Add move single component, update "Move" to "PlanAndMove" (#1131)

* First pass at implementing MoveSingleComponent

* fix buf

* Add tests, fix bug

* Lint, tweak some comments

* fix linting

* Address PR comments

* fix nil pointer error

* lint

* resources also needs to be bubbled up

Co-authored-by: Ray Bjorkman <raymond@viam.com>

proto/api/service/motion/v1/motion.proto

@@ -10,9 +10,15 @@ option java_package = "com.viam.rdk.proto.api.service.motion.v1";
 
 // A MotionService declares the gRPC contract for a motion service
 service MotionService {
-  rpc Move(MoveRequest) returns (MoveResponse) {
+  rpc PlanAndMove(PlanAndMoveRequest) returns (PlanAndMoveResponse) {
     option (google.api.http) = {
-      post: "/viam/api/v1/service/motion/move"
+      post: "/viam/api/v1/service/motion/planandmove"
+    };
+  }
+
+  rpc MoveSingleComponent(MoveSingleComponentRequest) returns (MoveSingleComponentResponse) {
+    option (google.api.http) = {
+      post: "/viam/api/v1/service/motion/movesinglecomponent"
     };
   }
 
@@ -23,13 +29,23 @@ service MotionService {
   }
 }
 
-message MoveRequest {
+message PlanAndMoveRequest {
+  common.v1.PoseInFrame destination = 1;
+  common.v1.ResourceName component_name = 2;
+  optional common.v1.WorldState world_state = 3;
+}
+
+message PlanAndMoveResponse {
+  bool success = 1;
+}
+
+message MoveSingleComponentRequest {
   common.v1.PoseInFrame destination = 1;
   common.v1.ResourceName component_name = 2;
   optional common.v1.WorldState world_state = 3;
 }
 
-message MoveResponse {
+message MoveSingleComponentResponse {
   bool success = 1;
 }