viam-sdk 0.3.0__py3-none-linux_armv6l.whl → 0.66.0__py3-none-linux_armv6l.whl

viam/gen/service/motion/v1/motion_pb2.pyi

@@ -7,36 +7,67 @@ import collections.abc
 from .... import common
 import google.protobuf.descriptor
 import google.protobuf.internal.containers
+import google.protobuf.internal.enum_type_wrapper
 import google.protobuf.message
 import google.protobuf.struct_pb2
+import google.protobuf.timestamp_pb2
 import sys
 import typing
-if sys.version_info >= (3, 8):
+if sys.version_info >= (3, 10):
     import typing as typing_extensions
 else:
     import typing_extensions
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
-@typing_extensions.final
+class _PlanState:
+    ValueType = typing.NewType('ValueType', builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _PlanStateEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_PlanState.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    PLAN_STATE_UNSPECIFIED: _PlanState.ValueType
+    PLAN_STATE_IN_PROGRESS: _PlanState.ValueType
+    PLAN_STATE_STOPPED: _PlanState.ValueType
+    PLAN_STATE_SUCCEEDED: _PlanState.ValueType
+    PLAN_STATE_FAILED: _PlanState.ValueType
+
+class PlanState(_PlanState, metaclass=_PlanStateEnumTypeWrapper):
+    """The states that a plan can be in.
+    InProgress if the plan is executing.
+    Stopped if the plan was stopped.
+    Suceeded if the robot reached its destination successfully.
+    Failed if the robot did not reach its destination.
+    """
+PLAN_STATE_UNSPECIFIED: PlanState.ValueType
+PLAN_STATE_IN_PROGRESS: PlanState.ValueType
+PLAN_STATE_STOPPED: PlanState.ValueType
+PLAN_STATE_SUCCEEDED: PlanState.ValueType
+PLAN_STATE_FAILED: PlanState.ValueType
+global___PlanState = PlanState
+
+@typing.final
 class MoveRequest(google.protobuf.message.Message):
     """Moves any component on the robot to a specified destination which can be from the reference frame of any other component on the robot."""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
     DESTINATION_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     WORLD_STATE_FIELD_NUMBER: builtins.int
     CONSTRAINTS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'Name of the motion service'
+    component_name: builtins.str
+    'Component on the robot to move to the specified destination'
 
     @property
     def destination(self) -> common.v1.common_pb2.PoseInFrame:
         """Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system"""
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """Component on the robot to move to the specified destination"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def world_state(self) -> common.v1.common_pb2.WorldState:
@@ -52,25 +83,25 @@ class MoveRequest(google.protobuf.message.Message):
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.PoseInFrame | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., world_state: common.v1.common_pb2.WorldState | None=..., constraints: global___Constraints | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.PoseInFrame | None=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., world_state: common.v1.common_pb2.WorldState | None=..., constraints: global___Constraints | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name', b'component_name', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'world_state', b'world_state']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name_deprecated', b'component_name_deprecated', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'world_state', b'world_state']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name', b'component_name', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'name', b'name', 'world_state', b'world_state']) -> None:
+    def ClearField(self, field_name: typing.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'name', b'name', 'world_state', b'world_state']) -> None:
         ...
 
     @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_constraints', b'_constraints']) -> typing_extensions.Literal['constraints'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_constraints', b'_constraints']) -> typing.Literal['constraints'] | None:
         ...
 
     @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_world_state', b'_world_state']) -> typing_extensions.Literal['world_state'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_world_state', b'_world_state']) -> typing.Literal['world_state'] | None:
         ...
 global___MoveRequest = MoveRequest
 
-@typing_extensions.final
+@typing.final
 class MoveResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     SUCCESS_FIELD_NUMBER: builtins.int
@@ -79,250 +110,461 @@ class MoveResponse(google.protobuf.message.Message):
     def __init__(self, *, success: builtins.bool=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['success', b'success']) -> None:
+    def ClearField(self, field_name: typing.Literal['success', b'success']) -> None:
         ...
 global___MoveResponse = MoveResponse
 
-@typing_extensions.final
+@typing.final
 class MoveOnMapRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
     DESTINATION_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    SLAM_SERVICE_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    MOTION_CONFIGURATION_FIELD_NUMBER: builtins.int
+    OBSTACLES_FIELD_NUMBER: builtins.int
     COMPONENT_NAME_FIELD_NUMBER: builtins.int
     SLAM_SERVICE_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'Name of the motion service'
+    component_name: builtins.str
+    'Component on the robot to move to the specified destination'
+    slam_service_name: builtins.str
+    'Name of the slam service from which the SLAM map is requested'
 
     @property
     def destination(self) -> common.v1.common_pb2.Pose:
         """Specify a destination to, which can be any pose with respect to the SLAM map's origin"""
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """Component on the robot to move to the specified destination"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
+
+    @property
+    def slam_service_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use slam_service_name field."""
 
     @property
-    def slam_service_name(self) -> common.v1.common_pb2.ResourceName:
-        """Name of the slam service from which the SLAM map is requested"""
+    def motion_configuration(self) -> global___MotionConfiguration:
+        """Optional set of motion configuration options"""
+
+    @property
+    def obstacles(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.Geometry]:
+        """Obstacles to be considered for motion planning"""
 
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.Pose | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., slam_service_name: common.v1.common_pb2.ResourceName | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.Pose | None=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., slam_service_name_deprecated: common.v1.common_pb2.ResourceName | None=..., motion_configuration: global___MotionConfiguration | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.Geometry] | None=..., component_name: builtins.str=..., slam_service_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'slam_service_name', b'slam_service_name']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_motion_configuration', b'_motion_configuration', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'motion_configuration', b'motion_configuration', 'slam_service_name_deprecated', b'slam_service_name_deprecated']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'name', b'name', 'slam_service_name', b'slam_service_name']) -> None:
+    def ClearField(self, field_name: typing.Literal['_motion_configuration', b'_motion_configuration', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'motion_configuration', b'motion_configuration', 'name', b'name', 'obstacles', b'obstacles', 'slam_service_name', b'slam_service_name', 'slam_service_name_deprecated', b'slam_service_name_deprecated']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_motion_configuration', b'_motion_configuration']) -> typing.Literal['motion_configuration'] | None:
         ...
 global___MoveOnMapRequest = MoveOnMapRequest
 
-@typing_extensions.final
+@typing.final
 class MoveOnMapResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    SUCCESS_FIELD_NUMBER: builtins.int
-    success: builtins.bool
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    execution_id: builtins.str
+    'The unique ID which identifies the execution.\n    Multiple plans will share the same execution_id if they were\n    generated due to replanning.\n    '
 
-    def __init__(self, *, success: builtins.bool=...) -> None:
+    def __init__(self, *, execution_id: builtins.str=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['success', b'success']) -> None:
+    def ClearField(self, field_name: typing.Literal['execution_id', b'execution_id']) -> None:
         ...
 global___MoveOnMapResponse = MoveOnMapResponse
 
-@typing_extensions.final
+@typing.final
+class ObstacleDetector(google.protobuf.message.Message):
+    """Pairs a vision service with a camera, informing the service about which camera it may use"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    VISION_SERVICE_DEPRECATED_FIELD_NUMBER: builtins.int
+    CAMERA_DEPRECATED_FIELD_NUMBER: builtins.int
+    VISION_SERVICE_FIELD_NUMBER: builtins.int
+    CAMERA_FIELD_NUMBER: builtins.int
+    vision_service: builtins.str
+    camera: builtins.str
+
+    @property
+    def vision_service_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        ...
+
+    @property
+    def camera_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        ...
+
+    def __init__(self, *, vision_service_deprecated: common.v1.common_pb2.ResourceName | None=..., camera_deprecated: common.v1.common_pb2.ResourceName | None=..., vision_service: builtins.str=..., camera: builtins.str=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['camera_deprecated', b'camera_deprecated', 'vision_service_deprecated', b'vision_service_deprecated']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['camera', b'camera', 'camera_deprecated', b'camera_deprecated', 'vision_service', b'vision_service', 'vision_service_deprecated', b'vision_service_deprecated']) -> None:
+        ...
+global___ObstacleDetector = ObstacleDetector
+
+@typing.final
+class MotionConfiguration(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    OBSTACLE_DETECTORS_FIELD_NUMBER: builtins.int
+    POSITION_POLLING_FREQUENCY_HZ_FIELD_NUMBER: builtins.int
+    OBSTACLE_POLLING_FREQUENCY_HZ_FIELD_NUMBER: builtins.int
+    PLAN_DEVIATION_M_FIELD_NUMBER: builtins.int
+    LINEAR_M_PER_SEC_FIELD_NUMBER: builtins.int
+    ANGULAR_DEGS_PER_SEC_FIELD_NUMBER: builtins.int
+    position_polling_frequency_hz: builtins.float
+    'Sets the frequency to poll for the position of the robot'
+    obstacle_polling_frequency_hz: builtins.float
+    'Sets the frequency to poll the vision service(s) for new obstacles'
+    plan_deviation_m: builtins.float
+    'Sets the distance in meters that a robot is allowed to deviate from the motion plan'
+    linear_m_per_sec: builtins.float
+    'Optional linear velocity to target when moving'
+    angular_degs_per_sec: builtins.float
+    'Optional angular velocity to target when turning'
+
+    @property
+    def obstacle_detectors(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___ObstacleDetector]:
+        """The ObstacleDetectors that will be used for transient obstacle avoidance"""
+
+    def __init__(self, *, obstacle_detectors: collections.abc.Iterable[global___ObstacleDetector] | None=..., position_polling_frequency_hz: builtins.float | None=..., obstacle_polling_frequency_hz: builtins.float | None=..., plan_deviation_m: builtins.float | None=..., linear_m_per_sec: builtins.float | None=..., angular_degs_per_sec: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_angular_degs_per_sec', b'_angular_degs_per_sec', '_linear_m_per_sec', b'_linear_m_per_sec', '_obstacle_polling_frequency_hz', b'_obstacle_polling_frequency_hz', '_plan_deviation_m', b'_plan_deviation_m', '_position_polling_frequency_hz', b'_position_polling_frequency_hz', 'angular_degs_per_sec', b'angular_degs_per_sec', 'linear_m_per_sec', b'linear_m_per_sec', 'obstacle_polling_frequency_hz', b'obstacle_polling_frequency_hz', 'plan_deviation_m', b'plan_deviation_m', 'position_polling_frequency_hz', b'position_polling_frequency_hz']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_angular_degs_per_sec', b'_angular_degs_per_sec', '_linear_m_per_sec', b'_linear_m_per_sec', '_obstacle_polling_frequency_hz', b'_obstacle_polling_frequency_hz', '_plan_deviation_m', b'_plan_deviation_m', '_position_polling_frequency_hz', b'_position_polling_frequency_hz', 'angular_degs_per_sec', b'angular_degs_per_sec', 'linear_m_per_sec', b'linear_m_per_sec', 'obstacle_detectors', b'obstacle_detectors', 'obstacle_polling_frequency_hz', b'obstacle_polling_frequency_hz', 'plan_deviation_m', b'plan_deviation_m', 'position_polling_frequency_hz', b'position_polling_frequency_hz']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_angular_degs_per_sec', b'_angular_degs_per_sec']) -> typing.Literal['angular_degs_per_sec'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_linear_m_per_sec', b'_linear_m_per_sec']) -> typing.Literal['linear_m_per_sec'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_obstacle_polling_frequency_hz', b'_obstacle_polling_frequency_hz']) -> typing.Literal['obstacle_polling_frequency_hz'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_plan_deviation_m', b'_plan_deviation_m']) -> typing.Literal['plan_deviation_m'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_position_polling_frequency_hz', b'_position_polling_frequency_hz']) -> typing.Literal['position_polling_frequency_hz'] | None:
+        ...
+global___MotionConfiguration = MotionConfiguration
+
+@typing.final
 class MoveOnGlobeRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
     DESTINATION_FIELD_NUMBER: builtins.int
     HEADING_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    MOVEMENT_SENSOR_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    OBSTACLES_FIELD_NUMBER: builtins.int
+    MOTION_CONFIGURATION_FIELD_NUMBER: builtins.int
+    BOUNDING_REGIONS_FIELD_NUMBER: builtins.int
     COMPONENT_NAME_FIELD_NUMBER: builtins.int
     MOVEMENT_SENSOR_NAME_FIELD_NUMBER: builtins.int
-    OBSTACLES_FIELD_NUMBER: builtins.int
-    LINEAR_METERS_PER_SEC_FIELD_NUMBER: builtins.int
-    ANGULAR_DEG_PER_SEC_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'Name of the motion service'
+    heading: builtins.float
+    'Optional compass heading to achieve at the destination, in degrees [0-360)'
+    component_name: builtins.str
+    'Component on the robot to move to the specified destination'
+    movement_sensor_name: builtins.str
+    'Name of the movement sensor which will be used to check robot location'
 
     @property
     def destination(self) -> common.v1.common_pb2.GeoPoint:
         """Destination, encoded as a GeoPoint"""
-    heading: builtins.float
-    'Optional compass heading to achieve at the destination, in degrees [0-360)'
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """Component on the robot to move to the specified destination"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
-    def movement_sensor_name(self) -> common.v1.common_pb2.ResourceName:
-        """Name of the movement sensor which will be used to check robot location"""
+    def movement_sensor_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use movement_sensor_name field."""
 
     @property
-    def obstacles(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.GeoObstacle]:
+    def obstacles(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.GeoGeometry]:
         """Obstacles to be considered for motion planning"""
-    linear_meters_per_sec: builtins.float
-    'Optional linear velocity to target when moving'
-    angular_deg_per_sec: builtins.float
-    'Optional angular velocity to target when turning'
+
+    @property
+    def motion_configuration(self) -> global___MotionConfiguration:
+        """Optional set of motion configuration options"""
+
+    @property
+    def bounding_regions(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.GeoGeometry]:
+        """Set of obstacles which the robot must remain within while navigating"""
 
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.GeoPoint | None=..., heading: builtins.float | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., movement_sensor_name: common.v1.common_pb2.ResourceName | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.GeoObstacle] | None=..., linear_meters_per_sec: builtins.float | None=..., angular_deg_per_sec: builtins.float | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.GeoPoint | None=..., heading: builtins.float | None=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., movement_sensor_name_deprecated: common.v1.common_pb2.ResourceName | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.GeoGeometry] | None=..., motion_configuration: global___MotionConfiguration | None=..., bounding_regions: collections.abc.Iterable[common.v1.common_pb2.GeoGeometry] | None=..., component_name: builtins.str=..., movement_sensor_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['_angular_deg_per_sec', b'_angular_deg_per_sec', '_heading', b'_heading', '_linear_meters_per_sec', b'_linear_meters_per_sec', 'angular_deg_per_sec', b'angular_deg_per_sec', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'linear_meters_per_sec', b'linear_meters_per_sec', 'movement_sensor_name', b'movement_sensor_name']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_heading', b'_heading', '_motion_configuration', b'_motion_configuration', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'motion_configuration', b'motion_configuration', 'movement_sensor_name_deprecated', b'movement_sensor_name_deprecated']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['_angular_deg_per_sec', b'_angular_deg_per_sec', '_heading', b'_heading', '_linear_meters_per_sec', b'_linear_meters_per_sec', 'angular_deg_per_sec', b'angular_deg_per_sec', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'linear_meters_per_sec', b'linear_meters_per_sec', 'movement_sensor_name', b'movement_sensor_name', 'name', b'name', 'obstacles', b'obstacles']) -> None:
+    def ClearField(self, field_name: typing.Literal['_heading', b'_heading', '_motion_configuration', b'_motion_configuration', 'bounding_regions', b'bounding_regions', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'motion_configuration', b'motion_configuration', 'movement_sensor_name', b'movement_sensor_name', 'movement_sensor_name_deprecated', b'movement_sensor_name_deprecated', 'name', b'name', 'obstacles', b'obstacles']) -> None:
         ...
 
     @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_angular_deg_per_sec', b'_angular_deg_per_sec']) -> typing_extensions.Literal['angular_deg_per_sec'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_heading', b'_heading']) -> typing.Literal['heading'] | None:
         ...
 
     @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_heading', b'_heading']) -> typing_extensions.Literal['heading'] | None:
-        ...
-
-    @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_linear_meters_per_sec', b'_linear_meters_per_sec']) -> typing_extensions.Literal['linear_meters_per_sec'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_motion_configuration', b'_motion_configuration']) -> typing.Literal['motion_configuration'] | None:
         ...
 global___MoveOnGlobeRequest = MoveOnGlobeRequest
 
-@typing_extensions.final
+@typing.final
 class MoveOnGlobeResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    SUCCESS_FIELD_NUMBER: builtins.int
-    success: builtins.bool
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    execution_id: builtins.str
+    'The unique ID which identifies the execution.\n    Multiple plans will share the same execution_id if they were\n    generated due to replanning.\n    '
 
-    def __init__(self, *, success: builtins.bool=...) -> None:
+    def __init__(self, *, execution_id: builtins.str=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['success', b'success']) -> None:
+    def ClearField(self, field_name: typing.Literal['execution_id', b'execution_id']) -> None:
         ...
 global___MoveOnGlobeResponse = MoveOnGlobeResponse
 
-@typing_extensions.final
-class MoveSingleComponentRequest(google.protobuf.message.Message):
+@typing.final
+class GetPoseRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
-    DESTINATION_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    DESTINATION_FRAME_FIELD_NUMBER: builtins.int
+    SUPPLEMENTAL_TRANSFORMS_FIELD_NUMBER: builtins.int
     COMPONENT_NAME_FIELD_NUMBER: builtins.int
-    WORLD_STATE_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
+    destination_frame: builtins.str
+    'the reference frame in which the component\'s pose\n    should be provided, if unset this defaults\n    to the "world" reference frame\n    '
+    component_name: builtins.str
+    'the component whose pose is being requested'
 
     @property
-    def destination(self) -> common.v1.common_pb2.PoseInFrame:
-        ...
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
+    def supplemental_transforms(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.Transform]:
+        """pose information on any additional reference frames that are needed
+        to compute the component's pose
+        """
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., destination_frame: builtins.str=..., supplemental_transforms: collections.abc.Iterable[common.v1.common_pb2.Transform] | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated', 'extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'destination_frame', b'destination_frame', 'extra', b'extra', 'name', b'name', 'supplemental_transforms', b'supplemental_transforms']) -> None:
         ...
+global___GetPoseRequest = GetPoseRequest
+
+@typing.final
+class GetPoseResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSE_FIELD_NUMBER: builtins.int
 
     @property
-    def world_state(self) -> common.v1.common_pb2.WorldState:
+    def pose(self) -> common.v1.common_pb2.PoseInFrame:
+        ...
+
+    def __init__(self, *, pose: common.v1.common_pb2.PoseInFrame | None=...) -> None:
         ...
 
+    def HasField(self, field_name: typing.Literal['pose', b'pose']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['pose', b'pose']) -> None:
+        ...
+global___GetPoseResponse = GetPoseResponse
+
+@typing.final
+class StopPlanRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The name of the motion service'
+    component_name: builtins.str
+    'The component of the currently executing plan to stop'
+
+    @property
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
+
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.PoseInFrame | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., world_state: common.v1.common_pb2.WorldState | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['_world_state', b'_world_state', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'world_state', b'world_state']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated', 'extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['_world_state', b'_world_state', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'name', b'name', 'world_state', b'world_state']) -> None:
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'extra', b'extra', 'name', b'name']) -> None:
         ...
+global___StopPlanRequest = StopPlanRequest
+
+@typing.final
+class StopPlanResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_world_state', b'_world_state']) -> typing_extensions.Literal['world_state'] | None:
+    def __init__(self) -> None:
         ...
-global___MoveSingleComponentRequest = MoveSingleComponentRequest
+global___StopPlanResponse = StopPlanResponse
 
-@typing_extensions.final
-class MoveSingleComponentResponse(google.protobuf.message.Message):
+@typing.final
+class ListPlanStatusesRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    SUCCESS_FIELD_NUMBER: builtins.int
-    success: builtins.bool
+    NAME_FIELD_NUMBER: builtins.int
+    ONLY_ACTIVE_PLANS_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The name of the motion service'
+    only_active_plans: builtins.bool
+    'If supplied, the response will filter the\n    plan results for the supplied state\n    '
 
-    def __init__(self, *, success: builtins.bool=...) -> None:
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., only_active_plans: builtins.bool=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['success', b'success']) -> None:
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
         ...
-global___MoveSingleComponentResponse = MoveSingleComponentResponse
 
-@typing_extensions.final
-class GetPoseRequest(google.protobuf.message.Message):
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'only_active_plans', b'only_active_plans']) -> None:
+        ...
+global___ListPlanStatusesRequest = ListPlanStatusesRequest
+
+@typing.final
+class ListPlanStatusesResponse(google.protobuf.message.Message):
+    """Status of all executed / executing plan statuses with associated IDs within the 24 hour TTL"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PLAN_STATUSES_WITH_IDS_FIELD_NUMBER: builtins.int
+
+    @property
+    def plan_statuses_with_ids(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanStatusWithID]:
+        """List of last known statuses with the associated IDs of all plans within the TTL
+        ordered by timestamp in ascending order
+        """
+
+    def __init__(self, *, plan_statuses_with_ids: collections.abc.Iterable[global___PlanStatusWithID] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['plan_statuses_with_ids', b'plan_statuses_with_ids']) -> None:
+        ...
+global___ListPlanStatusesResponse = ListPlanStatusesResponse
+
+@typing.final
+class GetPlanRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    LAST_PLAN_ONLY_FIELD_NUMBER: builtins.int
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
     COMPONENT_NAME_FIELD_NUMBER: builtins.int
-    DESTINATION_FRAME_FIELD_NUMBER: builtins.int
-    SUPPLEMENTAL_TRANSFORMS_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
+    'The name of the motion service'
+    last_plan_only: builtins.bool
+    'If supplied, the response will only return\n    the the last plan for the component / execution\n    '
+    execution_id: builtins.str
+    'If you want to know about the plans of a previous execution'
+    component_name: builtins.str
+    'The name of the component which was requested to be moved.'
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """the component whose pose is being requested"""
-    destination_frame: builtins.str
-    'the reference frame in which the component\'s pose\n    should be provided, if unset this defaults\n    to the "world" reference frame\n    '
-
-    @property
-    def supplemental_transforms(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.Transform]:
-        """pose information on any additional reference frames that are needed
-        to compute the component's pose
-        """
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., component_name: common.v1.common_pb2.ResourceName | None=..., destination_frame: builtins.str=..., supplemental_transforms: collections.abc.Iterable[common.v1.common_pb2.Transform] | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., last_plan_only: builtins.bool=..., execution_id: builtins.str | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['component_name', b'component_name', 'extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_execution_id', b'_execution_id', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['component_name', b'component_name', 'destination_frame', b'destination_frame', 'extra', b'extra', 'name', b'name', 'supplemental_transforms', b'supplemental_transforms']) -> None:
+    def ClearField(self, field_name: typing.Literal['_execution_id', b'_execution_id', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'extra', b'extra', 'last_plan_only', b'last_plan_only', 'name', b'name']) -> None:
         ...
-global___GetPoseRequest = GetPoseRequest
 
-@typing_extensions.final
-class GetPoseResponse(google.protobuf.message.Message):
+    def WhichOneof(self, oneof_group: typing.Literal['_execution_id', b'_execution_id']) -> typing.Literal['execution_id'] | None:
+        ...
+global___GetPlanRequest = GetPlanRequest
+
+@typing.final
+class GetPlanResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
-    POSE_FIELD_NUMBER: builtins.int
+    CURRENT_PLAN_WITH_STATUS_FIELD_NUMBER: builtins.int
+    REPLAN_HISTORY_FIELD_NUMBER: builtins.int
 
     @property
-    def pose(self) -> common.v1.common_pb2.PoseInFrame:
-        ...
+    def current_plan_with_status(self) -> global___PlanWithStatus:
+        """The current plan and status that matches the request query"""
 
-    def __init__(self, *, pose: common.v1.common_pb2.PoseInFrame | None=...) -> None:
+    @property
+    def replan_history(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanWithStatus]:
+        """Returns the history of all previous plans that were
+        generated in ascending order.
+        This field will be empty if the motion service
+        did not need to re-plan.
+        """
+
+    def __init__(self, *, current_plan_with_status: global___PlanWithStatus | None=..., replan_history: collections.abc.Iterable[global___PlanWithStatus] | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['pose', b'pose']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['current_plan_with_status', b'current_plan_with_status']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['pose', b'pose']) -> None:
+    def ClearField(self, field_name: typing.Literal['current_plan_with_status', b'current_plan_with_status', 'replan_history', b'replan_history']) -> None:
         ...
-global___GetPoseResponse = GetPoseResponse
+global___GetPlanResponse = GetPlanResponse
 
-@typing_extensions.final
+@typing.final
 class Constraints(google.protobuf.message.Message):
     """Constraints specifies all enumerated constraints to be passed to Viam's motion planning, along with any optional parameters"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LINEAR_CONSTRAINT_FIELD_NUMBER: builtins.int
     ORIENTATION_CONSTRAINT_FIELD_NUMBER: builtins.int
     COLLISION_SPECIFICATION_FIELD_NUMBER: builtins.int
+    PSEUDOLINEAR_CONSTRAINT_FIELD_NUMBER: builtins.int
 
     @property
     def linear_constraint(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___LinearConstraint]:
@@ -334,18 +576,24 @@ class Constraints(google.protobuf.message.Message):
 
     @property
     def collision_specification(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___CollisionSpecification]:
+        ...
+
+    @property
+    def pseudolinear_constraint(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PseudolinearConstraint]:
         """Arc constraint, Time constraint, and others will be added here when they are supported"""
 
-    def __init__(self, *, linear_constraint: collections.abc.Iterable[global___LinearConstraint] | None=..., orientation_constraint: collections.abc.Iterable[global___OrientationConstraint] | None=..., collision_specification: collections.abc.Iterable[global___CollisionSpecification] | None=...) -> None:
+    def __init__(self, *, linear_constraint: collections.abc.Iterable[global___LinearConstraint] | None=..., orientation_constraint: collections.abc.Iterable[global___OrientationConstraint] | None=..., collision_specification: collections.abc.Iterable[global___CollisionSpecification] | None=..., pseudolinear_constraint: collections.abc.Iterable[global___PseudolinearConstraint] | None=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['collision_specification', b'collision_specification', 'linear_constraint', b'linear_constraint', 'orientation_constraint', b'orientation_constraint']) -> None:
+    def ClearField(self, field_name: typing.Literal['collision_specification', b'collision_specification', 'linear_constraint', b'linear_constraint', 'orientation_constraint', b'orientation_constraint', 'pseudolinear_constraint', b'pseudolinear_constraint']) -> None:
         ...
 global___Constraints = Constraints
 
-@typing_extensions.final
+@typing.final
 class LinearConstraint(google.protobuf.message.Message):
-    """LinearConstraint specifies that the component being moved should move linearly relative to its goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move"""
+    """LinearConstraint specifies that the component being moved should move linearly relative to its goal.
+    It does not constrain the motion of components other than the `component_name` specified in motion.Move
+    """
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LINE_TOLERANCE_MM_FIELD_NUMBER: builtins.int
     ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER: builtins.int
@@ -357,24 +605,57 @@ class LinearConstraint(google.protobuf.message.Message):
     def __init__(self, *, line_tolerance_mm: builtins.float | None=..., orientation_tolerance_degs: builtins.float | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['_line_tolerance_mm', b'_line_tolerance_mm', '_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'line_tolerance_mm', b'line_tolerance_mm', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_line_tolerance_mm', b'_line_tolerance_mm', '_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'line_tolerance_mm', b'line_tolerance_mm', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['_line_tolerance_mm', b'_line_tolerance_mm', '_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'line_tolerance_mm', b'line_tolerance_mm', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> None:
+    def ClearField(self, field_name: typing.Literal['_line_tolerance_mm', b'_line_tolerance_mm', '_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'line_tolerance_mm', b'line_tolerance_mm', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> None:
         ...
 
     @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_line_tolerance_mm', b'_line_tolerance_mm']) -> typing_extensions.Literal['line_tolerance_mm'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_line_tolerance_mm', b'_line_tolerance_mm']) -> typing.Literal['line_tolerance_mm'] | None:
         ...
 
     @typing.overload
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs']) -> typing_extensions.Literal['orientation_tolerance_degs'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs']) -> typing.Literal['orientation_tolerance_degs'] | None:
         ...
 global___LinearConstraint = LinearConstraint
 
-@typing_extensions.final
+@typing.final
+class PseudolinearConstraint(google.protobuf.message.Message):
+    """PseudolinearConstraint specifies that the component being moved should not deviate from the straight-line path to their goal by
+    more than a factor proportional to the distance from start to goal.
+    For example, if a component is moving 100mm, then a LineToleranceFactor of 1.0 means that the component will remain within a 100mm
+    radius of the straight-line start-goal path.
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    LINE_TOLERANCE_FACTOR_FIELD_NUMBER: builtins.int
+    ORIENTATION_TOLERANCE_FACTOR_FIELD_NUMBER: builtins.int
+    line_tolerance_factor: builtins.float
+    orientation_tolerance_factor: builtins.float
+
+    def __init__(self, *, line_tolerance_factor: builtins.float | None=..., orientation_tolerance_factor: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_line_tolerance_factor', b'_line_tolerance_factor', '_orientation_tolerance_factor', b'_orientation_tolerance_factor', 'line_tolerance_factor', b'line_tolerance_factor', 'orientation_tolerance_factor', b'orientation_tolerance_factor']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_line_tolerance_factor', b'_line_tolerance_factor', '_orientation_tolerance_factor', b'_orientation_tolerance_factor', 'line_tolerance_factor', b'line_tolerance_factor', 'orientation_tolerance_factor', b'orientation_tolerance_factor']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_line_tolerance_factor', b'_line_tolerance_factor']) -> typing.Literal['line_tolerance_factor'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_orientation_tolerance_factor', b'_orientation_tolerance_factor']) -> typing.Literal['orientation_tolerance_factor'] | None:
+        ...
+global___PseudolinearConstraint = PseudolinearConstraint
+
+@typing.final
 class OrientationConstraint(google.protobuf.message.Message):
-    """OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative to the goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move"""
+    """OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative
+    to the goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move
+    """
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER: builtins.int
     orientation_tolerance_degs: builtins.float
@@ -383,22 +664,22 @@ class OrientationConstraint(google.protobuf.message.Message):
     def __init__(self, *, orientation_tolerance_degs: builtins.float | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> None:
+    def ClearField(self, field_name: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> None:
         ...
 
-    def WhichOneof(self, oneof_group: typing_extensions.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs']) -> typing_extensions.Literal['orientation_tolerance_degs'] | None:
+    def WhichOneof(self, oneof_group: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs']) -> typing.Literal['orientation_tolerance_degs'] | None:
         ...
 global___OrientationConstraint = OrientationConstraint
 
-@typing_extensions.final
+@typing.final
 class CollisionSpecification(google.protobuf.message.Message):
     """CollisionSpecification is used to selectively apply obstacle avoidance to specific parts of the robot"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
-    @typing_extensions.final
+    @typing.final
     class AllowedFrameCollisions(google.protobuf.message.Message):
         DESCRIPTOR: google.protobuf.descriptor.Descriptor
         FRAME1_FIELD_NUMBER: builtins.int
@@ -409,7 +690,7 @@ class CollisionSpecification(google.protobuf.message.Message):
         def __init__(self, *, frame1: builtins.str=..., frame2: builtins.str=...) -> None:
             ...
 
-        def ClearField(self, field_name: typing_extensions.Literal['frame1', b'frame1', 'frame2', b'frame2']) -> None:
+        def ClearField(self, field_name: typing.Literal['frame1', b'frame1', 'frame2', b'frame2']) -> None:
             ...
     ALLOWS_FIELD_NUMBER: builtins.int
 
@@ -420,6 +701,200 @@ class CollisionSpecification(google.protobuf.message.Message):
     def __init__(self, *, allows: collections.abc.Iterable[global___CollisionSpecification.AllowedFrameCollisions] | None=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['allows', b'allows']) -> None:
+    def ClearField(self, field_name: typing.Literal['allows', b'allows']) -> None:
+        ...
+global___CollisionSpecification = CollisionSpecification
+
+@typing.final
+class PlanWithStatus(google.protobuf.message.Message):
+    """Describes a plan, its current status & all status changes
+    that have occured previously on that plan
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PLAN_FIELD_NUMBER: builtins.int
+    STATUS_FIELD_NUMBER: builtins.int
+    STATUS_HISTORY_FIELD_NUMBER: builtins.int
+
+    @property
+    def plan(self) -> global___Plan:
+        """The plan"""
+
+    @property
+    def status(self) -> global___PlanStatus:
+        """The current status of the plan"""
+
+    @property
+    def status_history(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanStatus]:
+        """The prior status changes that have happened during plan execution"""
+
+    def __init__(self, *, plan: global___Plan | None=..., status: global___PlanStatus | None=..., status_history: collections.abc.Iterable[global___PlanStatus] | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['plan', b'plan', 'status', b'status']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['plan', b'plan', 'status', b'status', 'status_history', b'status_history']) -> None:
+        ...
+global___PlanWithStatus = PlanWithStatus
+
+@typing.final
+class PlanStatusWithID(google.protobuf.message.Message):
+    """PlanStatusWithID describes the state of a given plan at a
+    point in time plus the plan_id, component_name and execution_id
+    the status is associated with
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PLAN_ID_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    STATUS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    plan_id: builtins.str
+    'The unique ID of the plan'
+    execution_id: builtins.str
+    'The unique ID which identifies the plan execution.\n    Multiple plans will share the same execution_id if they were\n    generated due to replanning.\n    '
+    component_name: builtins.str
+    'The component to be moved.\n    Used for tracking & stopping.\n    NOTE: A plan may move more components than just the\n    component_name.\n    '
+
+    @property
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
+
+    @property
+    def status(self) -> global___PlanStatus:
+        ...
+
+    def __init__(self, *, plan_id: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., execution_id: builtins.str=..., status: global___PlanStatus | None=..., component_name: builtins.str=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated', 'status', b'status']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'plan_id', b'plan_id', 'status', b'status']) -> None:
+        ...
+global___PlanStatusWithID = PlanStatusWithID
+
+@typing.final
+class PlanStatus(google.protobuf.message.Message):
+    """Plan status describes the state of a given plan at a
+    point in time
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    STATE_FIELD_NUMBER: builtins.int
+    TIMESTAMP_FIELD_NUMBER: builtins.int
+    REASON_FIELD_NUMBER: builtins.int
+    state: global___PlanState.ValueType
+    'The state of the plan execution'
+    reason: builtins.str
+    'The reason for the state change. If motion plan failed\n    this will return the error message.\n    If motion needed to re-plan, this will return\n    the re-plan reason.\n    '
+
+    @property
+    def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp:
+        """The time the executing plan transtioned to the state"""
+
+    def __init__(self, *, state: global___PlanState.ValueType=..., timestamp: google.protobuf.timestamp_pb2.Timestamp | None=..., reason: builtins.str | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_reason', b'_reason', 'reason', b'reason', 'timestamp', b'timestamp']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_reason', b'_reason', 'reason', b'reason', 'state', b'state', 'timestamp', b'timestamp']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_reason', b'_reason']) -> typing.Literal['reason'] | None:
+        ...
+global___PlanStatus = PlanStatus
+
+@typing.final
+class Plan(google.protobuf.message.Message):
+    """A plan describes a motion plan"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    ID_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    STEPS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    id: builtins.str
+    "The plan's unique ID"
+    execution_id: builtins.str
+    'The unique ID which identifies the execution.\n    Multiple plans will share the same execution_id if they were\n    generated due to replanning\n    '
+    component_name: builtins.str
+    'The component requested to be moved.\n    Used for tracking & stopping.\n    NOTE: A plan may move more components than just the\n    root component.\n    '
+
+    @property
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
+
+    @property
+    def steps(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanStep]:
+        """The steps of a plan is an ordered list of plan steps"""
+
+    def __init__(self, *, id: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., execution_id: builtins.str=..., steps: collections.abc.Iterable[global___PlanStep] | None=..., component_name: builtins.str=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'id', b'id', 'steps', b'steps']) -> None:
+        ...
+global___Plan = Plan
+
+@typing.final
+class PlanStep(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class StepEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+
+        @property
+        def value(self) -> global___ComponentState:
+            ...
+
+        def __init__(self, *, key: builtins.str=..., value: global___ComponentState | None=...) -> None:
+            ...
+
+        def HasField(self, field_name: typing.Literal['value', b'value']) -> builtins.bool:
+            ...
+
+        def ClearField(self, field_name: typing.Literal['key', b'key', 'value', b'value']) -> None:
+            ...
+    STEP_FIELD_NUMBER: builtins.int
+
+    @property
+    def step(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___ComponentState]:
+        """A step is the component state each
+        component resource should reach while executing
+        that step of the plan.
+        Keys are the fully qualified component name.
+        """
+
+    def __init__(self, *, step: collections.abc.Mapping[builtins.str, global___ComponentState] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['step', b'step']) -> None:
+        ...
+global___PlanStep = PlanStep
+
+@typing.final
+class ComponentState(google.protobuf.message.Message):
+    """A pose"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSE_FIELD_NUMBER: builtins.int
+
+    @property
+    def pose(self) -> common.v1.common_pb2.Pose:
+        ...
+
+    def __init__(self, *, pose: common.v1.common_pb2.Pose | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['pose', b'pose']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['pose', b'pose']) -> None:
         ...
-global___CollisionSpecification = CollisionSpecification
+global___ComponentState = ComponentState