_Capsule)(nil),
 		(*Geometry_Mesh)(nil),
 		(*Geometry_Pointcloud)(nil),
+		(*Geometry_Cylinder)(nil),
 	}
-	file_common_v1_common_proto_msgTypes[16].OneofWrappers = []any{}
-	file_common_v1_common_proto_msgTypes[19].OneofWrappers = []any{}
+	file_common_v1_common_proto_msgTypes[17].OneofWrappers = []any{}
+	file_common_v1_common_proto_msgTypes[20].OneofWrappers = []any{}
 	type x struct{}
 	out := protoimpl.TypeBuilder{
 		File: protoimpl.DescBuilder{
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_common_v1_common_proto_rawDesc,
 			NumEnums:      1,
-			NumMessages:   40,
+			NumMessages:   41,
 			NumExtensions: 1,
 			NumServices:   0,
 		},
diff --git a/proto/viam/common/v1/common.proto b/proto/viam/common/v1/common.proto
index 62f3fcf3e..a82a81799 100644
--- a/proto/viam/common/v1/common.proto
+++ b/proto/viam/common/v1/common.proto
@@ -85,6 +85,28 @@ message Capsule {
   double length_mm = 2;
 }
 
+// Cylinder is a finite right circular cylinder. Its central axis is the local
+// frame's Z axis and its pose is at its center. Unlike a capsule, a cylinder has
+// flat end caps and may be arbitrarily flat (no length >= 2*radius constraint).
+message Cylinder {
+  double radius_mm = 1;
+  // Total height, cap to cap.
+  double height_mm = 2;
+  // When true the flat end caps are omitted, producing an open tube: a
+  // cylindrical surface, which models open containers a robot reaches into.
+  //
+  // Phrased negatively so the proto3 default (false) is the solid cylinder,
+  // which is the overwhelmingly common case and matches what a cylinder means
+  // in URDF and SDF. A consumer that ignores this field reads every cylinder as
+  // solid.
+  //
+  // This is a defaulting convention, not a safety guarantee: whether solid or
+  // open is the conservative reading depends on the consumer's collision
+  // semantics, so producers should set the field rather than rely on the
+  // default carrying meaning.
+  bool uncapped = 3;
+}
+
 // RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
 // These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
 message RectangularPrism {
@@ -113,6 +135,7 @@ message Geometry {
     Capsule capsule = 5;
     Mesh mesh = 6;
     PointCloud pointcloud = 7;
+    Cylinder cylinder = 8;
   }
   // Label of the geometry. If none supplied, will be an empty string.
   string label = 4;