diff --git a/app/v1/robot.pb.go b/app/v1/robot.pb.go
index 74573d932..772f6b24d 100644
--- a/app/v1/robot.pb.go
+++ b/app/v1/robot.pb.go
@@ -97,6 +97,8 @@ type RobotConfig struct {
 	DisablePartialStart     *bool                  `protobuf:"varint,10,opt,name=disable_partial_start,json=disablePartialStart,proto3,oneof" json:"disable_partial_start,omitempty"`
 	Packages                []*PackageConfig       `protobuf:"bytes,11,rep,name=packages,proto3" json:"packages,omitempty"`
 	OverwriteFragmentStatus []*AppValidationStatus `protobuf:"bytes,12,rep,name=overwrite_fragment_status,json=overwriteFragmentStatus,proto3" json:"overwrite_fragment_status,omitempty"`
+	// Turns on pprof http server on localhost. By default false.
+	EnableWebProfile *bool `protobuf:"varint,13,opt,name=enable_web_profile,json=enableWebProfile,proto3,oneof" json:"enable_web_profile,omitempty"`
 }
 
 func (x *RobotConfig) Reset() {
@@ -215,6 +217,13 @@ func (x *RobotConfig) GetOverwriteFragmentStatus() []*AppValidationStatus {
 	return nil
 }
 
+func (x *RobotConfig) GetEnableWebProfile() bool {
+	if x != nil && x.EnableWebProfile != nil {
+		return *x.EnableWebProfile
+	}
+	return false
+}
+
 // Valid location secret that can be used for authentication to the robot.
 type LocationSecret struct {
 	state         protoimpl.MessageState
@@ -2869,7 +2878,7 @@ var file_app_v1_robot_proto_rawDesc = []byte{
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@@ -2912,406 +2921,410 @@ var file_app_v1_robot_proto_rawDesc = []byte{
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+	0x04, 0x20, 0x01, 0x28, 0x09, 0x52, 0x04, 0x74, 0x79, 0x70, 0x65, 0x12, 0x38, 0x0a, 0x06, 0x73,
+	0x74, 0x61, 0x74, 0x75, 0x73, 0x18, 0x05, 0x20, 0x01, 0x28, 0x0b, 0x32, 0x20, 0x2e, 0x76, 0x69,
+	0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x41, 0x70, 0x70, 0x56, 0x61, 0x6c,
+	0x69, 0x64, 0x61, 0x74, 0x69, 0x6f, 0x6e, 0x53, 0x74, 0x61, 0x74, 0x75, 0x73, 0x52, 0x06, 0x73,
+	0x74, 0x61, 0x74, 0x75, 0x73, 0x2a, 0xbf, 0x01, 0x0a, 0x0f, 0x43, 0x72, 0x65, 0x64, 0x65, 0x6e,
+	0x74, 0x69, 0x61, 0x6c, 0x73, 0x54, 0x79, 0x70, 0x65, 0x12, 0x20, 0x0a, 0x1c, 0x43, 0x52, 0x45,
+	0x44, 0x45, 0x4e, 0x54, 0x49, 0x41, 0x4c, 0x53, 0x5f, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x55, 0x4e,
+	0x53, 0x50, 0x45, 0x43, 0x49, 0x46, 0x49, 0x45, 0x44, 0x10, 0x00, 0x12, 0x1d, 0x0a, 0x19, 0x43,
+	0x52, 0x45, 0x44, 0x45, 0x4e, 0x54, 0x49, 0x41, 0x4c, 0x53, 0x5f, 0x54, 0x59, 0x50, 0x45, 0x5f,
+	0x49, 0x4e, 0x54, 0x45, 0x52, 0x4e, 0x41, 0x4c, 0x10, 0x01, 0x12, 0x1c, 0x0a, 0x18, 0x43, 0x52,
+	0x45, 0x44, 0x45, 0x4e, 0x54, 0x49, 0x41, 0x4c, 0x53, 0x5f, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x41,
+	0x50, 0x49, 0x5f, 0x4b, 0x45, 0x59, 0x10, 0x02, 0x12, 0x21, 0x0a, 0x1d, 0x43, 0x52, 0x45, 0x44,
+	0x45, 0x4e, 0x54, 0x49, 0x41, 0x4c, 0x53, 0x5f, 0x54, 0x59, 0x50, 0x45, 0x5f, 0x52, 0x4f, 0x42,
+	0x4f, 0x54, 0x5f, 0x53, 0x45, 0x43, 0x52, 0x45, 0x54, 0x10, 0x03, 0x12, 0x2a, 0x0a, 0x26, 0x43,
+	0x52, 0x45, 0x44, 0x45, 0x4e, 0x54, 0x49, 0x41, 0x4c, 0x53, 0x5f, 0x54, 0x59, 0x50, 0x45, 0x5f,
+	0x52, 0x4f, 0x42, 0x4f, 0x54, 0x5f, 0x4c, 0x4f, 0x43, 0x41, 0x54, 0x49, 0x4f, 0x4e, 0x5f, 0x53,
+	0x45, 0x43, 0x52, 0x45, 0x54, 0x10, 0x04, 0x32, 0xb2, 0x02, 0x0a, 0x0c, 0x52, 0x6f, 0x62, 0x6f,
+	0x74, 0x53, 0x65, 0x72, 0x76, 0x69, 0x63, 0x65, 0x12, 0x41, 0x0a, 0x06, 0x43, 0x6f, 0x6e, 0x66,
+	0x69, 0x67, 0x12, 0x1a, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31,
+	0x2e, 0x43, 0x6f, 0x6e, 0x66, 0x69, 0x67, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x1a, 0x1b,
+	0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x43, 0x6f, 0x6e,
+	0x66, 0x69, 0x67, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x12, 0x50, 0x0a, 0x0b, 0x43,
+	0x65, 0x72, 0x74, 0x69, 0x66, 0x69, 0x63, 0x61, 0x74, 0x65, 0x12, 0x1f, 0x2e, 0x76, 0x69, 0x61,
+	0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x43, 0x65, 0x72, 0x74, 0x69, 0x66, 0x69,
+	0x63, 0x61, 0x74, 0x65, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x1a, 0x20, 0x2e, 0x76, 0x69,
+	0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x43, 0x65, 0x72, 0x74, 0x69, 0x66,
+	0x69, 0x63, 0x61, 0x74, 0x65, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x12, 0x38, 0x0a,
+	0x03, 0x4c, 0x6f, 0x67, 0x12, 0x17, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e,
+	0x76, 0x31, 0x2e, 0x4c, 0x6f, 0x67, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x1a, 0x18, 0x2e,
+	0x76, 0x69, 0x61, 0x6d, 0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x4c, 0x6f, 0x67, 0x52,
+	0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x12, 0x53, 0x0a, 0x0c, 0x4e, 0x65, 0x65, 0x64, 0x73,
+	0x52, 0x65, 0x73, 0x74, 0x61, 0x72, 0x74, 0x12, 0x20, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x61,
+	0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x4e, 0x65, 0x65, 0x64, 0x73, 0x52, 0x65, 0x73, 0x74, 0x61,
+	0x72, 0x74, 0x52, 0x65, 0x71, 0x75, 0x65, 0x73, 0x74, 0x1a, 0x21, 0x2e, 0x76, 0x69, 0x61, 0x6d,
+	0x2e, 0x61, 0x70, 0x70, 0x2e, 0x76, 0x31, 0x2e, 0x4e, 0x65, 0x65, 0x64, 0x73, 0x52, 0x65, 0x73,
+	0x74, 0x61, 0x72, 0x74, 0x52, 0x65, 0x73, 0x70, 0x6f, 0x6e, 0x73, 0x65, 0x42, 0x18, 0x5a, 0x16,
+	0x67, 0x6f, 0x2e, 0x76, 0x69, 0x61, 0x6d, 0x2e, 0x63, 0x6f, 0x6d, 0x2f, 0x61, 0x70, 0x69, 0x2f,
+	0x61, 0x70, 0x70, 0x2f, 0x76, 0x31, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
diff --git a/component/audioinput/v1/audioinput.pb.gw.go b/component/audioinput/v1/audioinput.pb.gw.go
index 571f1e11f..97662546a 100644
--- a/component/audioinput/v1/audioinput.pb.gw.go
+++ b/component/audioinput/v1/audioinput.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -184,7 +184,7 @@ var (
 )
 
 func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -217,7 +217,7 @@ func request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_AudioInputService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -254,7 +254,7 @@ var (
 )
 
 func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client AudioInputServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -287,7 +287,7 @@ func request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler ru
 }
 
 func local_request_AudioInputService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server AudioInputServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/camera/v1/camera.pb.gw.go b/component/camera/v1/camera.pb.gw.go
index b329ca959..b97fe7000 100644
--- a/component/camera/v1/camera.pb.gw.go
+++ b/component/camera/v1/camera.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -351,7 +351,7 @@ var (
 )
 
 func request_CameraService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client CameraServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -384,7 +384,7 @@ func request_CameraService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_CameraService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server CameraServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -421,7 +421,7 @@ var (
 )
 
 func request_CameraService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client CameraServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -454,7 +454,7 @@ func request_CameraService_GetGeometries_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_CameraService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server CameraServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/encoder/v1/encoder.pb.gw.go b/component/encoder/v1/encoder.pb.gw.go
index 4fa63db37..ef911f15d 100644
--- a/component/encoder/v1/encoder.pb.gw.go
+++ b/component/encoder/v1/encoder.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -247,7 +247,7 @@ var (
 )
 
 func request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client EncoderServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -280,7 +280,7 @@ func request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_EncoderService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server EncoderServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -317,7 +317,7 @@ var (
 )
 
 func request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client EncoderServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -350,7 +350,7 @@ func request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_EncoderService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server EncoderServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/gantry/v1/gantry.pb.gw.go b/component/gantry/v1/gantry.pb.gw.go
index 13a62b8f4..e78f11c29 100644
--- a/component/gantry/v1/gantry.pb.gw.go
+++ b/component/gantry/v1/gantry.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -439,7 +439,7 @@ var (
 )
 
 func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -472,7 +472,7 @@ func request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_GantryService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -509,7 +509,7 @@ var (
 )
 
 func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GantryServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -542,7 +542,7 @@ func request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_GantryService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GantryServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/generic/v1/generic.pb.gw.go b/component/generic/v1/generic.pb.gw.go
index 81abf78ba..8b95fb2a9 100644
--- a/component/generic/v1/generic.pb.gw.go
+++ b/component/generic/v1/generic.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -37,7 +37,7 @@ var (
 )
 
 func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -70,7 +70,7 @@ func request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GenericService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -107,7 +107,7 @@ var (
 )
 
 func request_GenericService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GenericServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -140,7 +140,7 @@ func request_GenericService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_GenericService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GenericServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/gripper/v1/gripper.pb.gw.go b/component/gripper/v1/gripper.pb.gw.go
index d732daf0a..b432b0c7e 100644
--- a/component/gripper/v1/gripper.pb.gw.go
+++ b/component/gripper/v1/gripper.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -299,7 +299,7 @@ var (
 )
 
 func request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client GripperServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -332,7 +332,7 @@ func request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_GripperService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server GripperServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -369,7 +369,7 @@ var (
 )
 
 func request_GripperService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client GripperServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -402,7 +402,7 @@ func request_GripperService_GetGeometries_0(ctx context.Context, marshaler runti
 }
 
 func local_request_GripperService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server GripperServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/movementsensor/v1/movementsensor.pb.gw.go b/component/movementsensor/v1/movementsensor.pb.gw.go
index a2cd12d55..8530c6d94 100644
--- a/component/movementsensor/v1/movementsensor.pb.gw.go
+++ b/component/movementsensor/v1/movementsensor.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -597,7 +597,7 @@ var (
 )
 
 func request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -630,7 +630,7 @@ func request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler ru
 }
 
 func local_request_MovementSensorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -667,7 +667,7 @@ var (
 )
 
 func request_MovementSensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -700,7 +700,7 @@ func request_MovementSensorService_GetGeometries_0(ctx context.Context, marshale
 }
 
 func local_request_MovementSensorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetGeometriesRequest
+	var protoReq v1.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -737,7 +737,7 @@ var (
 )
 
 func request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, client MovementSensorServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetReadingsRequest
+	var protoReq v1.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -770,7 +770,7 @@ func request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler
 }
 
 func local_request_MovementSensorService_GetReadings_0(ctx context.Context, marshaler runtime.Marshaler, server MovementSensorServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.GetReadingsRequest
+	var protoReq v1.GetReadingsRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/gen/js/app/v1/robot_pb.d.ts b/gen/js/app/v1/robot_pb.d.ts
index 109592f27..1261f8f63 100644
--- a/gen/js/app/v1/robot_pb.d.ts
+++ b/gen/js/app/v1/robot_pb.d.ts
@@ -68,6 +68,11 @@ export class RobotConfig extends jspb.Message {
   setOverwriteFragmentStatusList(value: Array<AppValidationStatus>): void;
   addOverwriteFragmentStatus(value?: AppValidationStatus, index?: number): AppValidationStatus;
 
+  hasEnableWebProfile(): boolean;
+  clearEnableWebProfile(): void;
+  getEnableWebProfile(): boolean;
+  setEnableWebProfile(value: boolean): void;
+
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): RobotConfig.AsObject;
   static toObject(includeInstance: boolean, msg: RobotConfig): RobotConfig.AsObject;
@@ -92,6 +97,7 @@ export namespace RobotConfig {
     disablePartialStart: boolean,
     packagesList: Array<PackageConfig.AsObject>,
     overwriteFragmentStatusList: Array<AppValidationStatus.AsObject>,
+    enableWebProfile: boolean,
   }
 }
 
diff --git a/gen/js/app/v1/robot_pb.js b/gen/js/app/v1/robot_pb.js
index 3788edc81..b8abab17a 100644
--- a/gen/js/app/v1/robot_pb.js
+++ b/gen/js/app/v1/robot_pb.js
@@ -918,7 +918,8 @@ proto.viam.app.v1.RobotConfig.toObject = function(includeInstance, msg) {
     packagesList: jspb.Message.toObjectList(msg.getPackagesList(),
     proto.viam.app.v1.PackageConfig.toObject, includeInstance),
     overwriteFragmentStatusList: jspb.Message.toObjectList(msg.getOverwriteFragmentStatusList(),
-    proto.viam.app.v1.AppValidationStatus.toObject, includeInstance)
+    proto.viam.app.v1.AppValidationStatus.toObject, includeInstance),
+    enableWebProfile: jspb.Message.getBooleanFieldWithDefault(msg, 13, false)
   };
 
   if (includeInstance) {
@@ -1013,6 +1014,10 @@ proto.viam.app.v1.RobotConfig.deserializeBinaryFromReader = function(msg, reader
       reader.readMessage(value,proto.viam.app.v1.AppValidationStatus.deserializeBinaryFromReader);
       msg.addOverwriteFragmentStatus(value);
       break;
+    case 13:
+      var value = /** @type {boolean} */ (reader.readBool());
+      msg.setEnableWebProfile(value);
+      break;
     default:
       reader.skipField();
       break;
@@ -1136,6 +1141,13 @@ proto.viam.app.v1.RobotConfig.serializeBinaryToWriter = function(message, writer
       proto.viam.app.v1.AppValidationStatus.serializeBinaryToWriter
     );
   }
+  f = /** @type {boolean} */ (jspb.Message.getField(message, 13));
+  if (f != null) {
+    writer.writeBool(
+      13,
+      f
+    );
+  }
 };
 
 
@@ -1588,6 +1600,42 @@ proto.viam.app.v1.RobotConfig.prototype.clearOverwriteFragmentStatusList = funct
 };
 
 
+/**
+ * optional bool enable_web_profile = 13;
+ * @return {boolean}
+ */
+proto.viam.app.v1.RobotConfig.prototype.getEnableWebProfile = function() {
+  return /** @type {boolean} */ (jspb.Message.getBooleanFieldWithDefault(this, 13, false));
+};
+
+
+/**
+ * @param {boolean} value
+ * @return {!proto.viam.app.v1.RobotConfig} returns this
+ */
+proto.viam.app.v1.RobotConfig.prototype.setEnableWebProfile = function(value) {
+  return jspb.Message.setField(this, 13, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.app.v1.RobotConfig} returns this
+ */
+proto.viam.app.v1.RobotConfig.prototype.clearEnableWebProfile = function() {
+  return jspb.Message.setField(this, 13, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.app.v1.RobotConfig.prototype.hasEnableWebProfile = function() {
+  return jspb.Message.getField(this, 13) != null;
+};
+
+
 
 
 
diff --git a/proto/viam/app/v1/robot.proto b/proto/viam/app/v1/robot.proto
index 0229d1e67..04d850900 100644
--- a/proto/viam/app/v1/robot.proto
+++ b/proto/viam/app/v1/robot.proto
@@ -38,6 +38,8 @@ message RobotConfig {
   optional bool disable_partial_start = 10;
   repeated PackageConfig packages = 11;
   repeated AppValidationStatus overwrite_fragment_status = 12;
+  // Turns on pprof http server on localhost. By default false.
+  optional bool enable_web_profile = 13;
 }
 
 // Valid location secret that can be used for authentication to the robot.
diff --git a/service/navigation/v1/navigation.pb.gw.go b/service/navigation/v1/navigation.pb.gw.go
index 40f687bd9..7843d39a9 100644
--- a/service/navigation/v1/navigation.pb.gw.go
+++ b/service/navigation/v1/navigation.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -669,7 +669,7 @@ var (
 )
 
 func request_NavigationService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client NavigationServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -702,7 +702,7 @@ func request_NavigationService_DoCommand_0(ctx context.Context, marshaler runtim
 }
 
 func local_request_NavigationService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server NavigationServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/sensors/v1/sensors.pb.gw.go b/service/sensors/v1/sensors.pb.gw.go
index b0c69d02f..9fc2a2808 100644
--- a/service/sensors/v1/sensors.pb.gw.go
+++ b/service/sensors/v1/sensors.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -177,7 +177,7 @@ var (
 )
 
 func request_SensorsService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SensorsServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -210,7 +210,7 @@ func request_SensorsService_DoCommand_0(ctx context.Context, marshaler runtime.M
 }
 
 func local_request_SensorsService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SensorsServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/shell/v1/shell.pb.gw.go b/service/shell/v1/shell.pb.gw.go
index 288e3d8b2..660e30a8b 100644
--- a/service/shell/v1/shell.pb.gw.go
+++ b/service/shell/v1/shell.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	"go.viam.com/api/common/v1"
+	v1_0 "go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -166,7 +166,7 @@ var (
 )
 
 func request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client ShellServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -199,7 +199,7 @@ func request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_ShellService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server ShellServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/slam/v1/slam.pb.gw.go b/service/slam/v1/slam.pb.gw.go
index afa099e21..48ac2664d 100644
--- a/service/slam/v1/slam.pb.gw.go
+++ b/service/slam/v1/slam.pb.gw.go
@@ -15,7 +15,7 @@ import (
 
 	"github.com/grpc-ecosystem/grpc-gateway/v2/runtime"
 	"github.com/grpc-ecosystem/grpc-gateway/v2/utilities"
-	v1_0 "go.viam.com/api/common/v1"
+	"go.viam.com/api/common/v1"
 	"google.golang.org/grpc"
 	"google.golang.org/grpc/codes"
 	"google.golang.org/grpc/grpclog"
@@ -220,7 +220,7 @@ var (
 )
 
 func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client SLAMServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
@@ -253,7 +253,7 @@ func request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Mars
 }
 
 func local_request_SLAMService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server SLAMServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
-	var protoReq v1_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (