diff --git a/common/v1/common.pb.go b/common/v1/common.pb.go
index c6a11a0a9..74360d0d6 100644
--- a/common/v1/common.pb.go
+++ b/common/v1/common.pb.go
@@ -1452,6 +1452,8 @@ type GetKinematicsResponse struct {
 	Format KinematicsFileFormat `protobuf:"varint,1,opt,name=format,proto3,enum=viam.common.v1.KinematicsFileFormat" json:"format,omitempty"`
 	// The byte contents of the file
 	KinematicsData []byte `protobuf:"bytes,2,opt,name=kinematics_data,json=kinematicsData,proto3" json:"kinematics_data,omitempty"`
+	// Map of URDF mesh file paths to mesh data
+	MeshesByUrdfFilepath map[string]*Mesh `protobuf:"bytes,3,rep,name=meshes_by_urdf_filepath,json=meshesByUrdfFilepath,proto3" json:"meshes_by_urdf_filepath,omitempty" protobuf_key:"bytes,1,opt,name=key,proto3" protobuf_val:"bytes,2,opt,name=value,proto3"`
 }
 
 func (x *GetKinematicsResponse) Reset() {
@@ -1498,6 +1500,13 @@ func (x *GetKinematicsResponse) GetKinematicsData() []byte {
 	return nil
 }
 
+func (x *GetKinematicsResponse) GetMeshesByUrdfFilepath() map[string]*Mesh {
+	if x != nil {
+		return x.MeshesByUrdfFilepath
+	}
+	return nil
+}
+
 type GetGeometriesRequest struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -2267,117 +2276,130 @@ var file_common_v1_common_proto_rawDesc = []byte{
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-	0x6d, 0x2f, 0x61, 0x70, 0x69, 0x2f, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x2f, 0x76, 0x31, 0x62,
-	0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
+	0x52, 0x4d, 0x41, 0x54, 0x5f, 0x55, 0x4e, 0x53, 0x50, 0x45, 0x43, 0x49, 0x46, 0x49, 0x45, 0x44,
+	0x10, 0x00, 0x12, 0x1e, 0x0a, 0x1a, 0x4b, 0x49, 0x4e, 0x45, 0x4d, 0x41, 0x54, 0x49, 0x43, 0x53,
+	0x5f, 0x46, 0x49, 0x4c, 0x45, 0x5f, 0x46, 0x4f, 0x52, 0x4d, 0x41, 0x54, 0x5f, 0x53, 0x56, 0x41,
+	0x10, 0x01, 0x12, 0x1f, 0x0a, 0x1b, 0x4b, 0x49, 0x4e, 0x45, 0x4d, 0x41, 0x54, 0x49, 0x43, 0x53,
+	0x5f, 0x46, 0x49, 0x4c, 0x45, 0x5f, 0x46, 0x4f, 0x52, 0x4d, 0x41, 0x54, 0x5f, 0x55, 0x52, 0x44,
+	0x46, 0x10, 0x02, 0x3a, 0x61, 0x0a, 0x1a, 0x73, 0x61, 0x66, 0x65, 0x74, 0x79, 0x5f, 0x68, 0x65,
+	0x61, 0x72, 0x74, 0x62, 0x65, 0x61, 0x74, 0x5f, 0x6d, 0x6f, 0x6e, 0x69, 0x74, 0x6f, 0x72, 0x65,
+	0x64, 0x12, 0x1e, 0x2e, 0x67, 0x6f, 0x6f, 0x67, 0x6c, 0x65, 0x2e, 0x70, 0x72, 0x6f, 0x74, 0x6f,
+	0x62, 0x75, 0x66, 0x2e, 0x4d, 0x65, 0x74, 0x68, 0x6f, 0x64, 0x4f, 0x70, 0x74, 0x69, 0x6f, 0x6e,
+	0x73, 0x18, 0xa4, 0x92, 0x05, 0x20, 0x01, 0x28, 0x08, 0x52, 0x18, 0x73, 0x61, 0x66, 0x65, 0x74,
+	0x79, 0x48, 0x65, 0x61, 0x72, 0x74, 0x62, 0x65, 0x61, 0x74, 0x4d, 0x6f, 0x6e, 0x69, 0x74, 0x6f,
+	0x72, 0x65, 0x64, 0x88, 0x01, 0x01, 0x42, 0x2f, 0x0a, 0x12, 0x63, 0x6f, 0x6d, 0x2e, 0x76, 0x69,
+	0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x6d, 0x6f, 0x6e, 0x2e, 0x76, 0x31, 0x5a, 0x19, 0x67, 0x6f,
+	0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x2f, 0x61, 0x70, 0x69, 0x2f, 0x63, 0x6f,
+	0x6d, 0x6d, 0x6f, 0x6e, 0x2f, 0x76, 0x31, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
@@ -2393,7 +2415,7 @@ func file_common_v1_common_proto_rawDescGZIP() []byte {
 }
 
 var file_common_v1_common_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_common_v1_common_proto_msgTypes = make([]protoimpl.MessageInfo, 35)
+var file_common_v1_common_proto_msgTypes = make([]protoimpl.MessageInfo, 36)
 var file_common_v1_common_proto_goTypes = []any{
 	(KinematicsFileFormat)(0),          // 0: viam.common.v1.KinematicsFileFormat
 	(*ResourceName)(nil),               // 1: viam.common.v1.ResourceName
@@ -2429,12 +2451,13 @@ var file_common_v1_common_proto_goTypes = []any{
 	(*AudioInfo)(nil),                  // 31: viam.common.v1.AudioInfo
 	(*GetPropertiesRequest)(nil),       // 32: viam.common.v1.GetPropertiesRequest
 	(*GetPropertiesResponse)(nil),      // 33: viam.common.v1.GetPropertiesResponse
-	nil,                                // 34: viam.common.v1.Get3DModelsResponse.ModelsEntry
-	nil,                                // 35: viam.common.v1.GetReadingsResponse.ReadingsEntry
-	(*structpb.Struct)(nil),            // 36: google.protobuf.Struct
-	(*timestamppb.Timestamp)(nil),      // 37: google.protobuf.Timestamp
-	(*structpb.Value)(nil),             // 38: google.protobuf.Value
-	(*descriptorpb.MethodOptions)(nil), // 39: google.protobuf.MethodOptions
+	nil,                                // 34: viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry
+	nil,                                // 35: viam.common.v1.Get3DModelsResponse.ModelsEntry
+	nil,                                // 36: viam.common.v1.GetReadingsResponse.ReadingsEntry
+	(*structpb.Struct)(nil),            // 37: google.protobuf.Struct
+	(*timestamppb.Timestamp)(nil),      // 38: google.protobuf.Timestamp
+	(*structpb.Value)(nil),             // 39: google.protobuf.Value
+	(*descriptorpb.MethodOptions)(nil), // 40: google.protobuf.MethodOptions
 }
 var file_common_v1_common_proto_depIdxs = []int32{
 	2,  // 0: viam.common.v1.PoseInFrame.pose:type_name -> viam.common.v1.Pose
@@ -2451,32 +2474,34 @@ var file_common_v1_common_proto_depIdxs = []int32{
 	11, // 11: viam.common.v1.GeoGeometry.geometries:type_name -> viam.common.v1.Geometry
 	4,  // 12: viam.common.v1.Transform.pose_in_observer_frame:type_name -> viam.common.v1.PoseInFrame
 	11, // 13: viam.common.v1.Transform.physical_object:type_name -> viam.common.v1.Geometry
-	36, // 14: viam.common.v1.Transform.metadata:type_name -> google.protobuf.Struct
+	37, // 14: viam.common.v1.Transform.metadata:type_name -> google.protobuf.Struct
 	12, // 15: viam.common.v1.WorldState.obstacles:type_name -> viam.common.v1.GeometriesInFrame
 	16, // 16: viam.common.v1.WorldState.transforms:type_name -> viam.common.v1.Transform
-	37, // 17: viam.common.v1.ResponseMetadata.captured_at:type_name -> google.protobuf.Timestamp
-	36, // 18: viam.common.v1.DoCommandRequest.command:type_name -> google.protobuf.Struct
-	36, // 19: viam.common.v1.DoCommandResponse.result:type_name -> google.protobuf.Struct
-	36, // 20: viam.common.v1.GetKinematicsRequest.extra:type_name -> google.protobuf.Struct
+	38, // 17: viam.common.v1.ResponseMetadata.captured_at:type_name -> google.protobuf.Timestamp
+	37, // 18: viam.common.v1.DoCommandRequest.command:type_name -> google.protobuf.Struct
+	37, // 19: viam.common.v1.DoCommandResponse.result:type_name -> google.protobuf.Struct
+	37, // 20: viam.common.v1.GetKinematicsRequest.extra:type_name -> google.protobuf.Struct
 	0,  // 21: viam.common.v1.GetKinematicsResponse.format:type_name -> viam.common.v1.KinematicsFileFormat
-	36, // 22: viam.common.v1.GetGeometriesRequest.extra:type_name -> google.protobuf.Struct
-	11, // 23: viam.common.v1.GetGeometriesResponse.geometries:type_name -> viam.common.v1.Geometry
-	36, // 24: viam.common.v1.Get3DModelsRequest.extra:type_name -> google.protobuf.Struct
-	34, // 25: viam.common.v1.Get3DModelsResponse.models:type_name -> viam.common.v1.Get3DModelsResponse.ModelsEntry
-	36, // 26: viam.common.v1.GetReadingsRequest.extra:type_name -> google.protobuf.Struct
-	35, // 27: viam.common.v1.GetReadingsResponse.readings:type_name -> viam.common.v1.GetReadingsResponse.ReadingsEntry
-	37, // 28: viam.common.v1.LogEntry.time:type_name -> google.protobuf.Timestamp
-	36, // 29: viam.common.v1.LogEntry.caller:type_name -> google.protobuf.Struct
-	36, // 30: viam.common.v1.LogEntry.fields:type_name -> google.protobuf.Struct
-	36, // 31: viam.common.v1.GetPropertiesRequest.extra:type_name -> google.protobuf.Struct
-	9,  // 32: viam.common.v1.Get3DModelsResponse.ModelsEntry.value:type_name -> viam.common.v1.Mesh
-	38, // 33: viam.common.v1.GetReadingsResponse.ReadingsEntry.value:type_name -> google.protobuf.Value
-	39, // 34: viam.common.v1.safety_heartbeat_monitored:extendee -> google.protobuf.MethodOptions
-	35, // [35:35] is the sub-list for method output_type
-	35, // [35:35] is the sub-list for method input_type
-	35, // [35:35] is the sub-list for extension type_name
-	34, // [34:35] is the sub-list for extension extendee
-	0,  // [0:34] is the sub-list for field type_name
+	34, // 22: viam.common.v1.GetKinematicsResponse.meshes_by_urdf_filepath:type_name -> viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry
+	37, // 23: viam.common.v1.GetGeometriesRequest.extra:type_name -> google.protobuf.Struct
+	11, // 24: viam.common.v1.GetGeometriesResponse.geometries:type_name -> viam.common.v1.Geometry
+	37, // 25: viam.common.v1.Get3DModelsRequest.extra:type_name -> google.protobuf.Struct
+	35, // 26: viam.common.v1.Get3DModelsResponse.models:type_name -> viam.common.v1.Get3DModelsResponse.ModelsEntry
+	37, // 27: viam.common.v1.GetReadingsRequest.extra:type_name -> google.protobuf.Struct
+	36, // 28: viam.common.v1.GetReadingsResponse.readings:type_name -> viam.common.v1.GetReadingsResponse.ReadingsEntry
+	38, // 29: viam.common.v1.LogEntry.time:type_name -> google.protobuf.Timestamp
+	37, // 30: viam.common.v1.LogEntry.caller:type_name -> google.protobuf.Struct
+	37, // 31: viam.common.v1.LogEntry.fields:type_name -> google.protobuf.Struct
+	37, // 32: viam.common.v1.GetPropertiesRequest.extra:type_name -> google.protobuf.Struct
+	9,  // 33: viam.common.v1.GetKinematicsResponse.MeshesByUrdfFilepathEntry.value:type_name -> viam.common.v1.Mesh
+	9,  // 34: viam.common.v1.Get3DModelsResponse.ModelsEntry.value:type_name -> viam.common.v1.Mesh
+	39, // 35: viam.common.v1.GetReadingsResponse.ReadingsEntry.value:type_name -> google.protobuf.Value
+	40, // 36: viam.common.v1.safety_heartbeat_monitored:extendee -> google.protobuf.MethodOptions
+	37, // [37:37] is the sub-list for method output_type
+	37, // [37:37] is the sub-list for method input_type
+	37, // [37:37] is the sub-list for extension type_name
+	36, // [36:37] is the sub-list for extension extendee
+	0,  // [0:36] is the sub-list for field type_name
 }
 
 func init() { file_common_v1_common_proto_init() }
@@ -2499,7 +2524,7 @@ func file_common_v1_common_proto_init() {
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_common_v1_common_proto_rawDesc,
 			NumEnums:      1,
-			NumMessages:   35,
+			NumMessages:   36,
 			NumExtensions: 1,
 			NumServices:   0,
 		},
diff --git a/gen/js/common/v1/common_pb.d.ts b/gen/js/common/v1/common_pb.d.ts
index 7b99b9bd2..41fd629a9 100644
--- a/gen/js/common/v1/common_pb.d.ts
+++ b/gen/js/common/v1/common_pb.d.ts
@@ -651,6 +651,8 @@ export class GetKinematicsResponse extends jspb.Message {
   getKinematicsData_asB64(): string;
   setKinematicsData(value: Uint8Array | string): void;
 
+  getMeshesByUrdfFilepathMap(): jspb.Map<string, Mesh>;
+  clearMeshesByUrdfFilepathMap(): void;
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): GetKinematicsResponse.AsObject;
   static toObject(includeInstance: boolean, msg: GetKinematicsResponse): GetKinematicsResponse.AsObject;
@@ -665,6 +667,7 @@ export namespace GetKinematicsResponse {
   export type AsObject = {
     format: KinematicsFileFormatMap[keyof KinematicsFileFormatMap],
     kinematicsData: Uint8Array | string,
+    meshesByUrdfFilepathMap: Array<[string, Mesh.AsObject]>,
   }
 }
 
diff --git a/gen/js/common/v1/common_pb.js b/gen/js/common/v1/common_pb.js
index bb3c7fd48..86fd39be6 100644
--- a/gen/js/common/v1/common_pb.js
+++ b/gen/js/common/v1/common_pb.js
@@ -5258,7 +5258,8 @@ proto.viam.common.v1.GetKinematicsResponse.prototype.toObject = function(opt_inc
 proto.viam.common.v1.GetKinematicsResponse.toObject = function(includeInstance, msg) {
   var f, obj = {
     format: jspb.Message.getFieldWithDefault(msg, 1, 0),
-    kinematicsData: msg.getKinematicsData_asB64()
+    kinematicsData: msg.getKinematicsData_asB64(),
+    meshesByUrdfFilepathMap: (f = msg.getMeshesByUrdfFilepathMap()) ? f.toObject(includeInstance, proto.viam.common.v1.Mesh.toObject) : []
   };
 
   if (includeInstance) {
@@ -5303,6 +5304,12 @@ proto.viam.common.v1.GetKinematicsResponse.deserializeBinaryFromReader = functio
       var value = /** @type {!Uint8Array} */ (reader.readBytes());
       msg.setKinematicsData(value);
       break;
+    case 3:
+      var value = msg.getMeshesByUrdfFilepathMap();
+      reader.readMessage(value, function(message, reader) {
+        jspb.Map.deserializeBinary(message, reader, jspb.BinaryReader.prototype.readString, jspb.BinaryReader.prototype.readMessage, proto.viam.common.v1.Mesh.deserializeBinaryFromReader, "", new proto.viam.common.v1.Mesh());
+         });
+      break;
     default:
       reader.skipField();
       break;
@@ -5346,6 +5353,10 @@ proto.viam.common.v1.GetKinematicsResponse.serializeBinaryToWriter = function(me
       f
     );
   }
+  f = message.getMeshesByUrdfFilepathMap(true);
+  if (f && f.getLength() > 0) {
+    f.serializeBinary(3, writer, jspb.BinaryWriter.prototype.writeString, jspb.BinaryWriter.prototype.writeMessage, proto.viam.common.v1.Mesh.serializeBinaryToWriter);
+  }
 };
 
 
@@ -5409,6 +5420,28 @@ proto.viam.common.v1.GetKinematicsResponse.prototype.setKinematicsData = functio
 };
 
 
+/**
+ * map<string, Mesh> meshes_by_urdf_filepath = 3;
+ * @param {boolean=} opt_noLazyCreate Do not create the map if
+ * empty, instead returning `undefined`
+ * @return {!jspb.Map<string,!proto.viam.common.v1.Mesh>}
+ */
+proto.viam.common.v1.GetKinematicsResponse.prototype.getMeshesByUrdfFilepathMap = function(opt_noLazyCreate) {
+  return /** @type {!jspb.Map<string,!proto.viam.common.v1.Mesh>} */ (
+      jspb.Message.getMapField(this, 3, opt_noLazyCreate,
+      proto.viam.common.v1.Mesh));
+};
+
+
+/**
+ * Clears values from the map. The map will be non-null.
+ * @return {!proto.viam.common.v1.GetKinematicsResponse} returns this
+ */
+proto.viam.common.v1.GetKinematicsResponse.prototype.clearMeshesByUrdfFilepathMap = function() {
+  this.getMeshesByUrdfFilepathMap().clear();
+  return this;};
+
+
 
 
 
diff --git a/proto/viam/common/v1/common.proto b/proto/viam/common/v1/common.proto
index cbe5a8c00..89ffcd755 100644
--- a/proto/viam/common/v1/common.proto
+++ b/proto/viam/common/v1/common.proto
@@ -214,6 +214,8 @@ message GetKinematicsResponse {
   KinematicsFileFormat format = 1;
   // The byte contents of the file
   bytes kinematics_data = 2;
+  // Map of URDF mesh file paths to mesh data
+  map<string, Mesh> meshes_by_urdf_filepath = 3;
 }
 
 message GetGeometriesRequest {