diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8ebf1c8..a748de6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,7 +137,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(VIAM_TRAJEX_BOOST_VERSION_MINIMUM "")    # TODO: Decide this
 set(VIAM_TRAJEX_EIGEN3_VERSION_MINIMUM "")   # TODO: Decide this
 set(VIAM_TRAJEX_JSONCPP_VERSION_MINIMUM "")  # TODO: Decide this
-set(VIAM_TRAJEX_VIAMCPPSDK_VERSION_MINIMUM 0.31.0)
+set(VIAM_TRAJEX_VIAMCPPSDK_VERSION_MINIMUM 0.37.0)
 set(VIAM_TRAJEX_XTENSOR_VERSION_MINIMUM 0.24.3)
 set(VIAM_TRAJEX_XTL_VERSION_MINIMUM 0.7.2)
 
@@ -166,7 +166,7 @@ if (VIAM_TRAJEX_ENABLE_SERVICE)
   FetchContent_Declare(
     viam-cpp-sdk
     GIT_REPOSITORY https://github.com/viamrobotics/viam-cpp-sdk
-    GIT_TAG        releases/v0.31.0
+    GIT_TAG        releases/v0.37.0
     GIT_SHALLOW    TRUE
     SYSTEM
     # Delete conflicting protobuf headers
diff --git a/bin/setup.sh b/bin/setup.sh
index 909c951..613c4fb 100755
--- a/bin/setup.sh
+++ b/bin/setup.sh
@@ -27,7 +27,7 @@ fi
 
 # NOTE: If you change this version, also change it in the `conanfile.py` requirements
 # and in the Dockerfile and CMakeLists.txt
-git checkout releases/v0.31.0
+git checkout releases/v0.37.0
 
 # Export the recipe to the cache so we can skip rebuilds gracefully
 conan export .
diff --git a/conanfile.py b/conanfile.py
index 79ba0a9..5407ba9 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -34,7 +34,7 @@ def set_version(self):
     def requirements(self):
         # NOTE: If you update the `viam-cpp-sdk` dependency here, it
         # should also be updated in `bin/setup.sh`.
-        self.requires("viam-cpp-sdk/[>=0.31.0]")
+        self.requires("viam-cpp-sdk/[>=0.37.0]")
         self.requires("eigen/[>=3.4 <5.0]")
         self.requires("boost/[>=1.74.0]")
         self.requires("jsoncpp/[>=1.9.5]")
diff --git a/src/viam/trajex/service/mlmodel.cpp b/src/viam/trajex/service/mlmodel.cpp
index e877e12..1cf44c6 100644
--- a/src/viam/trajex/service/mlmodel.cpp
+++ b/src/viam/trajex/service/mlmodel.cpp
@@ -120,12 +120,11 @@ std::vector<std::string> mlmodel::validate(const vsdk::ResourceConfig& cfg) {
 }
 
 // NOLINTNEXTLINE(performance-unnecessary-value-param): Signature fixed by ModelRegistration factory.
-mlmodel::mlmodel(vsdk::Dependencies deps, vsdk::ResourceConfig config) : MLModelService(config.name()) {
-    reconfigure(deps, config);
-}
+mlmodel::mlmodel(vsdk::Dependencies, vsdk::ResourceConfig config)
+    : MLModelService(config.name()), config_(mlmodel::config::from_resource_config(config)) {}
 
-void mlmodel::reconfigure(const vsdk::Dependencies&, const vsdk::ResourceConfig& cfg) {
-    config new_config;
+mlmodel::config mlmodel::config::from_resource_config(const vsdk::ResourceConfig& cfg) {
+    config out;
 
     // Parse generator_sequence
     auto seq_attr = cfg.attributes().find("generator_sequence");
@@ -134,7 +133,7 @@ void mlmodel::reconfigure(const vsdk::Dependencies&, const vsdk::ResourceConfig&
         if (!arr || arr->empty()) {
             throw std::invalid_argument("generator_sequence must be a non-empty array of strings");
         }
-        new_config.generator_sequence.clear();
+        out.generator_sequence.clear();
         for (const auto& elem : *arr) {
             const auto* str = elem.get<std::string>();
             if (!str) {
@@ -143,7 +142,7 @@ void mlmodel::reconfigure(const vsdk::Dependencies&, const vsdk::ResourceConfig&
             if (*str != "totg" && *str != "legacy") {
                 throw std::invalid_argument("generator_sequence: unknown algorithm '" + *str + "' (expected 'totg' or 'legacy')");
             }
-            new_config.generator_sequence.push_back(*str);
+            out.generator_sequence.push_back(*str);
         }
     }
 
@@ -154,21 +153,13 @@ void mlmodel::reconfigure(const vsdk::Dependencies&, const vsdk::ResourceConfig&
         if (!val) {
             throw std::invalid_argument("segment_for_trajex must be a boolean");
         }
-        new_config.segment_for_trajex = *val;
+        out.segment_for_trajex = *val;
     }
 
-    const std::unique_lock lock{config_mutex_};
-    config_ = std::move(new_config);
+    return out;
 }
 
 std::shared_ptr<mlmodel::named_tensor_views> mlmodel::infer(const named_tensor_views& inputs, const vsdk::ProtoStruct&) {
-    // Snapshot config under the read lock, then release
-    config local_config;
-    {
-        const std::shared_lock lock{config_mutex_};
-        local_config = config_;
-    }
-
     // Parse inputs
     const auto& waypoints_view = get_double_tensor(inputs, "waypoints_rads");
     if (waypoints_view.dimension() != 2) {
@@ -211,7 +202,7 @@ std::shared_ptr<mlmodel::named_tensor_views> mlmodel::infer(const named_tensor_v
         .acceleration_limits = std::move(acceleration_limits),
         .path_blend_tolerance = path_tolerance,
         .colinearization_ratio = colinearization_ratio,
-        .segment_totg = local_config.segment_for_trajex,
+        .segment_totg = config_.segment_for_trajex,
     });
 
     planner
@@ -227,7 +218,7 @@ std::shared_ptr<mlmodel::named_tensor_views> mlmodel::infer(const named_tensor_v
         .with_segmenter([](auto&, totg::waypoint_accumulator accumulator) { return totg::segment_at_reversals(std::move(accumulator)); });
 
     // Register algorithms based on configured sequence
-    for (const auto& algo : local_config.generator_sequence) {
+    for (const auto& algo : config_.generator_sequence) {
         if (algo == "totg") {
             planner.with_totg([&, dof](const auto&, service_result& acc, const totg::waypoint_accumulator&, totg::trajectory&& traj, auto) {
                 acc.dof = dof;
@@ -339,7 +330,6 @@ std::shared_ptr<mlmodel::named_tensor_views> mlmodel::infer(const named_tensor_v
 }
 
 struct mlmodel::metadata mlmodel::metadata(const vsdk::ProtoStruct&) {
-    const std::shared_lock lock{config_mutex_};
     return {
         .name = "trajex",
         .type = "other",
diff --git a/src/viam/trajex/service/mlmodel.hpp b/src/viam/trajex/service/mlmodel.hpp
index 6a35b93..992d561 100644
--- a/src/viam/trajex/service/mlmodel.hpp
+++ b/src/viam/trajex/service/mlmodel.hpp
@@ -2,26 +2,26 @@
 
 #include <memory>
 #include <optional>
-#include <shared_mutex>
 #include <string>
 #include <vector>
 
 #include <viam/sdk/config/resource.hpp>
-#include <viam/sdk/resource/reconfigurable.hpp>
 #include <viam/sdk/services/mlmodel.hpp>
 
 namespace viam::trajex::service {
 
-class mlmodel final : public ::viam::sdk::MLModelService, public ::viam::sdk::Reconfigurable {
+class mlmodel final : public ::viam::sdk::MLModelService {
    public:
     mlmodel(::viam::sdk::Dependencies deps, ::viam::sdk::ResourceConfig config);
 
-    void reconfigure(const ::viam::sdk::Dependencies&, const ::viam::sdk::ResourceConfig&) override;
-
     std::shared_ptr<named_tensor_views> infer(const named_tensor_views& inputs, const ::viam::sdk::ProtoStruct& extra) override;
 
     struct metadata metadata(const ::viam::sdk::ProtoStruct& extra) override;
 
+    ::viam::sdk::ProtoStruct get_status() override {
+        return {};
+    }
+
     static std::vector<std::string> validate(const ::viam::sdk::ResourceConfig& cfg);
 
    private:
@@ -32,10 +32,11 @@ class mlmodel final : public ::viam::sdk::MLModelService, public ::viam::sdk::Re
         std::vector<std::string> generator_sequence = {"totg"};
 #endif
         bool segment_for_trajex = false;
+
+        static config from_resource_config(const ::viam::sdk::ResourceConfig& cfg);
     };
 
-    mutable std::shared_mutex config_mutex_;
-    config config_;
+    const config config_;
 };
 
 }  // namespace viam::trajex::service