diff --git a/src/viam/components/audio_in/__init__.py b/src/viam/components/audio_in/__init__.py
index 867aa01b0..ca61c6a94 100644
--- a/src/viam/components/audio_in/__init__.py
+++ b/src/viam/components/audio_in/__init__.py
@@ -1,7 +1,7 @@
+from viam.media.audio import AudioCodec
+from viam.proto.common import AudioInfo
 from viam.resource.registry import Registry, ResourceRegistration
 
-from viam.proto.common import AudioInfo
-from viam.media.audio import AudioCodec
 from .audio_in import AudioIn
 from .client import AudioInClient
 from .service import AudioInRPCService
diff --git a/src/viam/components/audio_in/audio_in.py b/src/viam/components/audio_in/audio_in.py
index 303f2a1b6..5ee090edf 100644
--- a/src/viam/components/audio_in/audio_in.py
+++ b/src/viam/components/audio_in/audio_in.py
@@ -2,11 +2,10 @@
 import sys
 from typing import Final, Optional
 
-from viam.streams import Stream
-
 from viam.proto.common import GetPropertiesResponse
 from viam.proto.component.audioin import GetAudioResponse
 from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
+from viam.streams import Stream
 
 from ..component_base import ComponentBase
 
@@ -32,12 +31,10 @@ class AudioIn(ComponentBase):
     AudioResponse: "TypeAlias" = GetAudioResponse
     AudioStream = Stream[AudioResponse]
 
-
     @abc.abstractmethod
-    async def get_audio(self, codec: str,
-                        duration_seconds: float,
-                        previous_timestamp_ns:int,
-                        *, timeout: Optional[float] = None, **kwargs) -> AudioStream:
+    async def get_audio(
+        self, codec: str, duration_seconds: float, previous_timestamp_ns: int, *, timeout: Optional[float] = None, **kwargs
+    ) -> AudioStream:
         """
         Get a stream of audio from the device
 
diff --git a/src/viam/components/audio_in/client.py b/src/viam/components/audio_in/client.py
index fd45c1f0c..c025d6c25 100644
--- a/src/viam/components/audio_in/client.py
+++ b/src/viam/components/audio_in/client.py
@@ -1,44 +1,42 @@
-from typing import Any, Dict, List, Mapping, Optional
 import uuid
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib.client import Channel
-
-from viam.proto.component.audioin import GetAudioRequest, GetAudioResponse
-from viam.proto.common import (
-    DoCommandRequest,
-    DoCommandResponse,
-    GetPropertiesRequest,
-    Geometry)
 from grpclib.client import Stream as ClientStream
-from viam.proto.component.audioin import AudioInServiceStub
+
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetPropertiesRequest
+from viam.proto.component.audioin import AudioInServiceStub, GetAudioRequest, GetAudioResponse
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.streams import StreamWithIterator
+from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from .audio_in import AudioIn
-from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 
 class AudioInClient(AudioIn, ReconfigurableResourceRPCClientBase):
-
     def __init__(self, name: str, channel: Channel) -> None:
         self.channel = channel
         self.client = AudioInServiceStub(channel)
         super().__init__(name)
 
+    async def get_audio(
+        self,
+        codec: str,
+        duration_seconds: float,
+        previous_timestamp_ns: int,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+        request = GetAudioRequest(
+            name=self.name,
+            codec=codec,
+            duration_seconds=duration_seconds,
+            previous_timestamp_nanoseconds=previous_timestamp_ns,
+            request_id=str(uuid.uuid4()),
+            extra=dict_to_struct(extra),
+        )
 
-    async def get_audio(self,
-                        codec:str,
-                        duration_seconds: float,
-                        previous_timestamp_ns:int,
-                        *,
-                        extra: Optional[Dict[str, Any]] = None,
-                        **kwargs,
-                     ):
-        request = GetAudioRequest(name=self.name, codec = codec,
-                                  duration_seconds=duration_seconds,
-                                  previous_timestamp_nanoseconds = previous_timestamp_ns,
-                                  request_id = str(uuid.uuid4()),
-                                  extra=dict_to_struct(extra))
         async def read():
             md = kwargs.get("metadata", self.Metadata()).proto
             audio_stream: ClientStream[GetAudioRequest, GetAudioResponse]
@@ -52,7 +50,6 @@ async def read():
 
         return StreamWithIterator(read())
 
-
     async def get_properties(
         self,
         *,
diff --git a/src/viam/components/audio_in/service.py b/src/viam/components/audio_in/service.py
index 1cc11c43a..cf23cd6b9 100644
--- a/src/viam/components/audio_in/service.py
+++ b/src/viam/components/audio_in/service.py
@@ -1,21 +1,16 @@
 from grpclib.server import Stream
 from h2.exceptions import StreamClosedError
 
-
 from viam.logging import getLogger
 from viam.proto.common import (
     DoCommandRequest,
     DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
     GetPropertiesRequest,
     GetPropertiesResponse,
-    GetGeometriesRequest,
-    GetGeometriesResponse
-)
-from viam.proto.component.audioin import (
-   AudioInServiceBase,
-   GetAudioRequest,
-   GetAudioResponse
 )
+from viam.proto.component.audioin import AudioInServiceBase, GetAudioRequest, GetAudioResponse
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
 
@@ -23,6 +18,7 @@
 
 LOGGER = getLogger(__name__)
 
+
 class AudioInRPCService(AudioInServiceBase, ResourceRPCServiceBase[AudioIn]):
     """
     gRPC Service for a generic audio in.
@@ -30,14 +26,17 @@ class AudioInRPCService(AudioInServiceBase, ResourceRPCServiceBase[AudioIn]):
 
     RESOURCE_TYPE = AudioIn
 
-
     async def GetAudio(self, stream: Stream[GetAudioRequest, GetAudioResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
         name = request.name
         audio_in = self.get_resource(name)
-        audio_stream = await audio_in.get_audio(codec=request.codec, duration_seconds=request.duration_seconds,
-                                                    previous_timestamp_ns=request.previous_timestamp_nanoseconds, metadata=stream.metadata)
+        audio_stream = await audio_in.get_audio(
+            codec=request.codec,
+            duration_seconds=request.duration_seconds,
+            previous_timestamp_ns=request.previous_timestamp_nanoseconds,
+            metadata=stream.metadata,
+        )
         async for response in audio_stream:
             try:
                 response.request_id = request.request_id
@@ -48,7 +47,6 @@ async def GetAudio(self, stream: Stream[GetAudioRequest, GetAudioResponse]) -> N
                 LOGGER.error(e)
                 return
 
-
     async def GetProperties(self, stream: Stream[GetPropertiesRequest, GetPropertiesResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
@@ -65,7 +63,7 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         request = await stream.recv_message()
         assert request is not None
         name = request.name
-        audio_in= self.get_resource(name)
+        audio_in = self.get_resource(name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         result = await audio_in.do_command(
             command=struct_to_dict(request.command),
diff --git a/src/viam/components/audio_input/audio_input.py b/src/viam/components/audio_input/audio_input.py
index e808543ea..10b56e0ba 100644
--- a/src/viam/components/audio_input/audio_input.py
+++ b/src/viam/components/audio_input/audio_input.py
@@ -15,7 +15,7 @@
 
 
 class AudioInput(ComponentBase, StreamSource[Audio]):
-    """ DEPRECATED: AudioInput is deprecated, use AudioIn instead
+    """DEPRECATED: AudioInput is deprecated, use AudioIn instead
     AudioInput represents a component that can capture audio.
 
     This acts as an abstract base class for any drivers representing specific
diff --git a/src/viam/components/audio_input/client.py b/src/viam/components/audio_input/client.py
index 3826b368b..d086dd30f 100644
--- a/src/viam/components/audio_input/client.py
+++ b/src/viam/components/audio_input/client.py
@@ -1,5 +1,5 @@
-from typing import Any, AsyncIterator, Dict, List, Mapping, Optional, Union
 import warnings
+from typing import Any, AsyncIterator, Dict, List, Mapping, Optional, Union
 
 from grpclib.client import Channel
 
@@ -28,8 +28,7 @@ class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):
 
     def __init__(self, name: str, channel: Channel):
         warnings.warn(
-            "AudioInputClient is deprecated and will be removed in a future release. "
-            "Use AudioIn instead.",
+            "AudioInputClient is deprecated and will be removed in a future release. " "Use AudioIn instead.",
             DeprecationWarning,
             stacklevel=2,
         )
diff --git a/src/viam/components/audio_input/service.py b/src/viam/components/audio_input/service.py
index 4ecc5f5b7..23586a485 100644
--- a/src/viam/components/audio_input/service.py
+++ b/src/viam/components/audio_input/service.py
@@ -1,5 +1,5 @@
-import wave
 import warnings
+import wave
 from datetime import timedelta
 from io import BytesIO
 
@@ -32,8 +32,7 @@ class AudioInputRPCService(AudioInputServiceBase, ResourceRPCServiceBase[AudioIn
 
     def __init__(self, *args, **kwargs):
         warnings.warn(
-            "AudioInput is deprecated and will be removed in a future release. "
-            "Use AudioIn instead.",
+            "AudioInput is deprecated and will be removed in a future release. " "Use AudioIn instead.",
             DeprecationWarning,
             stacklevel=2,
         )
diff --git a/src/viam/components/audio_out/__init__.py b/src/viam/components/audio_out/__init__.py
index 170204575..ce29703e0 100644
--- a/src/viam/components/audio_out/__init__.py
+++ b/src/viam/components/audio_out/__init__.py
@@ -1,7 +1,7 @@
+from viam.media.audio import AudioCodec
+from viam.proto.common import AudioInfo
 from viam.resource.registry import Registry, ResourceRegistration
 
-from viam.proto.common import AudioInfo
-from viam.media.audio import AudioCodec
 from .audio_out import AudioOut
 from .client import AudioOutClient
 from .service import AudioOutRPCService
diff --git a/src/viam/components/audio_out/audio_out.py b/src/viam/components/audio_out/audio_out.py
index ae8c21e50..7c441f19f 100644
--- a/src/viam/components/audio_out/audio_out.py
+++ b/src/viam/components/audio_out/audio_out.py
@@ -29,13 +29,15 @@ class AudioOut(ComponentBase):
     Properties: "TypeAlias" = GetPropertiesResponse
 
     @abc.abstractmethod
-    async def play(self,
-                   data: bytes,
-                   info: Optional[AudioInfo] = None,
-                   *,
-                   extra: Optional[Dict[str, Any]] = None,
-                   timeout: Optional[float] = None,
-                   **kwargs) -> None:
+    async def play(
+        self,
+        data: bytes,
+        info: Optional[AudioInfo] = None,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> None:
         """
         Play the given audio data.
 
@@ -55,11 +57,7 @@ async def play(self,
         """
 
     @abc.abstractmethod
-    async def get_properties(self,
-                           *,
-                           extra: Optional[Dict[str, Any]] = None,
-                           timeout: Optional[float] = None,
-                           **kwargs) -> Properties:
+    async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> Properties:
         """
         Get the audio output device's properties.
 
diff --git a/src/viam/components/audio_out/client.py b/src/viam/components/audio_out/client.py
index 2b986ea0e..f520ffde0 100644
--- a/src/viam/components/audio_out/client.py
+++ b/src/viam/components/audio_out/client.py
@@ -2,24 +2,12 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import (
-    DoCommandRequest,
-    DoCommandResponse,
-    GetPropertiesRequest,
-    GetPropertiesResponse,
-    Geometry
-)
-from viam.proto.component.audioout import (
-    AudioOutServiceStub,
-    PlayRequest
-)
-
-
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetPropertiesRequest, GetPropertiesResponse
+from viam.proto.component.audioout import AudioOutServiceStub, PlayRequest
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from .audio_out import AudioOut, AudioInfo
+from .audio_out import AudioInfo, AudioOut
 
 
 class AudioOutClient(AudioOut, ReconfigurableResourceRPCClientBase):
@@ -30,13 +18,15 @@ def __init__(self, name: str, channel: Channel) -> None:
         self.client = AudioOutServiceStub(channel)
         super().__init__(name)
 
-    async def play(self,
-                   data: bytes,
-                   info: Optional[AudioInfo] = None,
-                   *,
-                   extra: Optional[Dict[str, Any]] = None,
-                   timeout: Optional[float] = None,
-                   **kwargs) -> None:
+    async def play(
+        self,
+        data: bytes,
+        info: Optional[AudioInfo] = None,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> None:
         if extra is None:
             extra = {}
 
@@ -49,11 +39,9 @@ async def play(self,
         )
         await self.client.Play(request, timeout=timeout, metadata=md)
 
-    async def get_properties(self,
-                           *,
-                           extra: Optional[Dict[str, Any]] = None,
-                           timeout: Optional[float] = None,
-                           **kwargs) -> AudioOut.Properties:
+    async def get_properties(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> AudioOut.Properties:
         if extra is None:
             extra = {}
 
diff --git a/src/viam/gen/common/v1/common_pb2.py b/src/viam/gen/common/v1/common_pb2.py
index d08735690..b759660e0 100644
--- a/src/viam/gen/common/v1/common_pb2.py
+++ b/src/viam/gen/common/v1/common_pb2.py
@@ -9,17 +9,19 @@
 from google.protobuf import descriptor_pb2 as google_dot_protobuf_dot_descriptor__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
 from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16common/v1/common.proto\x12\x0eviam.common.v1\x1a google/protobuf/descriptor.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto"n\n\x0cResourceName\x12\x1c\n\tnamespace\x18\x01 \x01(\tR\tnamespace\x12\x12\n\x04type\x18\x02 \x01(\tR\x04type\x12\x18\n\x07subtype\x18\x03 \x01(\tR\x07subtype\x12\x12\n\x04name\x18\x04 \x01(\tR\x04name"y\n\x04Pose\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z\x12\x0f\n\x03o_x\x18\x04 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x05 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x06 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x07 \x01(\x01R\x05theta"V\n\x0bOrientation\x12\x0f\n\x03o_x\x18\x01 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x02 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x03 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x04 \x01(\x01R\x05theta"`\n\x0bPoseInFrame\x12\'\n\x0freference_frame\x18\x01 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\x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x8b\x01\n\x15GetPropertiesResponse\x12)\n\x10supported_codecs\x18\x01 \x03(\tR\x0fsupportedCodecs\x12$\n\x0esample_rate_hz\x18\x02 \x01(\x05R\x0csampleRateHz\x12!\n\x0cnum_channels\x18\x03 \x01(\x05R\x0bnumChannels*\x7f\n\x14KinematicsFileFormat\x12&\n"KINEMATICS_FILE_FORMAT_UNSPECIFIED\x10\x00\x12\x1e\n\x1aKINEMATICS_FILE_FORMAT_SVA\x10\x01\x12\x1f\n\x1bKINEMATICS_FILE_FORMAT_URDF\x10\x02:a\n\x1asafety_heartbeat_monitored\x12\x1e.google.protobuf.MethodOptions\x18\xa4\x92\x05 \x01(\x08R\x18safetyHeartbeatMonitored\x88\x01\x01B/\n\x12com.viam.common.v1Z\x19go.viam.com/api/common/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16common/v1/common.proto\x12\x0eviam.common.v1\x1a google/protobuf/descriptor.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto"n\n\x0cResourceName\x12\x1c\n\tnamespace\x18\x01 \x01(\tR\tnamespace\x12\x12\n\x04type\x18\x02 \x01(\tR\x04type\x12\x18\n\x07subtype\x18\x03 \x01(\tR\x07subtype\x12\x12\n\x04name\x18\x04 \x01(\tR\x04name"y\n\x04Pose\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z\x12\x0f\n\x03o_x\x18\x04 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x05 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x06 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x07 \x01(\x01R\x05theta"V\n\x0bOrientation\x12\x0f\n\x03o_x\x18\x01 \x01(\x01R\x02oX\x12\x0f\n\x03o_y\x18\x02 \x01(\x01R\x02oY\x12\x0f\n\x03o_z\x18\x03 \x01(\x01R\x02oZ\x12\x14\n\x05theta\x18\x04 \x01(\x01R\x05theta"`\n\x0bPoseInFrame\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x12(\n\x04pose\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"3\n\x07Vector3\x12\x0c\n\x01x\x18\x01 \x01(\x01R\x01x\x12\x0c\n\x01y\x18\x02 \x01(\x01R\x01y\x12\x0c\n\x01z\x18\x03 \x01(\x01R\x01z"%\n\x06Sphere\x12\x1b\n\tradius_mm\x18\x01 \x01(\x01R\x08radiusMm"C\n\x07Capsule\x12\x1b\n\tradius_mm\x18\x01 \x01(\x01R\x08radiusMm\x12\x1b\n\tlength_mm\x18\x02 \x01(\x01R\x08lengthMm"D\n\x10RectangularPrism\x120\n\x07dims_mm\x18\x01 \x01(\x0b2\x17.viam.common.v1.Vector3R\x06dimsMm"=\n\x04Mesh\x12!\n\x0ccontent_type\x18\x01 \x01(\tR\x0bcontentType\x12\x12\n\x04mesh\x18\x02 \x01(\x0cR\x04mesh"-\n\nPointCloud\x12\x1f\n\x0bpoint_cloud\x18\x01 \x01(\x0cR\npointCloud"\xe6\x02\n\x08Geometry\x12,\n\x06center\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x06center\x120\n\x06sphere\x18\x02 \x01(\x0b2\x16.viam.common.v1.SphereH\x00R\x06sphere\x124\n\x03box\x18\x03 \x01(\x0b2 .viam.common.v1.RectangularPrismH\x00R\x03box\x123\n\x07capsule\x18\x05 \x01(\x0b2\x17.viam.common.v1.CapsuleH\x00R\x07capsule\x12*\n\x04mesh\x18\x06 \x01(\x0b2\x14.viam.common.v1.MeshH\x00R\x04mesh\x12<\n\npointcloud\x18\x07 \x01(\x0b2\x1a.viam.common.v1.PointCloudH\x00R\npointcloud\x12\x14\n\x05label\x18\x04 \x01(\tR\x05labelB\x0f\n\rgeometry_type"v\n\x11GeometriesInFrame\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x128\n\ngeometries\x18\x02 \x03(\x0b2\x18.viam.common.v1.GeometryR\ngeometries"v\n\x10PointCloudObject\x12\x1f\n\x0bpoint_cloud\x18\x01 \x01(\x0cR\npointCloud\x12A\n\ngeometries\x18\x02 \x01(\x0b2!.viam.common.v1.GeometriesInFrameR\ngeometries"D\n\x08GeoPoint\x12\x1a\n\x08latitude\x18\x01 \x01(\x01R\x08latitude\x12\x1c\n\tlongitude\x18\x02 \x01(\x01R\tlongitude"}\n\x0bGeoGeometry\x124\n\x08location\x18\x01 \x01(\x0b2\x18.viam.common.v1.GeoPointR\x08location\x128\n\ngeometries\x18\x02 \x03(\x0b2\x18.viam.common.v1.GeometryR\ngeometries"\xbd\x02\n\tTransform\x12\'\n\x0freference_frame\x18\x01 \x01(\tR\x0ereferenceFrame\x12P\n\x16pose_in_observer_frame\x18\x02 \x01(\x0b2\x1b.viam.common.v1.PoseInFrameR\x13poseInObserverFrame\x12F\n\x0fphysical_object\x18\x03 \x01(\x0b2\x18.viam.common.v1.GeometryH\x00R\x0ephysicalObject\x88\x01\x01\x12\x12\n\x04uuid\x18\x04 \x01(\x0cR\x04uuid\x128\n\x08metadata\x18\x05 \x01(\x0b2\x17.google.protobuf.StructH\x01R\x08metadata\x88\x01\x01B\x12\n\x10_physical_objectB\x0b\n\t_metadata"\x88\x01\n\nWorldState\x12?\n\tobstacles\x18\x01 \x03(\x0b2!.viam.common.v1.GeometriesInFrameR\tobstacles\x129\n\ntransforms\x18\x03 \x03(\x0b2\x19.viam.common.v1.TransformR\ntransforms"-\n\x0eActuatorStatus\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving"d\n\x10ResponseMetadata\x12@\n\x0bcaptured_at\x18\x01 \x01(\x0b2\x1a.google.protobuf.TimestampH\x00R\ncapturedAt\x88\x01\x01B\x0e\n\x0c_captured_at"Y\n\x10DoCommandRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x121\n\x07command\x18\x02 \x01(\x0b2\x17.google.protobuf.StructR\x07command"D\n\x11DoCommandResponse\x12/\n\x06result\x18\x01 \x01(\x0b2\x17.google.protobuf.StructR\x06result"Y\n\x14GetKinematicsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"~\n\x15GetKinematicsResponse\x12<\n\x06format\x18\x01 \x01(\x0e2$.viam.common.v1.KinematicsFileFormatR\x06format\x12\'\n\x0fkinematics_data\x18\x02 \x01(\x0cR\x0ekinematicsData"Y\n\x14GetGeometriesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"Q\n\x15GetGeometriesResponse\x128\n\ngeometries\x18\x01 \x03(\x0b2\x18.viam.common.v1.GeometryR\ngeometries"W\n\x12Get3DModelsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\xaf\x01\n\x13Get3DModelsResponse\x12G\n\x06models\x18\x01 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\x01(\x0b2\x17.google.protobuf.StructR\x06caller\x12\x14\n\x05stack\x18\x07 \x01(\tR\x05stack\x12/\n\x06fields\x18\x08 \x03(\x0b2\x17.google.protobuf.StructR\x06fields"j\n\tAudioInfo\x12\x14\n\x05codec\x18\x01 \x01(\tR\x05codec\x12$\n\x0esample_rate_hz\x18\x02 \x01(\x05R\x0csampleRateHz\x12!\n\x0cnum_channels\x18\x03 \x01(\x05R\x0bnumChannels"Y\n\x14GetPropertiesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x8b\x01\n\x15GetPropertiesResponse\x12)\n\x10supported_codecs\x18\x01 \x03(\tR\x0fsupportedCodecs\x12$\n\x0esample_rate_hz\x18\x02 \x01(\x05R\x0csampleRateHz\x12!\n\x0cnum_channels\x18\x03 \x01(\x05R\x0bnumChannels*\x7f\n\x14KinematicsFileFormat\x12&\n"KINEMATICS_FILE_FORMAT_UNSPECIFIED\x10\x00\x12\x1e\n\x1aKINEMATICS_FILE_FORMAT_SVA\x10\x01\x12\x1f\n\x1bKINEMATICS_FILE_FORMAT_URDF\x10\x02:a\n\x1asafety_heartbeat_monitored\x12\x1e.google.protobuf.MethodOptions\x18\xa4\x92\x05 \x01(\x08R\x18safetyHeartbeatMonitored\x88\x01\x01B/\n\x12com.viam.common.v1Z\x19go.viam.com/api/common/v1b\x06proto3')
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'common.v1.common_pb2', _globals)
 if not _descriptor._USE_C_DESCRIPTORS:
     _globals['DESCRIPTOR']._loaded_options = None
     _globals['DESCRIPTOR']._serialized_options = b'\n\x12com.viam.common.v1Z\x19go.viam.com/api/common/v1'
+    _globals['_GET3DMODELSRESPONSE_MODELSENTRY']._loaded_options = None
+    _globals['_GET3DMODELSRESPONSE_MODELSENTRY']._serialized_options = b'8\x01'
     _globals['_GETREADINGSRESPONSE_READINGSENTRY']._loaded_options = None
     _globals['_GETREADINGSRESPONSE_READINGSENTRY']._serialized_options = b'8\x01'
-    _globals['_KINEMATICSFILEFORMAT']._serialized_start = 3761
-    _globals['_KINEMATICSFILEFORMAT']._serialized_end = 3888
+    _globals['_KINEMATICSFILEFORMAT']._serialized_start = 4028
+    _globals['_KINEMATICSFILEFORMAT']._serialized_end = 4155
     _globals['_RESOURCENAME']._serialized_start = 139
     _globals['_RESOURCENAME']._serialized_end = 249
     _globals['_POSE']._serialized_start = 251
@@ -70,17 +72,23 @@
     _globals['_GETGEOMETRIESREQUEST']._serialized_end = 2776
     _globals['_GETGEOMETRIESRESPONSE']._serialized_start = 2778
     _globals['_GETGEOMETRIESRESPONSE']._serialized_end = 2859
-    _globals['_GETREADINGSREQUEST']._serialized_start = 2861
-    _globals['_GETREADINGSREQUEST']._serialized_end = 2948
-    _globals['_GETREADINGSRESPONSE']._serialized_start = 2951
-    _globals['_GETREADINGSRESPONSE']._serialized_end = 3136
-    _globals['_GETREADINGSRESPONSE_READINGSENTRY']._serialized_start = 3053
-    _globals['_GETREADINGSRESPONSE_READINGSENTRY']._serialized_end = 3136
-    _globals['_LOGENTRY']._serialized_start = 3139
-    _globals['_LOGENTRY']._serialized_end = 3418
-    _globals['_AUDIOINFO']._serialized_start = 3420
-    _globals['_AUDIOINFO']._serialized_end = 3526
-    _globals['_GETPROPERTIESREQUEST']._serialized_start = 3528
-    _globals['_GETPROPERTIESREQUEST']._serialized_end = 3617
-    _globals['_GETPROPERTIESRESPONSE']._serialized_start = 3620
-    _globals['_GETPROPERTIESRESPONSE']._serialized_end = 3759
\ No newline at end of file
+    _globals['_GET3DMODELSREQUEST']._serialized_start = 2861
+    _globals['_GET3DMODELSREQUEST']._serialized_end = 2948
+    _globals['_GET3DMODELSRESPONSE']._serialized_start = 2951
+    _globals['_GET3DMODELSRESPONSE']._serialized_end = 3126
+    _globals['_GET3DMODELSRESPONSE_MODELSENTRY']._serialized_start = 3047
+    _globals['_GET3DMODELSRESPONSE_MODELSENTRY']._serialized_end = 3126
+    _globals['_GETREADINGSREQUEST']._serialized_start = 3128
+    _globals['_GETREADINGSREQUEST']._serialized_end = 3215
+    _globals['_GETREADINGSRESPONSE']._serialized_start = 3218
+    _globals['_GETREADINGSRESPONSE']._serialized_end = 3403
+    _globals['_GETREADINGSRESPONSE_READINGSENTRY']._serialized_start = 3320
+    _globals['_GETREADINGSRESPONSE_READINGSENTRY']._serialized_end = 3403
+    _globals['_LOGENTRY']._serialized_start = 3406
+    _globals['_LOGENTRY']._serialized_end = 3685
+    _globals['_AUDIOINFO']._serialized_start = 3687
+    _globals['_AUDIOINFO']._serialized_end = 3793
+    _globals['_GETPROPERTIESREQUEST']._serialized_start = 3795
+    _globals['_GETPROPERTIESREQUEST']._serialized_end = 3884
+    _globals['_GETPROPERTIESRESPONSE']._serialized_start = 3887
+    _globals['_GETPROPERTIESRESPONSE']._serialized_end = 4026
\ No newline at end of file
diff --git a/src/viam/gen/common/v1/common_pb2.pyi b/src/viam/gen/common/v1/common_pb2.pyi
index b499e9c3a..46ce3f36b 100644
--- a/src/viam/gen/common/v1/common_pb2.pyi
+++ b/src/viam/gen/common/v1/common_pb2.pyi
@@ -610,6 +610,64 @@ class GetGeometriesResponse(google.protobuf.message.Message):
         ...
 global___GetGeometriesResponse = GetGeometriesResponse
 
+@typing.final
+class Get3DModelsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The component name'
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___Get3DModelsRequest = Get3DModelsRequest
+
+@typing.final
+class Get3DModelsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class ModelsEntry(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___Mesh:
+            ...
+
+        def __init__(self, *, key: builtins.str=..., value: global___Mesh | 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:
+            ...
+    MODELS_FIELD_NUMBER: builtins.int
+
+    @property
+    def models(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___Mesh]:
+        """the 3D models associated with the component"""
+
+    def __init__(self, *, models: collections.abc.Mapping[builtins.str, global___Mesh] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['models', b'models']) -> None:
+        ...
+global___Get3DModelsResponse = Get3DModelsResponse
+
 @typing.final
 class GetReadingsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
diff --git a/src/viam/gen/component/arm/v1/arm_grpc.py b/src/viam/gen/component/arm/v1/arm_grpc.py
index 643de47c5..45bac9ed7 100644
--- a/src/viam/gen/component/arm/v1/arm_grpc.py
+++ b/src/viam/gen/component/arm/v1/arm_grpc.py
@@ -52,8 +52,12 @@ async def GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb
     async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def Get3DModels(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse]') -> None:
+        pass
+
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.component.arm.v1.ArmService/GetEndPosition': grpclib.const.Handler(self.GetEndPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse), '/viam.component.arm.v1.ArmService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse), '/viam.component.arm.v1.ArmService/GetJointPositions': grpclib.const.Handler(self.GetJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveToJointPositions': grpclib.const.Handler(self.MoveToJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveThroughJointPositions': grpclib.const.Handler(self.MoveThroughJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse), '/viam.component.arm.v1.ArmService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse), '/viam.component.arm.v1.ArmService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse), '/viam.component.arm.v1.ArmService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.arm.v1.ArmService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse), '/viam.component.arm.v1.ArmService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+        return {'/viam.component.arm.v1.ArmService/GetEndPosition': grpclib.const.Handler(self.GetEndPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse), '/viam.component.arm.v1.ArmService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse), '/viam.component.arm.v1.ArmService/GetJointPositions': grpclib.const.Handler(self.GetJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveToJointPositions': grpclib.const.Handler(self.MoveToJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveThroughJointPositions': grpclib.const.Handler(self.MoveThroughJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse), '/viam.component.arm.v1.ArmService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse), '/viam.component.arm.v1.ArmService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse), '/viam.component.arm.v1.ArmService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.arm.v1.ArmService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse), '/viam.component.arm.v1.ArmService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse), '/viam.component.arm.v1.ArmService/Get3DModels': grpclib.const.Handler(self.Get3DModels, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse)}
 
 class UnimplementedArmServiceBase(ArmServiceBase):
 
@@ -87,6 +91,9 @@ async def GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb
     async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def Get3DModels(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
 class ArmServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
@@ -99,4 +106,5 @@ def __init__(self, channel: grpclib.client.Channel) -> None:
         self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/IsMoving', component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse)
         self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
         self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)
-        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
\ No newline at end of file
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
+        self.Get3DModels = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/Get3DModels', common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse)
\ No newline at end of file
diff --git a/src/viam/gen/component/arm/v1/arm_pb2.py b/src/viam/gen/component/arm/v1/arm_pb2.py
index 4c3a92368..11ca46465 100644
--- a/src/viam/gen/component/arm/v1/arm_pb2.py
+++ b/src/viam/gen/component/arm/v1/arm_pb2.py
@@ -9,7 +9,7 @@
 from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
 from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1acomponent/arm/v1/arm.proto\x12\x15viam.component.arm.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"Z\n\x15GetEndPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"B\n\x16GetEndPositionResponse\x12(\n\x04pose\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"(\n\x0eJointPositions\x12\x16\n\x06values\x18\x01 \x03(\x01R\x06values"]\n\x18GetJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"`\n\x19GetJointPositionsResponse\x12C\n\tpositions\x18\x01 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions"\x80\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12$\n\x02to\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x02to\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"\xa5\x01\n\x1bMoveToJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x1e\n\x1cMoveToJointPositionsResponse"\xf9\x01\n MoveThroughJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x03(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12A\n\x07options\x18\x03 \x01(\x0b2".viam.component.arm.v1.MoveOptionsH\x00R\x07options\x88\x01\x01\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extraB\n\n\x08_options"#\n!MoveThroughJointPositionsResponse"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"\xae\x01\n\x06Status\x127\n\x0cend_position\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x0bendPosition\x12N\n\x0fjoint_positions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\x0ejointPositions\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving"\xac\x01\n\x0bMoveOptions\x123\n\x14max_vel_degs_per_sec\x18\x01 \x01(\x01H\x00R\x10maxVelDegsPerSec\x88\x01\x01\x125\n\x15max_acc_degs_per_sec2\x18\x02 \x01(\x01H\x01R\x11maxAccDegsPerSec2\x88\x01\x01B\x17\n\x15_max_vel_degs_per_secB\x18\n\x16_max_acc_degs_per_sec22\xf1\x0c\n\nArmService\x12\xa1\x01\n\x0eGetEndPosition\x12,.viam.component.arm.v1.GetEndPositionRequest\x1a-.viam.component.arm.v1.GetEndPositionResponse"2\x82\xd3\xe4\x93\x02,\x12*/viam/api/v1/component/arm/{name}/position\x12\xa5\x01\n\x0eMoveToPosition\x12,.viam.component.arm.v1.MoveToPositionRequest\x1a-.viam.component.arm.v1.MoveToPositionResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/arm/{name}/position\x12\xb1\x01\n\x11GetJointPositions\x12/.viam.component.arm.v1.GetJointPositionsRequest\x1a0.viam.component.arm.v1.GetJointPositionsResponse"9\x82\xd3\xe4\x93\x023\x121/viam/api/v1/component/arm/{name}/joint_positions\x12\xbe\x01\n\x14MoveToJointPositions\x122.viam.component.arm.v1.MoveToJointPositionsRequest\x1a3.viam.component.arm.v1.MoveToJointPositionsResponse"=\xa0\x92)\x01\x82\xd3\xe4\x93\x023\x1a1/viam/api/v1/component/arm/{name}/joint_positions\x12\xda\x01\n\x19MoveThroughJointPositions\x127.viam.component.arm.v1.MoveThroughJointPositionsRequest\x1a8.viam.component.arm.v1.MoveThroughJointPositionsResponse"J\xa0\x92)\x01\x82\xd3\xe4\x93\x02@">/viam/api/v1/component/arm/{name}/move_through_joint_positions\x12\x7f\n\x04Stop\x12".viam.component.arm.v1.StopRequest\x1a#.viam.component.arm.v1.StopResponse".\x82\xd3\xe4\x93\x02("&/viam/api/v1/component/arm/{name}/stop\x12\x90\x01\n\x08IsMoving\x12&.viam.component.arm.v1.IsMovingRequest\x1a\'.viam.component.arm.v1.IsMovingResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/is_moving\x12\x86\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"4\x82\xd3\xe4\x93\x02.",/viam/api/v1/component/arm/{name}/do_command\x12\x92\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics\x12\x92\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometriesB=\n\x19com.viam.component.arm.v1Z go.viam.com/api/component/arm/v1b\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1acomponent/arm/v1/arm.proto\x12\x15viam.component.arm.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"Z\n\x15GetEndPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"B\n\x16GetEndPositionResponse\x12(\n\x04pose\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"(\n\x0eJointPositions\x12\x16\n\x06values\x18\x01 \x03(\x01R\x06values"]\n\x18GetJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"`\n\x19GetJointPositionsResponse\x12C\n\tpositions\x18\x01 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions"\x80\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12$\n\x02to\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x02to\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"\xa5\x01\n\x1bMoveToJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x1e\n\x1cMoveToJointPositionsResponse"\xf9\x01\n MoveThroughJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x03(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12A\n\x07options\x18\x03 \x01(\x0b2".viam.component.arm.v1.MoveOptionsH\x00R\x07options\x88\x01\x01\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extraB\n\n\x08_options"#\n!MoveThroughJointPositionsResponse"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"\xae\x01\n\x06Status\x127\n\x0cend_position\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x0bendPosition\x12N\n\x0fjoint_positions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\x0ejointPositions\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving"\xac\x01\n\x0bMoveOptions\x123\n\x14max_vel_degs_per_sec\x18\x01 \x01(\x01H\x00R\x10maxVelDegsPerSec\x88\x01\x01\x125\n\x15max_acc_degs_per_sec2\x18\x02 \x01(\x01H\x01R\x11maxAccDegsPerSec2\x88\x01\x01B\x17\n\x15_max_vel_degs_per_secB\x18\n\x16_max_acc_degs_per_sec22\xff\r\n\nArmService\x12\xa1\x01\n\x0eGetEndPosition\x12,.viam.component.arm.v1.GetEndPositionRequest\x1a-.viam.component.arm.v1.GetEndPositionResponse"2\x82\xd3\xe4\x93\x02,\x12*/viam/api/v1/component/arm/{name}/position\x12\xa5\x01\n\x0eMoveToPosition\x12,.viam.component.arm.v1.MoveToPositionRequest\x1a-.viam.component.arm.v1.MoveToPositionResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/arm/{name}/position\x12\xb1\x01\n\x11GetJointPositions\x12/.viam.component.arm.v1.GetJointPositionsRequest\x1a0.viam.component.arm.v1.GetJointPositionsResponse"9\x82\xd3\xe4\x93\x023\x121/viam/api/v1/component/arm/{name}/joint_positions\x12\xbe\x01\n\x14MoveToJointPositions\x122.viam.component.arm.v1.MoveToJointPositionsRequest\x1a3.viam.component.arm.v1.MoveToJointPositionsResponse"=\xa0\x92)\x01\x82\xd3\xe4\x93\x023\x1a1/viam/api/v1/component/arm/{name}/joint_positions\x12\xda\x01\n\x19MoveThroughJointPositions\x127.viam.component.arm.v1.MoveThroughJointPositionsRequest\x1a8.viam.component.arm.v1.MoveThroughJointPositionsResponse"J\xa0\x92)\x01\x82\xd3\xe4\x93\x02@">/viam/api/v1/component/arm/{name}/move_through_joint_positions\x12\x7f\n\x04Stop\x12".viam.component.arm.v1.StopRequest\x1a#.viam.component.arm.v1.StopResponse".\x82\xd3\xe4\x93\x02("&/viam/api/v1/component/arm/{name}/stop\x12\x90\x01\n\x08IsMoving\x12&.viam.component.arm.v1.IsMovingRequest\x1a\'.viam.component.arm.v1.IsMovingResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/is_moving\x12\x86\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"4\x82\xd3\xe4\x93\x02.",/viam/api/v1/component/arm/{name}/do_command\x12\x92\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics\x12\x92\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometries\x12\x8b\x01\n\x0bGet3DModels\x12".viam.common.v1.Get3DModelsRequest\x1a#.viam.common.v1.Get3DModelsResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/3d_modelsB=\n\x19com.viam.component.arm.v1Z go.viam.com/api/component/arm/v1b\x06proto3')
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
 _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.arm.v1.arm_pb2', _globals)
@@ -36,6 +36,8 @@
     _globals['_ARMSERVICE'].methods_by_name['GetKinematics']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics'
     _globals['_ARMSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
     _globals['_ARMSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometries'
+    _globals['_ARMSERVICE'].methods_by_name['Get3DModels']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['Get3DModels']._serialized_options = b'\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/3d_models'
     _globals['_GETENDPOSITIONREQUEST']._serialized_start = 137
     _globals['_GETENDPOSITIONREQUEST']._serialized_end = 227
     _globals['_GETENDPOSITIONRESPONSE']._serialized_start = 229
@@ -71,4 +73,4 @@
     _globals['_MOVEOPTIONS']._serialized_start = 1542
     _globals['_MOVEOPTIONS']._serialized_end = 1714
     _globals['_ARMSERVICE']._serialized_start = 1717
-    _globals['_ARMSERVICE']._serialized_end = 3366
\ No newline at end of file
+    _globals['_ARMSERVICE']._serialized_end = 3508
\ No newline at end of file
diff --git a/src/viam/media/audio.py b/src/viam/media/audio.py
index 7dbf4846c..5b0ee19ba 100644
--- a/src/viam/media/audio.py
+++ b/src/viam/media/audio.py
@@ -16,6 +16,7 @@ class Audio:
 AudioReader = StreamReader[Audio]
 AudioStream = Stream[Audio]
 
+
 class AudioCodec(str, Enum):
     """Common audio codec identifiers.
 
diff --git a/src/viam/proto/common/__init__.py b/src/viam/proto/common/__init__.py
index 6680cd448..f6f72fc58 100644
--- a/src/viam/proto/common/__init__.py
+++ b/src/viam/proto/common/__init__.py
@@ -13,6 +13,8 @@
     GeometriesInFrame,
     Geometry,
     GeoPoint,
+    Get3DModelsRequest,
+    Get3DModelsResponse,
     GetGeometriesRequest,
     GetGeometriesResponse,
     GetKinematicsRequest,
@@ -48,6 +50,8 @@
     "GeoPoint",
     "GeometriesInFrame",
     "Geometry",
+    "Get3DModelsRequest",
+    "Get3DModelsResponse",
     "GetGeometriesRequest",
     "GetGeometriesResponse",
     "GetKinematicsRequest",
diff --git a/src/viam/version_metadata.py b/src/viam/version_metadata.py
index 5f577156a..e1e1c553d 100644
--- a/src/viam/version_metadata.py
+++ b/src/viam/version_metadata.py
@@ -1,4 +1,4 @@
 __version__ = "0.58.0"
 
-API_VERSION = "v0.1.484"
+API_VERSION = "v0.1.485"
 SDK_VERSION = __version__
diff --git a/tests/mocks/components.py b/tests/mocks/components.py
index 1e3f471ba..1fbae9b16 100644
--- a/tests/mocks/components.py
+++ b/tests/mocks/components.py
@@ -13,8 +13,8 @@
 from google.protobuf.timestamp_pb2 import Timestamp
 
 from viam.components.arm import Arm, JointPositions, KinematicsFileFormat
-from viam.components.audio_input import AudioInput
 from viam.components.audio_in import AudioIn, AudioResponse
+from viam.components.audio_input import AudioInput
 from viam.components.audio_out import AudioOut
 from viam.components.base import Base
 from viam.components.board import Board, Tick
@@ -35,15 +35,13 @@
 from viam.errors import ResourceNotFoundError
 from viam.media.audio import Audio, AudioStream
 from viam.media.video import CameraMimeType, NamedImage, ViamImage
-from viam.proto.common import Capsule, Geometry, GeoPoint, Orientation, Pose, PoseInFrame, ResponseMetadata, Sphere, Vector3
+from viam.proto.common import AudioInfo, Capsule, Geometry, GeoPoint, Orientation, Pose, PoseInFrame, ResponseMetadata, Sphere, Vector3
+from viam.proto.component.audioin import AudioChunk as Chunk
 from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo, SampleFormat
 from viam.proto.component.board import PowerMode
 from viam.proto.component.encoder import PositionType
 from viam.streams import StreamWithIterator
 from viam.utils import SensorReading, ValueTypes
-from viam.proto.common import AudioInfo
-from viam.proto.component.audioin import AudioChunk as Chunk
-
 
 GEOMETRIES = [
     Geometry(center=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20), sphere=Sphere(radius_mm=2)),
@@ -127,8 +125,16 @@ def __init__(self, name: str, properties: AudioIn.Properties):
         self.timeout: Optional[float] = None
         self.extra: Optional[Dict[str, Any]] = None
 
-    async def get_audio(self, codec: str, duration_seconds: float, previous_timestamp_ns: int,
-                         *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs):
+    async def get_audio(
+        self,
+        codec: str,
+        duration_seconds: float,
+        previous_timestamp_ns: int,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ):
         async def read() -> AsyncIterator[AudioResponse]:
             # Generate mock audio chunks
             for i in range(2):
@@ -139,26 +145,23 @@ async def read() -> AsyncIterator[AudioResponse]:
                 audio_chunk = Chunk(
                     audio_data=chunk_data,
                     audio_info=AudioInfo(
-                        codec=codec,
-                        sample_rate_hz=self.properties.sample_rate_hz,
-                        num_channels=self.properties.num_channels
+                        codec=codec, sample_rate_hz=self.properties.sample_rate_hz, num_channels=self.properties.num_channels
                     ),
                     sequence=i,
                     start_timestamp_nanoseconds=timestamp_start,
-                    end_timestamp_nanoseconds=timestamp_end
+                    end_timestamp_nanoseconds=timestamp_end,
                 )
 
-                audio_response = AudioResponse(
-                    audio=audio_chunk,
-                    request_id="mock_request"
-                )
+                audio_response = AudioResponse(audio=audio_chunk, request_id="mock_request")
                 yield audio_response
 
         self.extra = extra
         self.timeout = timeout
         return StreamWithIterator(read())
 
-    async def get_properties(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> AudioIn.Properties:
+    async def get_properties(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> AudioIn.Properties:
         self.extra = extra
         self.timeout = timeout
         return self.properties
@@ -171,6 +174,7 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
+
 class MockAudioInput(AudioInput):
     def __init__(self, name: str, properties: AudioInput.Properties):
         super().__init__(name)
@@ -205,6 +209,7 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
+
 class MockAudioOut(AudioOut):
     def __init__(self, name: str, properties: AudioOut.Properties):
         super().__init__(name)
@@ -216,7 +221,15 @@ def __init__(self, name: str, properties: AudioOut.Properties):
         self.timeout: Optional[float] = None
         self.extra: Optional[Dict[str, Any]] = None
 
-    async def play(self, data: bytes, info: Optional[AudioInfo] = None, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> None:
+    async def play(
+        self,
+        data: bytes,
+        info: Optional[AudioInfo] = None,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> None:
         self.play_called = True
         self.last_audio_data = data
         self.last_audio_info = info
@@ -233,6 +246,7 @@ async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeou
         self.timeout = timeout
         return self.geometries
 
+
 class MockBase(Base):
     def __init__(self, name: str):
         self.position = 0
@@ -1161,4 +1175,3 @@ async def push(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Opti
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
-
diff --git a/tests/test_audio_in.py b/tests/test_audio_in.py
index 6182b829b..af9684e6b 100644
--- a/tests/test_audio_in.py
+++ b/tests/test_audio_in.py
@@ -11,10 +11,7 @@
     GetPropertiesRequest,
     GetPropertiesResponse,
 )
-from viam.proto.component.audioin import (
-    AudioInServiceStub,
-    GetAudioRequest
-)
+from viam.proto.component.audioin import AudioInServiceStub, GetAudioRequest
 from viam.resource.manager import ResourceManager
 from viam.utils import dict_to_struct, struct_to_dict
 
@@ -83,6 +80,7 @@ async def test_get_geometries(self, audio_in: AudioIn):
         geometries = await audio_in.get_geometries()
         assert geometries == GEOMETRIES
 
+
 class TestService:
     async def test_get_audio(self, audio_in: AudioIn, service: AudioInRPCService):
         async with ChannelFor([service]) as channel:
@@ -92,10 +90,7 @@ async def test_get_audio(self, audio_in: AudioIn, service: AudioInRPCService):
             duration_seconds = 2.0
 
             request = GetAudioRequest(
-                name=audio_in.name,
-                codec=codec,
-                duration_seconds=duration_seconds,
-                previous_timestamp_nanoseconds=previous_timestamp
+                name=audio_in.name, codec=codec, duration_seconds=duration_seconds, previous_timestamp_nanoseconds=previous_timestamp
             )
 
             async with client.GetAudio.open() as stream:
@@ -117,9 +112,7 @@ async def test_get_properties(self, audio_in: MockAudioIn, service: AudioInRPCSe
         assert audio_in.timeout is None
         async with ChannelFor([service]) as channel:
             client = AudioInServiceStub(channel)
-            response: GetPropertiesResponse = await client.GetProperties(
-                GetPropertiesRequest(name=audio_in.name), timeout=1.82
-            )
+            response: GetPropertiesResponse = await client.GetProperties(GetPropertiesRequest(name=audio_in.name), timeout=1.82)
             assert response.supported_codecs == PROPERTIES.supported_codecs
             assert response.sample_rate_hz == PROPERTIES.sample_rate_hz
             assert response.num_channels == PROPERTIES.num_channels
diff --git a/tests/test_audio_out.py b/tests/test_audio_out.py
index a43800854..201972e4e 100644
--- a/tests/test_audio_out.py
+++ b/tests/test_audio_out.py
@@ -1,21 +1,20 @@
 import pytest
 from grpclib.testing import ChannelFor
 
-from viam.components.audio_out import AudioOutClient, AudioOutRPCService, AudioOut
+from viam.components.audio_out import AudioOut, AudioOutClient, AudioOutRPCService
 from viam.proto.common import (
+    AudioInfo,
+    DoCommandRequest,
     GetGeometriesResponse,
-      AudioInfo,
-      GetPropertiesRequest,
-      GetPropertiesResponse,
-      DoCommandRequest,
+    GetPropertiesRequest,
+    GetPropertiesResponse,
 )
+from viam.proto.component.audioout import AudioOutServiceStub, PlayRequest
 from viam.resource.manager import ResourceManager
 from viam.utils import dict_to_struct, struct_to_dict
-from viam.proto.component.audioout import PlayRequest, AudioOutServiceStub
-from . import loose_approx
-
-from .mocks.components import MockAudioOut, GEOMETRIES
 
+from . import loose_approx
+from .mocks.components import GEOMETRIES, MockAudioOut
 
 # Test properties for the mock AudioIn
 PROPERTIES = AudioOut.Properties(
@@ -24,6 +23,7 @@
     num_channels=2,
 )
 
+
 @pytest.fixture(scope="function")
 def audio_out() -> MockAudioOut:
     return MockAudioOut(name="audio_out", properties=PROPERTIES)
@@ -72,10 +72,10 @@ async def test_get_geometries(self, audio_out: MockAudioOut):
         geometries = await audio_out.get_geometries()
         assert geometries == GEOMETRIES
 
+
 class TestService:
     @pytest.mark.asyncio
     async def test_play(self, audio_out: MockAudioOut, service: AudioOutRPCService):
-
         audio_data = b"test_audio_data"
         audio_info = AudioInfo(codec="pcm16", sample_rate_hz=44100, num_channels=2)
 
@@ -117,9 +117,7 @@ async def test_play_without_audio_info(self, audio_out: MockAudioOut, service: A
     async def test_get_properties(self, audio_out: MockAudioOut, service: AudioOutRPCService):
         async with ChannelFor([service]) as channel:
             client = AudioOutServiceStub(channel)
-            response: GetPropertiesResponse = await client.GetProperties(
-                GetPropertiesRequest(name=audio_out.name), timeout=1.82
-            )
+            response: GetPropertiesResponse = await client.GetProperties(GetPropertiesRequest(name=audio_out.name), timeout=1.82)
             assert response.supported_codecs == PROPERTIES.supported_codecs
             assert response.sample_rate_hz == PROPERTIES.sample_rate_hz
             assert response.num_channels == PROPERTIES.num_channels
@@ -127,7 +125,6 @@ async def test_get_properties(self, audio_out: MockAudioOut, service: AudioOutRP
 
     @pytest.mark.asyncio
     async def test_do_command(self, audio_out: MockAudioOut, service: AudioOutRPCService):
-
         command = {"test": "command"}
 
         async with ChannelFor([service]) as channel:
@@ -178,7 +175,7 @@ async def test_play_without_audio_info(self, audio_out: MockAudioOut, service: A
             assert audio_out.last_audio_info is None
 
     @pytest.mark.asyncio
-    async def test_get_properties(self, audio_out: MockAudioOut,service: AudioOutRPCService):
+    async def test_get_properties(self, audio_out: MockAudioOut, service: AudioOutRPCService):
         async with ChannelFor([service]) as channel:
             client = AudioOutClient(audio_out.name, channel)
             properties = await client.get_properties(timeout=4.4)
@@ -190,7 +187,7 @@ async def test_get_properties(self, audio_out: MockAudioOut,service: AudioOutRPC
 
     @pytest.mark.asyncio
     async def test_do_command(self, audio_out: MockAudioOut, service: AudioOutRPCService):
-      async with ChannelFor([service]) as channel:
+        async with ChannelFor([service]) as channel:
             client = AudioOutClient(audio_out.name, channel)
             command = {"command": "args"}
             resp = await client.do_command(command)