From 51fe216d84272f3f2d21dac0e23f84a03a65d509 Mon Sep 17 00:00:00 2001
From: github-actions <41898282+github-actions[bot]@users.noreply.github.com>
Date: Thu, 24 Oct 2024 17:13:14 +0000
Subject: [PATCH] Built new protos from fddd597

---
 component/arm/v1/arm.pb.go                   | 556 ++++++++----
 component/arm/v1/arm.pb.gw.go                | 121 +++
 component/arm/v1/arm_grpc.pb.go              |  42 +
 component/base/v1/base.pb.gw.go              |  10 +-
 component/board/v1/board.pb.gw.go            |  10 +-
 component/gantry/v1/gantry.pb.gw.go          |  10 +-
 component/gripper/v1/gripper.pb.gw.go        |  10 +-
 component/motor/v1/motor.pb.gw.go            |  10 +-
 gen/js/component/arm/v1/arm_grpc_web_pb.js   |  61 ++
 gen/js/component/arm/v1/arm_pb.d.ts          |  82 ++
 gen/js/component/arm/v1/arm_pb.js            | 843 ++++++++++++++++---
 gen/js/component/arm/v1/arm_pb_service.d.ts  |  19 +
 gen/js/component/arm/v1/arm_pb_service.js    |  40 +
 proto/viam/component/arm/v1/arm.proto        |   4 +-
 service/datamanager/v1/data_manager.pb.gw.go |   6 +-
 service/generic/v1/generic.pb.gw.go          |   6 +-
 service/motion/v1/motion.pb.gw.go            |   6 +-
 service/navigation/v1/navigation.pb.gw.go    |   6 +-
 service/sensors/v1/sensors.pb.gw.go          |   6 +-
 19 files changed, 1563 insertions(+), 285 deletions(-)

diff --git a/component/arm/v1/arm.pb.go b/component/arm/v1/arm.pb.go
index 80face4f0..965823dfa 100644
--- a/component/arm/v1/arm.pb.go
+++ b/component/arm/v1/arm.pb.go
@@ -135,8 +135,7 @@ type JointPositions struct {
 	unknownFields protoimpl.UnknownFields
 
 	// A list of joint positions. Rotations values are in degrees, translational values in mm.
-	// The numbers are ordered spatially from the base toward the end effector
-	// This is used in GetJointPositionsResponse and MoveToJointPositionsRequest
+	// There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm
 	Values []float64 `protobuf:"fixed64,1,rep,packed,name=values,proto3" json:"values,omitempty"`
 }
 
@@ -496,6 +495,119 @@ func (*MoveToJointPositionsResponse) Descriptor() ([]byte, []int) {
 	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{8}
 }
 
+type MoveThroughJointPositionsRequest struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// Name of an arm
+	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
+	// A list of joint positions which will be moved to in the order they are specified
+	Positions []*JointPositions `protobuf:"bytes,2,rep,name=positions,proto3" json:"positions,omitempty"`
+	// optional specifications to be obeyed during the motion
+	Options *MoveOptions `protobuf:"bytes,3,opt,name=options,proto3,oneof" json:"options,omitempty"`
+	// Additional arguments to the method
+	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
+}
+
+func (x *MoveThroughJointPositionsRequest) Reset() {
+	*x = MoveThroughJointPositionsRequest{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_component_arm_v1_arm_proto_msgTypes[9]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *MoveThroughJointPositionsRequest) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*MoveThroughJointPositionsRequest) ProtoMessage() {}
+
+func (x *MoveThroughJointPositionsRequest) ProtoReflect() protoreflect.Message {
+	mi := &file_component_arm_v1_arm_proto_msgTypes[9]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use MoveThroughJointPositionsRequest.ProtoReflect.Descriptor instead.
+func (*MoveThroughJointPositionsRequest) Descriptor() ([]byte, []int) {
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{9}
+}
+
+func (x *MoveThroughJointPositionsRequest) GetName() string {
+	if x != nil {
+		return x.Name
+	}
+	return ""
+}
+
+func (x *MoveThroughJointPositionsRequest) GetPositions() []*JointPositions {
+	if x != nil {
+		return x.Positions
+	}
+	return nil
+}
+
+func (x *MoveThroughJointPositionsRequest) GetOptions() *MoveOptions {
+	if x != nil {
+		return x.Options
+	}
+	return nil
+}
+
+func (x *MoveThroughJointPositionsRequest) GetExtra() *structpb.Struct {
+	if x != nil {
+		return x.Extra
+	}
+	return nil
+}
+
+type MoveThroughJointPositionsResponse struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+}
+
+func (x *MoveThroughJointPositionsResponse) Reset() {
+	*x = MoveThroughJointPositionsResponse{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_component_arm_v1_arm_proto_msgTypes[10]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *MoveThroughJointPositionsResponse) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*MoveThroughJointPositionsResponse) ProtoMessage() {}
+
+func (x *MoveThroughJointPositionsResponse) ProtoReflect() protoreflect.Message {
+	mi := &file_component_arm_v1_arm_proto_msgTypes[10]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use MoveThroughJointPositionsResponse.ProtoReflect.Descriptor instead.
+func (*MoveThroughJointPositionsResponse) Descriptor() ([]byte, []int) {
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{10}
+}
+
 type StopRequest struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -510,7 +622,7 @@ type StopRequest struct {
 func (x *StopRequest) Reset() {
 	*x = StopRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_component_arm_v1_arm_proto_msgTypes[9]
+		mi := &file_component_arm_v1_arm_proto_msgTypes[11]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -523,7 +635,7 @@ func (x *StopRequest) String() string {
 func (*StopRequest) ProtoMessage() {}
 
 func (x *StopRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_component_arm_v1_arm_proto_msgTypes[9]
+	mi := &file_component_arm_v1_arm_proto_msgTypes[11]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -536,7 +648,7 @@ func (x *StopRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use StopRequest.ProtoReflect.Descriptor instead.
 func (*StopRequest) Descriptor() ([]byte, []int) {
-	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{9}
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{11}
 }
 
 func (x *StopRequest) GetName() string {
@@ -562,7 +674,7 @@ type StopResponse struct {
 func (x *StopResponse) Reset() {
 	*x = StopResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_component_arm_v1_arm_proto_msgTypes[10]
+		mi := &file_component_arm_v1_arm_proto_msgTypes[12]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -575,7 +687,7 @@ func (x *StopResponse) String() string {
 func (*StopResponse) ProtoMessage() {}
 
 func (x *StopResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_component_arm_v1_arm_proto_msgTypes[10]
+	mi := &file_component_arm_v1_arm_proto_msgTypes[12]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -588,7 +700,7 @@ func (x *StopResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use StopResponse.ProtoReflect.Descriptor instead.
 func (*StopResponse) Descriptor() ([]byte, []int) {
-	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{10}
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{12}
 }
 
 type Status struct {
@@ -604,7 +716,7 @@ type Status struct {
 func (x *Status) Reset() {
 	*x = Status{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_component_arm_v1_arm_proto_msgTypes[11]
+		mi := &file_component_arm_v1_arm_proto_msgTypes[13]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -617,7 +729,7 @@ func (x *Status) String() string {
 func (*Status) ProtoMessage() {}
 
 func (x *Status) ProtoReflect() protoreflect.Message {
-	mi := &file_component_arm_v1_arm_proto_msgTypes[11]
+	mi := &file_component_arm_v1_arm_proto_msgTypes[13]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -630,7 +742,7 @@ func (x *Status) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use Status.ProtoReflect.Descriptor instead.
 func (*Status) Descriptor() ([]byte, []int) {
-	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{11}
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{13}
 }
 
 func (x *Status) GetEndPosition() *v1.Pose {
@@ -665,7 +777,7 @@ type IsMovingRequest struct {
 func (x *IsMovingRequest) Reset() {
 	*x = IsMovingRequest{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_component_arm_v1_arm_proto_msgTypes[12]
+		mi := &file_component_arm_v1_arm_proto_msgTypes[14]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -678,7 +790,7 @@ func (x *IsMovingRequest) String() string {
 func (*IsMovingRequest) ProtoMessage() {}
 
 func (x *IsMovingRequest) ProtoReflect() protoreflect.Message {
-	mi := &file_component_arm_v1_arm_proto_msgTypes[12]
+	mi := &file_component_arm_v1_arm_proto_msgTypes[14]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -691,7 +803,7 @@ func (x *IsMovingRequest) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use IsMovingRequest.ProtoReflect.Descriptor instead.
 func (*IsMovingRequest) Descriptor() ([]byte, []int) {
-	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{12}
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{14}
 }
 
 func (x *IsMovingRequest) GetName() string {
@@ -712,7 +824,7 @@ type IsMovingResponse struct {
 func (x *IsMovingResponse) Reset() {
 	*x = IsMovingResponse{}
 	if protoimpl.UnsafeEnabled {
-		mi := &file_component_arm_v1_arm_proto_msgTypes[13]
+		mi := &file_component_arm_v1_arm_proto_msgTypes[15]
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		ms.StoreMessageInfo(mi)
 	}
@@ -725,7 +837,7 @@ func (x *IsMovingResponse) String() string {
 func (*IsMovingResponse) ProtoMessage() {}
 
 func (x *IsMovingResponse) ProtoReflect() protoreflect.Message {
-	mi := &file_component_arm_v1_arm_proto_msgTypes[13]
+	mi := &file_component_arm_v1_arm_proto_msgTypes[15]
 	if protoimpl.UnsafeEnabled && x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -738,7 +850,7 @@ func (x *IsMovingResponse) ProtoReflect() protoreflect.Message {
 
 // Deprecated: Use IsMovingResponse.ProtoReflect.Descriptor instead.
 func (*IsMovingResponse) Descriptor() ([]byte, []int) {
-	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{13}
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{15}
 }
 
 func (x *IsMovingResponse) GetIsMoving() bool {
@@ -748,6 +860,63 @@ func (x *IsMovingResponse) GetIsMoving() bool {
 	return false
 }
 
+type MoveOptions struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// Maximum allowable velocity of an arm joint, in degrees per second
+	MaxVelDegsPerSec *float64 `protobuf:"fixed64,1,opt,name=max_vel_degs_per_sec,json=maxVelDegsPerSec,proto3,oneof" json:"max_vel_degs_per_sec,omitempty"`
+	// Maximum allowable acceleration of an arm joint, in degrees per second squared
+	MaxAccDegsPerSec2 *float64 `protobuf:"fixed64,2,opt,name=max_acc_degs_per_sec2,json=maxAccDegsPerSec2,proto3,oneof" json:"max_acc_degs_per_sec2,omitempty"`
+}
+
+func (x *MoveOptions) Reset() {
+	*x = MoveOptions{}
+	if protoimpl.UnsafeEnabled {
+		mi := &file_component_arm_v1_arm_proto_msgTypes[16]
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		ms.StoreMessageInfo(mi)
+	}
+}
+
+func (x *MoveOptions) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*MoveOptions) ProtoMessage() {}
+
+func (x *MoveOptions) ProtoReflect() protoreflect.Message {
+	mi := &file_component_arm_v1_arm_proto_msgTypes[16]
+	if protoimpl.UnsafeEnabled && x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use MoveOptions.ProtoReflect.Descriptor instead.
+func (*MoveOptions) Descriptor() ([]byte, []int) {
+	return file_component_arm_v1_arm_proto_rawDescGZIP(), []int{16}
+}
+
+func (x *MoveOptions) GetMaxVelDegsPerSec() float64 {
+	if x != nil && x.MaxVelDegsPerSec != nil {
+		return *x.MaxVelDegsPerSec
+	}
+	return 0
+}
+
+func (x *MoveOptions) GetMaxAccDegsPerSec2() float64 {
+	if x != nil && x.MaxAccDegsPerSec2 != nil {
+		return *x.MaxAccDegsPerSec2
+	}
+	return 0
+}
+
 var File_component_arm_v1_arm_proto protoreflect.FileDescriptor
 
 var file_component_arm_v1_arm_proto_rawDesc = []byte{
@@ -806,30 +975,59 @@ var file_component_arm_v1_arm_proto_rawDesc = []byte{
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 }
 
 var (
@@ -937,66 +1149,74 @@ func file_component_arm_v1_arm_proto_rawDescGZIP() []byte {
 	return file_component_arm_v1_arm_proto_rawDescData
 }
 
-var file_component_arm_v1_arm_proto_msgTypes = make([]protoimpl.MessageInfo, 14)
+var file_component_arm_v1_arm_proto_msgTypes = make([]protoimpl.MessageInfo, 17)
 var file_component_arm_v1_arm_proto_goTypes = []interface{}{
-	(*GetEndPositionRequest)(nil),        // 0: viam.component.arm.v1.GetEndPositionRequest
-	(*GetEndPositionResponse)(nil),       // 1: viam.component.arm.v1.GetEndPositionResponse
-	(*JointPositions)(nil),               // 2: viam.component.arm.v1.JointPositions
-	(*GetJointPositionsRequest)(nil),     // 3: viam.component.arm.v1.GetJointPositionsRequest
-	(*GetJointPositionsResponse)(nil),    // 4: viam.component.arm.v1.GetJointPositionsResponse
-	(*MoveToPositionRequest)(nil),        // 5: viam.component.arm.v1.MoveToPositionRequest
-	(*MoveToPositionResponse)(nil),       // 6: viam.component.arm.v1.MoveToPositionResponse
-	(*MoveToJointPositionsRequest)(nil),  // 7: viam.component.arm.v1.MoveToJointPositionsRequest
-	(*MoveToJointPositionsResponse)(nil), // 8: viam.component.arm.v1.MoveToJointPositionsResponse
-	(*StopRequest)(nil),                  // 9: viam.component.arm.v1.StopRequest
-	(*StopResponse)(nil),                 // 10: viam.component.arm.v1.StopResponse
-	(*Status)(nil),                       // 11: viam.component.arm.v1.Status
-	(*IsMovingRequest)(nil),              // 12: viam.component.arm.v1.IsMovingRequest
-	(*IsMovingResponse)(nil),             // 13: viam.component.arm.v1.IsMovingResponse
-	(*structpb.Struct)(nil),              // 14: google.protobuf.Struct
-	(*v1.Pose)(nil),                      // 15: viam.common.v1.Pose
-	(*v1.DoCommandRequest)(nil),          // 16: viam.common.v1.DoCommandRequest
-	(*v1.GetKinematicsRequest)(nil),      // 17: viam.common.v1.GetKinematicsRequest
-	(*v1.GetGeometriesRequest)(nil),      // 18: viam.common.v1.GetGeometriesRequest
-	(*v1.DoCommandResponse)(nil),         // 19: viam.common.v1.DoCommandResponse
-	(*v1.GetKinematicsResponse)(nil),     // 20: viam.common.v1.GetKinematicsResponse
-	(*v1.GetGeometriesResponse)(nil),     // 21: viam.common.v1.GetGeometriesResponse
+	(*GetEndPositionRequest)(nil),             // 0: viam.component.arm.v1.GetEndPositionRequest
+	(*GetEndPositionResponse)(nil),            // 1: viam.component.arm.v1.GetEndPositionResponse
+	(*JointPositions)(nil),                    // 2: viam.component.arm.v1.JointPositions
+	(*GetJointPositionsRequest)(nil),          // 3: viam.component.arm.v1.GetJointPositionsRequest
+	(*GetJointPositionsResponse)(nil),         // 4: viam.component.arm.v1.GetJointPositionsResponse
+	(*MoveToPositionRequest)(nil),             // 5: viam.component.arm.v1.MoveToPositionRequest
+	(*MoveToPositionResponse)(nil),            // 6: viam.component.arm.v1.MoveToPositionResponse
+	(*MoveToJointPositionsRequest)(nil),       // 7: viam.component.arm.v1.MoveToJointPositionsRequest
+	(*MoveToJointPositionsResponse)(nil),      // 8: viam.component.arm.v1.MoveToJointPositionsResponse
+	(*MoveThroughJointPositionsRequest)(nil),  // 9: viam.component.arm.v1.MoveThroughJointPositionsRequest
+	(*MoveThroughJointPositionsResponse)(nil), // 10: viam.component.arm.v1.MoveThroughJointPositionsResponse
+	(*StopRequest)(nil),                       // 11: viam.component.arm.v1.StopRequest
+	(*StopResponse)(nil),                      // 12: viam.component.arm.v1.StopResponse
+	(*Status)(nil),                            // 13: viam.component.arm.v1.Status
+	(*IsMovingRequest)(nil),                   // 14: viam.component.arm.v1.IsMovingRequest
+	(*IsMovingResponse)(nil),                  // 15: viam.component.arm.v1.IsMovingResponse
+	(*MoveOptions)(nil),                       // 16: viam.component.arm.v1.MoveOptions
+	(*structpb.Struct)(nil),                   // 17: google.protobuf.Struct
+	(*v1.Pose)(nil),                           // 18: viam.common.v1.Pose
+	(*v1.DoCommandRequest)(nil),               // 19: viam.common.v1.DoCommandRequest
+	(*v1.GetKinematicsRequest)(nil),           // 20: viam.common.v1.GetKinematicsRequest
+	(*v1.GetGeometriesRequest)(nil),           // 21: viam.common.v1.GetGeometriesRequest
+	(*v1.DoCommandResponse)(nil),              // 22: viam.common.v1.DoCommandResponse
+	(*v1.GetKinematicsResponse)(nil),          // 23: viam.common.v1.GetKinematicsResponse
+	(*v1.GetGeometriesResponse)(nil),          // 24: viam.common.v1.GetGeometriesResponse
 }
 var file_component_arm_v1_arm_proto_depIdxs = []int32{
-	14, // 0: viam.component.arm.v1.GetEndPositionRequest.extra:type_name -> google.protobuf.Struct
-	15, // 1: viam.component.arm.v1.GetEndPositionResponse.pose:type_name -> viam.common.v1.Pose
-	14, // 2: viam.component.arm.v1.GetJointPositionsRequest.extra:type_name -> google.protobuf.Struct
+	17, // 0: viam.component.arm.v1.GetEndPositionRequest.extra:type_name -> google.protobuf.Struct
+	18, // 1: viam.component.arm.v1.GetEndPositionResponse.pose:type_name -> viam.common.v1.Pose
+	17, // 2: viam.component.arm.v1.GetJointPositionsRequest.extra:type_name -> google.protobuf.Struct
 	2,  // 3: viam.component.arm.v1.GetJointPositionsResponse.positions:type_name -> viam.component.arm.v1.JointPositions
-	15, // 4: viam.component.arm.v1.MoveToPositionRequest.to:type_name -> viam.common.v1.Pose
-	14, // 5: viam.component.arm.v1.MoveToPositionRequest.extra:type_name -> google.protobuf.Struct
+	18, // 4: viam.component.arm.v1.MoveToPositionRequest.to:type_name -> viam.common.v1.Pose
+	17, // 5: viam.component.arm.v1.MoveToPositionRequest.extra:type_name -> google.protobuf.Struct
 	2,  // 6: viam.component.arm.v1.MoveToJointPositionsRequest.positions:type_name -> viam.component.arm.v1.JointPositions
-	14, // 7: viam.component.arm.v1.MoveToJointPositionsRequest.extra:type_name -> google.protobuf.Struct
-	14, // 8: viam.component.arm.v1.StopRequest.extra:type_name -> google.protobuf.Struct
-	15, // 9: viam.component.arm.v1.Status.end_position:type_name -> viam.common.v1.Pose
-	2,  // 10: viam.component.arm.v1.Status.joint_positions:type_name -> viam.component.arm.v1.JointPositions
-	0,  // 11: viam.component.arm.v1.ArmService.GetEndPosition:input_type -> viam.component.arm.v1.GetEndPositionRequest
-	5,  // 12: viam.component.arm.v1.ArmService.MoveToPosition:input_type -> viam.component.arm.v1.MoveToPositionRequest
-	3,  // 13: viam.component.arm.v1.ArmService.GetJointPositions:input_type -> viam.component.arm.v1.GetJointPositionsRequest
-	7,  // 14: viam.component.arm.v1.ArmService.MoveToJointPositions:input_type -> viam.component.arm.v1.MoveToJointPositionsRequest
-	9,  // 15: viam.component.arm.v1.ArmService.Stop:input_type -> viam.component.arm.v1.StopRequest
-	12, // 16: viam.component.arm.v1.ArmService.IsMoving:input_type -> viam.component.arm.v1.IsMovingRequest
-	16, // 17: viam.component.arm.v1.ArmService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
-	17, // 18: viam.component.arm.v1.ArmService.GetKinematics:input_type -> viam.common.v1.GetKinematicsRequest
-	18, // 19: viam.component.arm.v1.ArmService.GetGeometries:input_type -> viam.common.v1.GetGeometriesRequest
-	1,  // 20: viam.component.arm.v1.ArmService.GetEndPosition:output_type -> viam.component.arm.v1.GetEndPositionResponse
-	6,  // 21: viam.component.arm.v1.ArmService.MoveToPosition:output_type -> viam.component.arm.v1.MoveToPositionResponse
-	4,  // 22: viam.component.arm.v1.ArmService.GetJointPositions:output_type -> viam.component.arm.v1.GetJointPositionsResponse
-	8,  // 23: viam.component.arm.v1.ArmService.MoveToJointPositions:output_type -> viam.component.arm.v1.MoveToJointPositionsResponse
-	10, // 24: viam.component.arm.v1.ArmService.Stop:output_type -> viam.component.arm.v1.StopResponse
-	13, // 25: viam.component.arm.v1.ArmService.IsMoving:output_type -> viam.component.arm.v1.IsMovingResponse
-	19, // 26: viam.component.arm.v1.ArmService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
-	20, // 27: viam.component.arm.v1.ArmService.GetKinematics:output_type -> viam.common.v1.GetKinematicsResponse
-	21, // 28: viam.component.arm.v1.ArmService.GetGeometries:output_type -> viam.common.v1.GetGeometriesResponse
-	20, // [20:29] is the sub-list for method output_type
-	11, // [11:20] is the sub-list for method input_type
-	11, // [11:11] is the sub-list for extension type_name
-	11, // [11:11] is the sub-list for extension extendee
-	0,  // [0:11] is the sub-list for field type_name
+	17, // 7: viam.component.arm.v1.MoveToJointPositionsRequest.extra:type_name -> google.protobuf.Struct
+	2,  // 8: viam.component.arm.v1.MoveThroughJointPositionsRequest.positions:type_name -> viam.component.arm.v1.JointPositions
+	16, // 9: viam.component.arm.v1.MoveThroughJointPositionsRequest.options:type_name -> viam.component.arm.v1.MoveOptions
+	17, // 10: viam.component.arm.v1.MoveThroughJointPositionsRequest.extra:type_name -> google.protobuf.Struct
+	17, // 11: viam.component.arm.v1.StopRequest.extra:type_name -> google.protobuf.Struct
+	18, // 12: viam.component.arm.v1.Status.end_position:type_name -> viam.common.v1.Pose
+	2,  // 13: viam.component.arm.v1.Status.joint_positions:type_name -> viam.component.arm.v1.JointPositions
+	0,  // 14: viam.component.arm.v1.ArmService.GetEndPosition:input_type -> viam.component.arm.v1.GetEndPositionRequest
+	5,  // 15: viam.component.arm.v1.ArmService.MoveToPosition:input_type -> viam.component.arm.v1.MoveToPositionRequest
+	3,  // 16: viam.component.arm.v1.ArmService.GetJointPositions:input_type -> viam.component.arm.v1.GetJointPositionsRequest
+	7,  // 17: viam.component.arm.v1.ArmService.MoveToJointPositions:input_type -> viam.component.arm.v1.MoveToJointPositionsRequest
+	9,  // 18: viam.component.arm.v1.ArmService.MoveThroughJointPositions:input_type -> viam.component.arm.v1.MoveThroughJointPositionsRequest
+	11, // 19: viam.component.arm.v1.ArmService.Stop:input_type -> viam.component.arm.v1.StopRequest
+	14, // 20: viam.component.arm.v1.ArmService.IsMoving:input_type -> viam.component.arm.v1.IsMovingRequest
+	19, // 21: viam.component.arm.v1.ArmService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
+	20, // 22: viam.component.arm.v1.ArmService.GetKinematics:input_type -> viam.common.v1.GetKinematicsRequest
+	21, // 23: viam.component.arm.v1.ArmService.GetGeometries:input_type -> viam.common.v1.GetGeometriesRequest
+	1,  // 24: viam.component.arm.v1.ArmService.GetEndPosition:output_type -> viam.component.arm.v1.GetEndPositionResponse
+	6,  // 25: viam.component.arm.v1.ArmService.MoveToPosition:output_type -> viam.component.arm.v1.MoveToPositionResponse
+	4,  // 26: viam.component.arm.v1.ArmService.GetJointPositions:output_type -> viam.component.arm.v1.GetJointPositionsResponse
+	8,  // 27: viam.component.arm.v1.ArmService.MoveToJointPositions:output_type -> viam.component.arm.v1.MoveToJointPositionsResponse
+	10, // 28: viam.component.arm.v1.ArmService.MoveThroughJointPositions:output_type -> viam.component.arm.v1.MoveThroughJointPositionsResponse
+	12, // 29: viam.component.arm.v1.ArmService.Stop:output_type -> viam.component.arm.v1.StopResponse
+	15, // 30: viam.component.arm.v1.ArmService.IsMoving:output_type -> viam.component.arm.v1.IsMovingResponse
+	22, // 31: viam.component.arm.v1.ArmService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
+	23, // 32: viam.component.arm.v1.ArmService.GetKinematics:output_type -> viam.common.v1.GetKinematicsResponse
+	24, // 33: viam.component.arm.v1.ArmService.GetGeometries:output_type -> viam.common.v1.GetGeometriesResponse
+	24, // [24:34] is the sub-list for method output_type
+	14, // [14:24] is the sub-list for method input_type
+	14, // [14:14] is the sub-list for extension type_name
+	14, // [14:14] is the sub-list for extension extendee
+	0,  // [0:14] is the sub-list for field type_name
 }
 
 func init() { file_component_arm_v1_arm_proto_init() }
@@ -1114,7 +1334,7 @@ func file_component_arm_v1_arm_proto_init() {
 			}
 		}
 		file_component_arm_v1_arm_proto_msgTypes[9].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*StopRequest); i {
+			switch v := v.(*MoveThroughJointPositionsRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1126,7 +1346,7 @@ func file_component_arm_v1_arm_proto_init() {
 			}
 		}
 		file_component_arm_v1_arm_proto_msgTypes[10].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*StopResponse); i {
+			switch v := v.(*MoveThroughJointPositionsResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1138,7 +1358,7 @@ func file_component_arm_v1_arm_proto_init() {
 			}
 		}
 		file_component_arm_v1_arm_proto_msgTypes[11].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*Status); i {
+			switch v := v.(*StopRequest); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1150,7 +1370,7 @@ func file_component_arm_v1_arm_proto_init() {
 			}
 		}
 		file_component_arm_v1_arm_proto_msgTypes[12].Exporter = func(v interface{}, i int) interface{} {
-			switch v := v.(*IsMovingRequest); i {
+			switch v := v.(*StopResponse); i {
 			case 0:
 				return &v.state
 			case 1:
@@ -1162,6 +1382,30 @@ func file_component_arm_v1_arm_proto_init() {
 			}
 		}
 		file_component_arm_v1_arm_proto_msgTypes[13].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*Status); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
+		file_component_arm_v1_arm_proto_msgTypes[14].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*IsMovingRequest); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
+		file_component_arm_v1_arm_proto_msgTypes[15].Exporter = func(v interface{}, i int) interface{} {
 			switch v := v.(*IsMovingResponse); i {
 			case 0:
 				return &v.state
@@ -1173,14 +1417,28 @@ func file_component_arm_v1_arm_proto_init() {
 				return nil
 			}
 		}
+		file_component_arm_v1_arm_proto_msgTypes[16].Exporter = func(v interface{}, i int) interface{} {
+			switch v := v.(*MoveOptions); i {
+			case 0:
+				return &v.state
+			case 1:
+				return &v.sizeCache
+			case 2:
+				return &v.unknownFields
+			default:
+				return nil
+			}
+		}
 	}
+	file_component_arm_v1_arm_proto_msgTypes[9].OneofWrappers = []interface{}{}
+	file_component_arm_v1_arm_proto_msgTypes[16].OneofWrappers = []interface{}{}
 	type x struct{}
 	out := protoimpl.TypeBuilder{
 		File: protoimpl.DescBuilder{
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_component_arm_v1_arm_proto_rawDesc,
 			NumEnums:      0,
-			NumMessages:   14,
+			NumMessages:   17,
 			NumExtensions: 0,
 			NumServices:   1,
 		},
diff --git a/component/arm/v1/arm.pb.gw.go b/component/arm/v1/arm.pb.gw.go
index 90c742bb6..22a63d18c 100644
--- a/component/arm/v1/arm.pb.gw.go
+++ b/component/arm/v1/arm.pb.gw.go
@@ -312,6 +312,76 @@ func local_request_ArmService_MoveToJointPositions_0(ctx context.Context, marsha
 
 }
 
+var (
+	filter_ArmService_MoveThroughJointPositions_0 = &utilities.DoubleArray{Encoding: map[string]int{"name": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}}
+)
+
+func request_ArmService_MoveThroughJointPositions_0(ctx context.Context, marshaler runtime.Marshaler, client ArmServiceClient, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
+	var protoReq MoveThroughJointPositionsRequest
+	var metadata runtime.ServerMetadata
+
+	var (
+		val string
+		ok  bool
+		err error
+		_   = err
+	)
+
+	val, ok = pathParams["name"]
+	if !ok {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "name")
+	}
+
+	protoReq.Name, err = runtime.String(val)
+	if err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "name", err)
+	}
+
+	if err := req.ParseForm(); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+	if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_ArmService_MoveThroughJointPositions_0); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+
+	msg, err := client.MoveThroughJointPositions(ctx, &protoReq, grpc.Header(&metadata.HeaderMD), grpc.Trailer(&metadata.TrailerMD))
+	return msg, metadata, err
+
+}
+
+func local_request_ArmService_MoveThroughJointPositions_0(ctx context.Context, marshaler runtime.Marshaler, server ArmServiceServer, req *http.Request, pathParams map[string]string) (proto.Message, runtime.ServerMetadata, error) {
+	var protoReq MoveThroughJointPositionsRequest
+	var metadata runtime.ServerMetadata
+
+	var (
+		val string
+		ok  bool
+		err error
+		_   = err
+	)
+
+	val, ok = pathParams["name"]
+	if !ok {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "missing parameter %s", "name")
+	}
+
+	protoReq.Name, err = runtime.String(val)
+	if err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "type mismatch, parameter: %s, error: %v", "name", err)
+	}
+
+	if err := req.ParseForm(); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+	if err := runtime.PopulateQueryParameters(&protoReq, req.Form, filter_ArmService_MoveThroughJointPositions_0); err != nil {
+		return nil, metadata, status.Errorf(codes.InvalidArgument, "%v", err)
+	}
+
+	msg, err := server.MoveThroughJointPositions(ctx, &protoReq)
+	return msg, metadata, err
+
+}
+
 var (
 	filter_ArmService_Stop_0 = &utilities.DoubleArray{Encoding: map[string]int{"name": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}}
 )
@@ -750,6 +820,31 @@ func RegisterArmServiceHandlerServer(ctx context.Context, mux *runtime.ServeMux,
 
 	})
 
+	mux.Handle("POST", pattern_ArmService_MoveThroughJointPositions_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		var stream runtime.ServerTransportStream
+		ctx = grpc.NewContextWithServerTransportStream(ctx, &stream)
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		var err error
+		var annotatedContext context.Context
+		annotatedContext, err = runtime.AnnotateIncomingContext(ctx, mux, req, "/viam.component.arm.v1.ArmService/MoveThroughJointPositions", runtime.WithHTTPPathPattern("/viam/api/v1/component/arm/{name}/move_through_joint_positions"))
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := local_request_ArmService_MoveThroughJointPositions_0(annotatedContext, inboundMarshaler, server, req, pathParams)
+		md.HeaderMD, md.TrailerMD = metadata.Join(md.HeaderMD, stream.Header()), metadata.Join(md.TrailerMD, stream.Trailer())
+		annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md)
+		if err != nil {
+			runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_ArmService_MoveThroughJointPositions_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...)
+
+	})
+
 	mux.Handle("POST", pattern_ArmService_Stop_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
 		ctx, cancel := context.WithCancel(req.Context())
 		defer cancel()
@@ -1004,6 +1099,28 @@ func RegisterArmServiceHandlerClient(ctx context.Context, mux *runtime.ServeMux,
 
 	})
 
+	mux.Handle("POST", pattern_ArmService_MoveThroughJointPositions_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		var err error
+		var annotatedContext context.Context
+		annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.component.arm.v1.ArmService/MoveThroughJointPositions", runtime.WithHTTPPathPattern("/viam/api/v1/component/arm/{name}/move_through_joint_positions"))
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := request_ArmService_MoveThroughJointPositions_0(annotatedContext, inboundMarshaler, client, req, pathParams)
+		annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md)
+		if err != nil {
+			runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_ArmService_MoveThroughJointPositions_0(annotatedContext, mux, outboundMarshaler, w, req, resp, mux.GetForwardResponseOptions()...)
+
+	})
+
 	mux.Handle("POST", pattern_ArmService_Stop_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
 		ctx, cancel := context.WithCancel(req.Context())
 		defer cancel()
@@ -1126,6 +1243,8 @@ var (
 
 	pattern_ArmService_MoveToJointPositions_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "joint_positions"}, ""))
 
+	pattern_ArmService_MoveThroughJointPositions_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "move_through_joint_positions"}, ""))
+
 	pattern_ArmService_Stop_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "stop"}, ""))
 
 	pattern_ArmService_IsMoving_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "component", "arm", "name", "is_moving"}, ""))
@@ -1146,6 +1265,8 @@ var (
 
 	forward_ArmService_MoveToJointPositions_0 = runtime.ForwardResponseMessage
 
+	forward_ArmService_MoveThroughJointPositions_0 = runtime.ForwardResponseMessage
+
 	forward_ArmService_Stop_0 = runtime.ForwardResponseMessage
 
 	forward_ArmService_IsMoving_0 = runtime.ForwardResponseMessage
diff --git a/component/arm/v1/arm_grpc.pb.go b/component/arm/v1/arm_grpc.pb.go
index 9660bba03..6e7945835 100644
--- a/component/arm/v1/arm_grpc.pb.go
+++ b/component/arm/v1/arm_grpc.pb.go
@@ -33,6 +33,10 @@ type ArmServiceClient interface {
 	// MoveToJointPositions moves every joint on a robot's arm to specified angles which are expressed in degrees
 	// This will block until done or a new operation cancels this one
 	MoveToJointPositions(ctx context.Context, in *MoveToJointPositionsRequest, opts ...grpc.CallOption) (*MoveToJointPositionsResponse, error)
+	// MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified,
+	// obeying the specified velocity and acceleration limits.
+	// This will block until done or a new operation cancels this one
+	MoveThroughJointPositions(ctx context.Context, in *MoveThroughJointPositionsRequest, opts ...grpc.CallOption) (*MoveThroughJointPositionsResponse, error)
 	// Stop stops a robot's arm
 	Stop(ctx context.Context, in *StopRequest, opts ...grpc.CallOption) (*StopResponse, error)
 	// IsMoving reports if a component is in motion
@@ -89,6 +93,15 @@ func (c *armServiceClient) MoveToJointPositions(ctx context.Context, in *MoveToJ
 	return out, nil
 }
 
+func (c *armServiceClient) MoveThroughJointPositions(ctx context.Context, in *MoveThroughJointPositionsRequest, opts ...grpc.CallOption) (*MoveThroughJointPositionsResponse, error) {
+	out := new(MoveThroughJointPositionsResponse)
+	err := c.cc.Invoke(ctx, "/viam.component.arm.v1.ArmService/MoveThroughJointPositions", in, out, opts...)
+	if err != nil {
+		return nil, err
+	}
+	return out, nil
+}
+
 func (c *armServiceClient) Stop(ctx context.Context, in *StopRequest, opts ...grpc.CallOption) (*StopResponse, error) {
 	out := new(StopResponse)
 	err := c.cc.Invoke(ctx, "/viam.component.arm.v1.ArmService/Stop", in, out, opts...)
@@ -148,6 +161,10 @@ type ArmServiceServer interface {
 	// MoveToJointPositions moves every joint on a robot's arm to specified angles which are expressed in degrees
 	// This will block until done or a new operation cancels this one
 	MoveToJointPositions(context.Context, *MoveToJointPositionsRequest) (*MoveToJointPositionsResponse, error)
+	// MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified,
+	// obeying the specified velocity and acceleration limits.
+	// This will block until done or a new operation cancels this one
+	MoveThroughJointPositions(context.Context, *MoveThroughJointPositionsRequest) (*MoveThroughJointPositionsResponse, error)
 	// Stop stops a robot's arm
 	Stop(context.Context, *StopRequest) (*StopResponse, error)
 	// IsMoving reports if a component is in motion
@@ -177,6 +194,9 @@ func (UnimplementedArmServiceServer) GetJointPositions(context.Context, *GetJoin
 func (UnimplementedArmServiceServer) MoveToJointPositions(context.Context, *MoveToJointPositionsRequest) (*MoveToJointPositionsResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method MoveToJointPositions not implemented")
 }
+func (UnimplementedArmServiceServer) MoveThroughJointPositions(context.Context, *MoveThroughJointPositionsRequest) (*MoveThroughJointPositionsResponse, error) {
+	return nil, status.Errorf(codes.Unimplemented, "method MoveThroughJointPositions not implemented")
+}
 func (UnimplementedArmServiceServer) Stop(context.Context, *StopRequest) (*StopResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method Stop not implemented")
 }
@@ -277,6 +297,24 @@ func _ArmService_MoveToJointPositions_Handler(srv interface{}, ctx context.Conte
 	return interceptor(ctx, in, info, handler)
 }
 
+func _ArmService_MoveThroughJointPositions_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) {
+	in := new(MoveThroughJointPositionsRequest)
+	if err := dec(in); err != nil {
+		return nil, err
+	}
+	if interceptor == nil {
+		return srv.(ArmServiceServer).MoveThroughJointPositions(ctx, in)
+	}
+	info := &grpc.UnaryServerInfo{
+		Server:     srv,
+		FullMethod: "/viam.component.arm.v1.ArmService/MoveThroughJointPositions",
+	}
+	handler := func(ctx context.Context, req interface{}) (interface{}, error) {
+		return srv.(ArmServiceServer).MoveThroughJointPositions(ctx, req.(*MoveThroughJointPositionsRequest))
+	}
+	return interceptor(ctx, in, info, handler)
+}
+
 func _ArmService_Stop_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) {
 	in := new(StopRequest)
 	if err := dec(in); err != nil {
@@ -390,6 +428,10 @@ var ArmService_ServiceDesc = grpc.ServiceDesc{
 			MethodName: "MoveToJointPositions",
 			Handler:    _ArmService_MoveToJointPositions_Handler,
 		},
+		{
+			MethodName: "MoveThroughJointPositions",
+			Handler:    _ArmService_MoveThroughJointPositions_Handler,
+		},
 		{
 			MethodName: "Stop",
 			Handler:    _ArmService_Stop_Handler,
diff --git a/component/base/v1/base.pb.gw.go b/component/base/v1/base.pb.gw.go
index 185bd31aa..faa48e8b0 100644
--- a/component/base/v1/base.pb.gw.go
+++ b/component/base/v1/base.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_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client BaseServiceClient, 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_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Mars
 }
 
 func local_request_BaseService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server BaseServiceServer, 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_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client BaseServiceClient, 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_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.
 }
 
 func local_request_BaseService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server BaseServiceServer, 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/board/v1/board.pb.gw.go b/component/board/v1/board.pb.gw.go
index b8828e7ff..c6e1fd681 100644
--- a/component/board/v1/board.pb.gw.go
+++ b/component/board/v1/board.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"
@@ -457,7 +457,7 @@ var (
 )
 
 func request_BoardService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client BoardServiceClient, 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 (
@@ -490,7 +490,7 @@ func request_BoardService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_BoardService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server BoardServiceServer, 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 (
@@ -892,7 +892,7 @@ var (
 )
 
 func request_BoardService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client BoardServiceClient, 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 (
@@ -925,7 +925,7 @@ func request_BoardService_GetGeometries_0(ctx context.Context, marshaler runtime
 }
 
 func local_request_BoardService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server BoardServiceServer, 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/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/gripper/v1/gripper.pb.gw.go b/component/gripper/v1/gripper.pb.gw.go
index b432b0c7e..d732daf0a 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"
-	"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"
@@ -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.DoCommandRequest
+	var protoReq v1_0.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.DoCommandRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.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.GetGeometriesRequest
+	var protoReq v1_0.GetGeometriesRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/component/motor/v1/motor.pb.gw.go b/component/motor/v1/motor.pb.gw.go
index 4ac3a68d9..a3e2fe669 100644
--- a/component/motor/v1/motor.pb.gw.go
+++ b/component/motor/v1/motor.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"
@@ -719,7 +719,7 @@ var (
 )
 
 func request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MotorServiceClient, 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 (
@@ -752,7 +752,7 @@ func request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Mar
 }
 
 func local_request_MotorService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MotorServiceServer, 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 (
@@ -789,7 +789,7 @@ var (
 )
 
 func request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, client MotorServiceClient, 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 (
@@ -822,7 +822,7 @@ func request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime
 }
 
 func local_request_MotorService_GetGeometries_0(ctx context.Context, marshaler runtime.Marshaler, server MotorServiceServer, 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/gen/js/component/arm/v1/arm_grpc_web_pb.js b/gen/js/component/arm/v1/arm_grpc_web_pb.js
index b97e1b45e..b0f1d0577 100644
--- a/gen/js/component/arm/v1/arm_grpc_web_pb.js
+++ b/gen/js/component/arm/v1/arm_grpc_web_pb.js
@@ -327,6 +327,67 @@ proto.viam.component.arm.v1.ArmServicePromiseClient.prototype.moveToJointPositio
 };
 
 
+/**
+ * @const
+ * @type {!grpc.web.MethodDescriptor<
+ *   !proto.viam.component.arm.v1.MoveThroughJointPositionsRequest,
+ *   !proto.viam.component.arm.v1.MoveThroughJointPositionsResponse>}
+ */
+const methodDescriptor_ArmService_MoveThroughJointPositions = new grpc.web.MethodDescriptor(
+  '/viam.component.arm.v1.ArmService/MoveThroughJointPositions',
+  grpc.web.MethodType.UNARY,
+  proto.viam.component.arm.v1.MoveThroughJointPositionsRequest,
+  proto.viam.component.arm.v1.MoveThroughJointPositionsResponse,
+  /**
+   * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} request
+   * @return {!Uint8Array}
+   */
+  function(request) {
+    return request.serializeBinary();
+  },
+  proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.deserializeBinary
+);
+
+
+/**
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} request The
+ *     request proto
+ * @param {?Object<string, string>} metadata User defined
+ *     call metadata
+ * @param {function(?grpc.web.RpcError, ?proto.viam.component.arm.v1.MoveThroughJointPositionsResponse)}
+ *     callback The callback function(error, response)
+ * @return {!grpc.web.ClientReadableStream<!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse>|undefined}
+ *     The XHR Node Readable Stream
+ */
+proto.viam.component.arm.v1.ArmServiceClient.prototype.moveThroughJointPositions =
+    function(request, metadata, callback) {
+  return this.client_.rpcCall(this.hostname_ +
+      '/viam.component.arm.v1.ArmService/MoveThroughJointPositions',
+      request,
+      metadata || {},
+      methodDescriptor_ArmService_MoveThroughJointPositions,
+      callback);
+};
+
+
+/**
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} request The
+ *     request proto
+ * @param {?Object<string, string>=} metadata User defined
+ *     call metadata
+ * @return {!Promise<!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse>}
+ *     Promise that resolves to the response
+ */
+proto.viam.component.arm.v1.ArmServicePromiseClient.prototype.moveThroughJointPositions =
+    function(request, metadata) {
+  return this.client_.unaryCall(this.hostname_ +
+      '/viam.component.arm.v1.ArmService/MoveThroughJointPositions',
+      request,
+      metadata || {},
+      methodDescriptor_ArmService_MoveThroughJointPositions);
+};
+
+
 /**
  * @const
  * @type {!grpc.web.MethodDescriptor<
diff --git a/gen/js/component/arm/v1/arm_pb.d.ts b/gen/js/component/arm/v1/arm_pb.d.ts
index 53aaaabe2..785b4b989 100644
--- a/gen/js/component/arm/v1/arm_pb.d.ts
+++ b/gen/js/component/arm/v1/arm_pb.d.ts
@@ -220,6 +220,60 @@ export namespace MoveToJointPositionsResponse {
   }
 }
 
+export class MoveThroughJointPositionsRequest extends jspb.Message {
+  getName(): string;
+  setName(value: string): void;
+
+  clearPositionsList(): void;
+  getPositionsList(): Array<JointPositions>;
+  setPositionsList(value: Array<JointPositions>): void;
+  addPositions(value?: JointPositions, index?: number): JointPositions;
+
+  hasOptions(): boolean;
+  clearOptions(): void;
+  getOptions(): MoveOptions | undefined;
+  setOptions(value?: MoveOptions): void;
+
+  hasExtra(): boolean;
+  clearExtra(): void;
+  getExtra(): google_protobuf_struct_pb.Struct | undefined;
+  setExtra(value?: google_protobuf_struct_pb.Struct): void;
+
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): MoveThroughJointPositionsRequest.AsObject;
+  static toObject(includeInstance: boolean, msg: MoveThroughJointPositionsRequest): MoveThroughJointPositionsRequest.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: MoveThroughJointPositionsRequest, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): MoveThroughJointPositionsRequest;
+  static deserializeBinaryFromReader(message: MoveThroughJointPositionsRequest, reader: jspb.BinaryReader): MoveThroughJointPositionsRequest;
+}
+
+export namespace MoveThroughJointPositionsRequest {
+  export type AsObject = {
+    name: string,
+    positionsList: Array<JointPositions.AsObject>,
+    options?: MoveOptions.AsObject,
+    extra?: google_protobuf_struct_pb.Struct.AsObject,
+  }
+}
+
+export class MoveThroughJointPositionsResponse extends jspb.Message {
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): MoveThroughJointPositionsResponse.AsObject;
+  static toObject(includeInstance: boolean, msg: MoveThroughJointPositionsResponse): MoveThroughJointPositionsResponse.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: MoveThroughJointPositionsResponse, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): MoveThroughJointPositionsResponse;
+  static deserializeBinaryFromReader(message: MoveThroughJointPositionsResponse, reader: jspb.BinaryReader): MoveThroughJointPositionsResponse;
+}
+
+export namespace MoveThroughJointPositionsResponse {
+  export type AsObject = {
+  }
+}
+
 export class StopRequest extends jspb.Message {
   getName(): string;
   setName(value: string): void;
@@ -334,3 +388,31 @@ export namespace IsMovingResponse {
   }
 }
 
+export class MoveOptions extends jspb.Message {
+  hasMaxVelDegsPerSec(): boolean;
+  clearMaxVelDegsPerSec(): void;
+  getMaxVelDegsPerSec(): number;
+  setMaxVelDegsPerSec(value: number): void;
+
+  hasMaxAccDegsPerSec2(): boolean;
+  clearMaxAccDegsPerSec2(): void;
+  getMaxAccDegsPerSec2(): number;
+  setMaxAccDegsPerSec2(value: number): void;
+
+  serializeBinary(): Uint8Array;
+  toObject(includeInstance?: boolean): MoveOptions.AsObject;
+  static toObject(includeInstance: boolean, msg: MoveOptions): MoveOptions.AsObject;
+  static extensions: {[key: number]: jspb.ExtensionFieldInfo<jspb.Message>};
+  static extensionsBinary: {[key: number]: jspb.ExtensionFieldBinaryInfo<jspb.Message>};
+  static serializeBinaryToWriter(message: MoveOptions, writer: jspb.BinaryWriter): void;
+  static deserializeBinary(bytes: Uint8Array): MoveOptions;
+  static deserializeBinaryFromReader(message: MoveOptions, reader: jspb.BinaryReader): MoveOptions;
+}
+
+export namespace MoveOptions {
+  export type AsObject = {
+    maxVelDegsPerSec: number,
+    maxAccDegsPerSec2: number,
+  }
+}
+
diff --git a/gen/js/component/arm/v1/arm_pb.js b/gen/js/component/arm/v1/arm_pb.js
index 71daf4cad..f77f25db9 100644
--- a/gen/js/component/arm/v1/arm_pb.js
+++ b/gen/js/component/arm/v1/arm_pb.js
@@ -28,6 +28,9 @@ goog.exportSymbol('proto.viam.component.arm.v1.GetJointPositionsResponse', null,
 goog.exportSymbol('proto.viam.component.arm.v1.IsMovingRequest', null, global);
 goog.exportSymbol('proto.viam.component.arm.v1.IsMovingResponse', null, global);
 goog.exportSymbol('proto.viam.component.arm.v1.JointPositions', null, global);
+goog.exportSymbol('proto.viam.component.arm.v1.MoveOptions', null, global);
+goog.exportSymbol('proto.viam.component.arm.v1.MoveThroughJointPositionsRequest', null, global);
+goog.exportSymbol('proto.viam.component.arm.v1.MoveThroughJointPositionsResponse', null, global);
 goog.exportSymbol('proto.viam.component.arm.v1.MoveToJointPositionsRequest', null, global);
 goog.exportSymbol('proto.viam.component.arm.v1.MoveToJointPositionsResponse', null, global);
 goog.exportSymbol('proto.viam.component.arm.v1.MoveToPositionRequest', null, global);
@@ -224,6 +227,48 @@ if (goog.DEBUG && !COMPILED) {
    */
   proto.viam.component.arm.v1.MoveToJointPositionsResponse.displayName = 'proto.viam.component.arm.v1.MoveToJointPositionsResponse';
 }
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.repeatedFields_, null);
+};
+goog.inherits(proto.viam.component.arm.v1.MoveThroughJointPositionsRequest, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.displayName = 'proto.viam.component.arm.v1.MoveThroughJointPositionsRequest';
+}
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+};
+goog.inherits(proto.viam.component.arm.v1.MoveThroughJointPositionsResponse, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.displayName = 'proto.viam.component.arm.v1.MoveThroughJointPositionsResponse';
+}
 /**
  * Generated by JsPbCodeGenerator.
  * @param {Array=} opt_data Optional initial data array, typically from a
@@ -329,6 +374,27 @@ if (goog.DEBUG && !COMPILED) {
    */
   proto.viam.component.arm.v1.IsMovingResponse.displayName = 'proto.viam.component.arm.v1.IsMovingResponse';
 }
+/**
+ * Generated by JsPbCodeGenerator.
+ * @param {Array=} opt_data Optional initial data array, typically from a
+ * server response, or constructed directly in Javascript. The array is used
+ * in place and becomes part of the constructed object. It is not cloned.
+ * If no data is provided, the constructed object will be empty, but still
+ * valid.
+ * @extends {jspb.Message}
+ * @constructor
+ */
+proto.viam.component.arm.v1.MoveOptions = function(opt_data) {
+  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+};
+goog.inherits(proto.viam.component.arm.v1.MoveOptions, jspb.Message);
+if (goog.DEBUG && !COMPILED) {
+  /**
+   * @public
+   * @override
+   */
+  proto.viam.component.arm.v1.MoveOptions.displayName = 'proto.viam.component.arm.v1.MoveOptions';
+}
 
 
 
@@ -1818,6 +1884,13 @@ proto.viam.component.arm.v1.MoveToJointPositionsResponse.serializeBinaryToWriter
 
 
 
+/**
+ * List of repeated fields within this message type.
+ * @private {!Array<number>}
+ * @const
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.repeatedFields_ = [2];
+
 
 
 if (jspb.Message.GENERATE_TO_OBJECT) {
@@ -1833,8 +1906,8 @@ if (jspb.Message.GENERATE_TO_OBJECT) {
  *     http://goto/soy-param-migration
  * @return {!Object}
  */
-proto.viam.component.arm.v1.StopRequest.prototype.toObject = function(opt_includeInstance) {
-  return proto.viam.component.arm.v1.StopRequest.toObject(opt_includeInstance, this);
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.toObject(opt_includeInstance, this);
 };
 
 
@@ -1843,13 +1916,16 @@ proto.viam.component.arm.v1.StopRequest.prototype.toObject = function(opt_includ
  * @param {boolean|undefined} includeInstance Deprecated. Whether to include
  *     the JSPB instance for transitional soy proto support:
  *     http://goto/soy-param-migration
- * @param {!proto.viam.component.arm.v1.StopRequest} msg The msg instance to transform.
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} msg The msg instance to transform.
  * @return {!Object}
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.component.arm.v1.StopRequest.toObject = function(includeInstance, msg) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.toObject = function(includeInstance, msg) {
   var f, obj = {
     name: jspb.Message.getFieldWithDefault(msg, 1, ""),
+    positionsList: jspb.Message.toObjectList(msg.getPositionsList(),
+    proto.viam.component.arm.v1.JointPositions.toObject, includeInstance),
+    options: (f = msg.getOptions()) && proto.viam.component.arm.v1.MoveOptions.toObject(includeInstance, f),
     extra: (f = msg.getExtra()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f)
   };
 
@@ -1864,23 +1940,23 @@ proto.viam.component.arm.v1.StopRequest.toObject = function(includeInstance, msg
 /**
  * Deserializes binary data (in protobuf wire format).
  * @param {jspb.ByteSource} bytes The bytes to deserialize.
- * @return {!proto.viam.component.arm.v1.StopRequest}
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest}
  */
-proto.viam.component.arm.v1.StopRequest.deserializeBinary = function(bytes) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.deserializeBinary = function(bytes) {
   var reader = new jspb.BinaryReader(bytes);
-  var msg = new proto.viam.component.arm.v1.StopRequest;
-  return proto.viam.component.arm.v1.StopRequest.deserializeBinaryFromReader(msg, reader);
+  var msg = new proto.viam.component.arm.v1.MoveThroughJointPositionsRequest;
+  return proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.deserializeBinaryFromReader(msg, reader);
 };
 
 
 /**
  * Deserializes binary data (in protobuf wire format) from the
  * given reader into the given message object.
- * @param {!proto.viam.component.arm.v1.StopRequest} msg The message object to deserialize into.
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} msg The message object to deserialize into.
  * @param {!jspb.BinaryReader} reader The BinaryReader to use.
- * @return {!proto.viam.component.arm.v1.StopRequest}
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest}
  */
-proto.viam.component.arm.v1.StopRequest.deserializeBinaryFromReader = function(msg, reader) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.deserializeBinaryFromReader = function(msg, reader) {
   while (reader.nextField()) {
     if (reader.isEndGroup()) {
       break;
@@ -1891,6 +1967,16 @@ proto.viam.component.arm.v1.StopRequest.deserializeBinaryFromReader = function(m
       var value = /** @type {string} */ (reader.readString());
       msg.setName(value);
       break;
+    case 2:
+      var value = new proto.viam.component.arm.v1.JointPositions;
+      reader.readMessage(value,proto.viam.component.arm.v1.JointPositions.deserializeBinaryFromReader);
+      msg.addPositions(value);
+      break;
+    case 3:
+      var value = new proto.viam.component.arm.v1.MoveOptions;
+      reader.readMessage(value,proto.viam.component.arm.v1.MoveOptions.deserializeBinaryFromReader);
+      msg.setOptions(value);
+      break;
     case 99:
       var value = new google_protobuf_struct_pb.Struct;
       reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader);
@@ -1909,9 +1995,9 @@ proto.viam.component.arm.v1.StopRequest.deserializeBinaryFromReader = function(m
  * Serializes the message to binary data (in protobuf wire format).
  * @return {!Uint8Array}
  */
-proto.viam.component.arm.v1.StopRequest.prototype.serializeBinary = function() {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.serializeBinary = function() {
   var writer = new jspb.BinaryWriter();
-  proto.viam.component.arm.v1.StopRequest.serializeBinaryToWriter(this, writer);
+  proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.serializeBinaryToWriter(this, writer);
   return writer.getResultBuffer();
 };
 
@@ -1919,11 +2005,11 @@ proto.viam.component.arm.v1.StopRequest.prototype.serializeBinary = function() {
 /**
  * Serializes the given message to binary data (in protobuf wire
  * format), writing to the given BinaryWriter.
- * @param {!proto.viam.component.arm.v1.StopRequest} message
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} message
  * @param {!jspb.BinaryWriter} writer
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.component.arm.v1.StopRequest.serializeBinaryToWriter = function(message, writer) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.serializeBinaryToWriter = function(message, writer) {
   var f = undefined;
   f = message.getName();
   if (f.length > 0) {
@@ -1932,6 +2018,22 @@ proto.viam.component.arm.v1.StopRequest.serializeBinaryToWriter = function(messa
       f
     );
   }
+  f = message.getPositionsList();
+  if (f.length > 0) {
+    writer.writeRepeatedMessage(
+      2,
+      f,
+      proto.viam.component.arm.v1.JointPositions.serializeBinaryToWriter
+    );
+  }
+  f = message.getOptions();
+  if (f != null) {
+    writer.writeMessage(
+      3,
+      f,
+      proto.viam.component.arm.v1.MoveOptions.serializeBinaryToWriter
+    );
+  }
   f = message.getExtra();
   if (f != null) {
     writer.writeMessage(
@@ -1947,25 +2049,100 @@ proto.viam.component.arm.v1.StopRequest.serializeBinaryToWriter = function(messa
  * optional string name = 1;
  * @return {string}
  */
-proto.viam.component.arm.v1.StopRequest.prototype.getName = function() {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.getName = function() {
   return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, ""));
 };
 
 
 /**
  * @param {string} value
- * @return {!proto.viam.component.arm.v1.StopRequest} returns this
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
  */
-proto.viam.component.arm.v1.StopRequest.prototype.setName = function(value) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.setName = function(value) {
   return jspb.Message.setProto3StringField(this, 1, value);
 };
 
 
+/**
+ * repeated JointPositions positions = 2;
+ * @return {!Array<!proto.viam.component.arm.v1.JointPositions>}
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.getPositionsList = function() {
+  return /** @type{!Array<!proto.viam.component.arm.v1.JointPositions>} */ (
+    jspb.Message.getRepeatedWrapperField(this, proto.viam.component.arm.v1.JointPositions, 2));
+};
+
+
+/**
+ * @param {!Array<!proto.viam.component.arm.v1.JointPositions>} value
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
+*/
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.setPositionsList = function(value) {
+  return jspb.Message.setRepeatedWrapperField(this, 2, value);
+};
+
+
+/**
+ * @param {!proto.viam.component.arm.v1.JointPositions=} opt_value
+ * @param {number=} opt_index
+ * @return {!proto.viam.component.arm.v1.JointPositions}
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.addPositions = function(opt_value, opt_index) {
+  return jspb.Message.addToRepeatedWrapperField(this, 2, opt_value, proto.viam.component.arm.v1.JointPositions, opt_index);
+};
+
+
+/**
+ * Clears the list making it empty but non-null.
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.clearPositionsList = function() {
+  return this.setPositionsList([]);
+};
+
+
+/**
+ * optional MoveOptions options = 3;
+ * @return {?proto.viam.component.arm.v1.MoveOptions}
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.getOptions = function() {
+  return /** @type{?proto.viam.component.arm.v1.MoveOptions} */ (
+    jspb.Message.getWrapperField(this, proto.viam.component.arm.v1.MoveOptions, 3));
+};
+
+
+/**
+ * @param {?proto.viam.component.arm.v1.MoveOptions|undefined} value
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
+*/
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.setOptions = function(value) {
+  return jspb.Message.setWrapperField(this, 3, value);
+};
+
+
+/**
+ * Clears the message field making it undefined.
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.clearOptions = function() {
+  return this.setOptions(undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.hasOptions = function() {
+  return jspb.Message.getField(this, 3) != null;
+};
+
+
 /**
  * optional google.protobuf.Struct extra = 99;
  * @return {?proto.google.protobuf.Struct}
  */
-proto.viam.component.arm.v1.StopRequest.prototype.getExtra = function() {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.getExtra = function() {
   return /** @type{?proto.google.protobuf.Struct} */ (
     jspb.Message.getWrapperField(this, google_protobuf_struct_pb.Struct, 99));
 };
@@ -1973,18 +2150,18 @@ proto.viam.component.arm.v1.StopRequest.prototype.getExtra = function() {
 
 /**
  * @param {?proto.google.protobuf.Struct|undefined} value
- * @return {!proto.viam.component.arm.v1.StopRequest} returns this
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
 */
-proto.viam.component.arm.v1.StopRequest.prototype.setExtra = function(value) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.setExtra = function(value) {
   return jspb.Message.setWrapperField(this, 99, value);
 };
 
 
 /**
  * Clears the message field making it undefined.
- * @return {!proto.viam.component.arm.v1.StopRequest} returns this
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsRequest} returns this
  */
-proto.viam.component.arm.v1.StopRequest.prototype.clearExtra = function() {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.clearExtra = function() {
   return this.setExtra(undefined);
 };
 
@@ -1993,7 +2170,7 @@ proto.viam.component.arm.v1.StopRequest.prototype.clearExtra = function() {
  * Returns whether this field is set.
  * @return {boolean}
  */
-proto.viam.component.arm.v1.StopRequest.prototype.hasExtra = function() {
+proto.viam.component.arm.v1.MoveThroughJointPositionsRequest.prototype.hasExtra = function() {
   return jspb.Message.getField(this, 99) != null;
 };
 
@@ -2014,8 +2191,8 @@ if (jspb.Message.GENERATE_TO_OBJECT) {
  *     http://goto/soy-param-migration
  * @return {!Object}
  */
-proto.viam.component.arm.v1.StopResponse.prototype.toObject = function(opt_includeInstance) {
-  return proto.viam.component.arm.v1.StopResponse.toObject(opt_includeInstance, this);
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.toObject(opt_includeInstance, this);
 };
 
 
@@ -2024,11 +2201,11 @@ proto.viam.component.arm.v1.StopResponse.prototype.toObject = function(opt_inclu
  * @param {boolean|undefined} includeInstance Deprecated. Whether to include
  *     the JSPB instance for transitional soy proto support:
  *     http://goto/soy-param-migration
- * @param {!proto.viam.component.arm.v1.StopResponse} msg The msg instance to transform.
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse} msg The msg instance to transform.
  * @return {!Object}
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.component.arm.v1.StopResponse.toObject = function(includeInstance, msg) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.toObject = function(includeInstance, msg) {
   var f, obj = {
 
   };
@@ -2044,23 +2221,23 @@ proto.viam.component.arm.v1.StopResponse.toObject = function(includeInstance, ms
 /**
  * Deserializes binary data (in protobuf wire format).
  * @param {jspb.ByteSource} bytes The bytes to deserialize.
- * @return {!proto.viam.component.arm.v1.StopResponse}
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse}
  */
-proto.viam.component.arm.v1.StopResponse.deserializeBinary = function(bytes) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.deserializeBinary = function(bytes) {
   var reader = new jspb.BinaryReader(bytes);
-  var msg = new proto.viam.component.arm.v1.StopResponse;
-  return proto.viam.component.arm.v1.StopResponse.deserializeBinaryFromReader(msg, reader);
+  var msg = new proto.viam.component.arm.v1.MoveThroughJointPositionsResponse;
+  return proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.deserializeBinaryFromReader(msg, reader);
 };
 
 
 /**
  * Deserializes binary data (in protobuf wire format) from the
  * given reader into the given message object.
- * @param {!proto.viam.component.arm.v1.StopResponse} msg The message object to deserialize into.
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse} msg The message object to deserialize into.
  * @param {!jspb.BinaryReader} reader The BinaryReader to use.
- * @return {!proto.viam.component.arm.v1.StopResponse}
+ * @return {!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse}
  */
-proto.viam.component.arm.v1.StopResponse.deserializeBinaryFromReader = function(msg, reader) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.deserializeBinaryFromReader = function(msg, reader) {
   while (reader.nextField()) {
     if (reader.isEndGroup()) {
       break;
@@ -2080,9 +2257,9 @@ proto.viam.component.arm.v1.StopResponse.deserializeBinaryFromReader = function(
  * Serializes the message to binary data (in protobuf wire format).
  * @return {!Uint8Array}
  */
-proto.viam.component.arm.v1.StopResponse.prototype.serializeBinary = function() {
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.prototype.serializeBinary = function() {
   var writer = new jspb.BinaryWriter();
-  proto.viam.component.arm.v1.StopResponse.serializeBinaryToWriter(this, writer);
+  proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.serializeBinaryToWriter(this, writer);
   return writer.getResultBuffer();
 };
 
@@ -2090,11 +2267,11 @@ proto.viam.component.arm.v1.StopResponse.prototype.serializeBinary = function()
 /**
  * Serializes the given message to binary data (in protobuf wire
  * format), writing to the given BinaryWriter.
- * @param {!proto.viam.component.arm.v1.StopResponse} message
+ * @param {!proto.viam.component.arm.v1.MoveThroughJointPositionsResponse} message
  * @param {!jspb.BinaryWriter} writer
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.component.arm.v1.StopResponse.serializeBinaryToWriter = function(message, writer) {
+proto.viam.component.arm.v1.MoveThroughJointPositionsResponse.serializeBinaryToWriter = function(message, writer) {
   var f = undefined;
 };
 
@@ -2115,8 +2292,8 @@ if (jspb.Message.GENERATE_TO_OBJECT) {
  *     http://goto/soy-param-migration
  * @return {!Object}
  */
-proto.viam.component.arm.v1.Status.prototype.toObject = function(opt_includeInstance) {
-  return proto.viam.component.arm.v1.Status.toObject(opt_includeInstance, this);
+proto.viam.component.arm.v1.StopRequest.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.component.arm.v1.StopRequest.toObject(opt_includeInstance, this);
 };
 
 
@@ -2125,15 +2302,14 @@ proto.viam.component.arm.v1.Status.prototype.toObject = function(opt_includeInst
  * @param {boolean|undefined} includeInstance Deprecated. Whether to include
  *     the JSPB instance for transitional soy proto support:
  *     http://goto/soy-param-migration
- * @param {!proto.viam.component.arm.v1.Status} msg The msg instance to transform.
+ * @param {!proto.viam.component.arm.v1.StopRequest} msg The msg instance to transform.
  * @return {!Object}
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.component.arm.v1.Status.toObject = function(includeInstance, msg) {
+proto.viam.component.arm.v1.StopRequest.toObject = function(includeInstance, msg) {
   var f, obj = {
-    endPosition: (f = msg.getEndPosition()) && common_v1_common_pb.Pose.toObject(includeInstance, f),
-    jointPositions: (f = msg.getJointPositions()) && proto.viam.component.arm.v1.JointPositions.toObject(includeInstance, f),
-    isMoving: jspb.Message.getBooleanFieldWithDefault(msg, 3, false)
+    name: jspb.Message.getFieldWithDefault(msg, 1, ""),
+    extra: (f = msg.getExtra()) && google_protobuf_struct_pb.Struct.toObject(includeInstance, f)
   };
 
   if (includeInstance) {
@@ -2147,23 +2323,23 @@ proto.viam.component.arm.v1.Status.toObject = function(includeInstance, msg) {
 /**
  * Deserializes binary data (in protobuf wire format).
  * @param {jspb.ByteSource} bytes The bytes to deserialize.
- * @return {!proto.viam.component.arm.v1.Status}
+ * @return {!proto.viam.component.arm.v1.StopRequest}
  */
-proto.viam.component.arm.v1.Status.deserializeBinary = function(bytes) {
+proto.viam.component.arm.v1.StopRequest.deserializeBinary = function(bytes) {
   var reader = new jspb.BinaryReader(bytes);
-  var msg = new proto.viam.component.arm.v1.Status;
-  return proto.viam.component.arm.v1.Status.deserializeBinaryFromReader(msg, reader);
+  var msg = new proto.viam.component.arm.v1.StopRequest;
+  return proto.viam.component.arm.v1.StopRequest.deserializeBinaryFromReader(msg, reader);
 };
 
 
 /**
  * Deserializes binary data (in protobuf wire format) from the
  * given reader into the given message object.
- * @param {!proto.viam.component.arm.v1.Status} msg The message object to deserialize into.
+ * @param {!proto.viam.component.arm.v1.StopRequest} msg The message object to deserialize into.
  * @param {!jspb.BinaryReader} reader The BinaryReader to use.
- * @return {!proto.viam.component.arm.v1.Status}
+ * @return {!proto.viam.component.arm.v1.StopRequest}
  */
-proto.viam.component.arm.v1.Status.deserializeBinaryFromReader = function(msg, reader) {
+proto.viam.component.arm.v1.StopRequest.deserializeBinaryFromReader = function(msg, reader) {
   while (reader.nextField()) {
     if (reader.isEndGroup()) {
       break;
@@ -2171,18 +2347,13 @@ proto.viam.component.arm.v1.Status.deserializeBinaryFromReader = function(msg, r
     var field = reader.getFieldNumber();
     switch (field) {
     case 1:
-      var value = new common_v1_common_pb.Pose;
-      reader.readMessage(value,common_v1_common_pb.Pose.deserializeBinaryFromReader);
-      msg.setEndPosition(value);
-      break;
-    case 2:
-      var value = new proto.viam.component.arm.v1.JointPositions;
-      reader.readMessage(value,proto.viam.component.arm.v1.JointPositions.deserializeBinaryFromReader);
-      msg.setJointPositions(value);
+      var value = /** @type {string} */ (reader.readString());
+      msg.setName(value);
       break;
-    case 3:
-      var value = /** @type {boolean} */ (reader.readBool());
-      msg.setIsMoving(value);
+    case 99:
+      var value = new google_protobuf_struct_pb.Struct;
+      reader.readMessage(value,google_protobuf_struct_pb.Struct.deserializeBinaryFromReader);
+      msg.setExtra(value);
       break;
     default:
       reader.skipField();
@@ -2197,9 +2368,9 @@ proto.viam.component.arm.v1.Status.deserializeBinaryFromReader = function(msg, r
  * Serializes the message to binary data (in protobuf wire format).
  * @return {!Uint8Array}
  */
-proto.viam.component.arm.v1.Status.prototype.serializeBinary = function() {
+proto.viam.component.arm.v1.StopRequest.prototype.serializeBinary = function() {
   var writer = new jspb.BinaryWriter();
-  proto.viam.component.arm.v1.Status.serializeBinaryToWriter(this, writer);
+  proto.viam.component.arm.v1.StopRequest.serializeBinaryToWriter(this, writer);
   return writer.getResultBuffer();
 };
 
@@ -2207,59 +2378,347 @@ proto.viam.component.arm.v1.Status.prototype.serializeBinary = function() {
 /**
  * Serializes the given message to binary data (in protobuf wire
  * format), writing to the given BinaryWriter.
- * @param {!proto.viam.component.arm.v1.Status} message
+ * @param {!proto.viam.component.arm.v1.StopRequest} message
  * @param {!jspb.BinaryWriter} writer
  * @suppress {unusedLocalVariables} f is only used for nested messages
  */
-proto.viam.component.arm.v1.Status.serializeBinaryToWriter = function(message, writer) {
+proto.viam.component.arm.v1.StopRequest.serializeBinaryToWriter = function(message, writer) {
   var f = undefined;
-  f = message.getEndPosition();
-  if (f != null) {
-    writer.writeMessage(
+  f = message.getName();
+  if (f.length > 0) {
+    writer.writeString(
       1,
-      f,
-      common_v1_common_pb.Pose.serializeBinaryToWriter
+      f
     );
   }
-  f = message.getJointPositions();
+  f = message.getExtra();
   if (f != null) {
     writer.writeMessage(
-      2,
+      99,
       f,
-      proto.viam.component.arm.v1.JointPositions.serializeBinaryToWriter
-    );
-  }
-  f = message.getIsMoving();
-  if (f) {
-    writer.writeBool(
-      3,
-      f
+      google_protobuf_struct_pb.Struct.serializeBinaryToWriter
     );
   }
 };
 
 
 /**
- * optional viam.common.v1.Pose end_position = 1;
- * @return {?proto.viam.common.v1.Pose}
+ * optional string name = 1;
+ * @return {string}
  */
-proto.viam.component.arm.v1.Status.prototype.getEndPosition = function() {
-  return /** @type{?proto.viam.common.v1.Pose} */ (
-    jspb.Message.getWrapperField(this, common_v1_common_pb.Pose, 1));
+proto.viam.component.arm.v1.StopRequest.prototype.getName = function() {
+  return /** @type {string} */ (jspb.Message.getFieldWithDefault(this, 1, ""));
 };
 
 
 /**
- * @param {?proto.viam.common.v1.Pose|undefined} value
- * @return {!proto.viam.component.arm.v1.Status} returns this
-*/
-proto.viam.component.arm.v1.Status.prototype.setEndPosition = function(value) {
-  return jspb.Message.setWrapperField(this, 1, value);
+ * @param {string} value
+ * @return {!proto.viam.component.arm.v1.StopRequest} returns this
+ */
+proto.viam.component.arm.v1.StopRequest.prototype.setName = function(value) {
+  return jspb.Message.setProto3StringField(this, 1, value);
 };
 
 
 /**
- * Clears the message field making it undefined.
+ * optional google.protobuf.Struct extra = 99;
+ * @return {?proto.google.protobuf.Struct}
+ */
+proto.viam.component.arm.v1.StopRequest.prototype.getExtra = function() {
+  return /** @type{?proto.google.protobuf.Struct} */ (
+    jspb.Message.getWrapperField(this, google_protobuf_struct_pb.Struct, 99));
+};
+
+
+/**
+ * @param {?proto.google.protobuf.Struct|undefined} value
+ * @return {!proto.viam.component.arm.v1.StopRequest} returns this
+*/
+proto.viam.component.arm.v1.StopRequest.prototype.setExtra = function(value) {
+  return jspb.Message.setWrapperField(this, 99, value);
+};
+
+
+/**
+ * Clears the message field making it undefined.
+ * @return {!proto.viam.component.arm.v1.StopRequest} returns this
+ */
+proto.viam.component.arm.v1.StopRequest.prototype.clearExtra = function() {
+  return this.setExtra(undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.component.arm.v1.StopRequest.prototype.hasExtra = function() {
+  return jspb.Message.getField(this, 99) != null;
+};
+
+
+
+
+
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.viam.component.arm.v1.StopResponse.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.component.arm.v1.StopResponse.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.viam.component.arm.v1.StopResponse} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.component.arm.v1.StopResponse.toObject = function(includeInstance, msg) {
+  var f, obj = {
+
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.viam.component.arm.v1.StopResponse}
+ */
+proto.viam.component.arm.v1.StopResponse.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.viam.component.arm.v1.StopResponse;
+  return proto.viam.component.arm.v1.StopResponse.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.viam.component.arm.v1.StopResponse} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.viam.component.arm.v1.StopResponse}
+ */
+proto.viam.component.arm.v1.StopResponse.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.viam.component.arm.v1.StopResponse.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.viam.component.arm.v1.StopResponse.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.viam.component.arm.v1.StopResponse} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.component.arm.v1.StopResponse.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+};
+
+
+
+
+
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.viam.component.arm.v1.Status.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.component.arm.v1.Status.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.viam.component.arm.v1.Status} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.component.arm.v1.Status.toObject = function(includeInstance, msg) {
+  var f, obj = {
+    endPosition: (f = msg.getEndPosition()) && common_v1_common_pb.Pose.toObject(includeInstance, f),
+    jointPositions: (f = msg.getJointPositions()) && proto.viam.component.arm.v1.JointPositions.toObject(includeInstance, f),
+    isMoving: jspb.Message.getBooleanFieldWithDefault(msg, 3, false)
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.viam.component.arm.v1.Status}
+ */
+proto.viam.component.arm.v1.Status.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.viam.component.arm.v1.Status;
+  return proto.viam.component.arm.v1.Status.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.viam.component.arm.v1.Status} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.viam.component.arm.v1.Status}
+ */
+proto.viam.component.arm.v1.Status.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    case 1:
+      var value = new common_v1_common_pb.Pose;
+      reader.readMessage(value,common_v1_common_pb.Pose.deserializeBinaryFromReader);
+      msg.setEndPosition(value);
+      break;
+    case 2:
+      var value = new proto.viam.component.arm.v1.JointPositions;
+      reader.readMessage(value,proto.viam.component.arm.v1.JointPositions.deserializeBinaryFromReader);
+      msg.setJointPositions(value);
+      break;
+    case 3:
+      var value = /** @type {boolean} */ (reader.readBool());
+      msg.setIsMoving(value);
+      break;
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.viam.component.arm.v1.Status.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.viam.component.arm.v1.Status.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.viam.component.arm.v1.Status} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.component.arm.v1.Status.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+  f = message.getEndPosition();
+  if (f != null) {
+    writer.writeMessage(
+      1,
+      f,
+      common_v1_common_pb.Pose.serializeBinaryToWriter
+    );
+  }
+  f = message.getJointPositions();
+  if (f != null) {
+    writer.writeMessage(
+      2,
+      f,
+      proto.viam.component.arm.v1.JointPositions.serializeBinaryToWriter
+    );
+  }
+  f = message.getIsMoving();
+  if (f) {
+    writer.writeBool(
+      3,
+      f
+    );
+  }
+};
+
+
+/**
+ * optional viam.common.v1.Pose end_position = 1;
+ * @return {?proto.viam.common.v1.Pose}
+ */
+proto.viam.component.arm.v1.Status.prototype.getEndPosition = function() {
+  return /** @type{?proto.viam.common.v1.Pose} */ (
+    jspb.Message.getWrapperField(this, common_v1_common_pb.Pose, 1));
+};
+
+
+/**
+ * @param {?proto.viam.common.v1.Pose|undefined} value
+ * @return {!proto.viam.component.arm.v1.Status} returns this
+*/
+proto.viam.component.arm.v1.Status.prototype.setEndPosition = function(value) {
+  return jspb.Message.setWrapperField(this, 1, value);
+};
+
+
+/**
+ * Clears the message field making it undefined.
  * @return {!proto.viam.component.arm.v1.Status} returns this
  */
 proto.viam.component.arm.v1.Status.prototype.clearEndPosition = function() {
@@ -2591,4 +3050,200 @@ proto.viam.component.arm.v1.IsMovingResponse.prototype.setIsMoving = function(va
 };
 
 
+
+
+
+if (jspb.Message.GENERATE_TO_OBJECT) {
+/**
+ * Creates an object representation of this proto.
+ * Field names that are reserved in JavaScript and will be renamed to pb_name.
+ * Optional fields that are not set will be set to undefined.
+ * To access a reserved field use, foo.pb_<name>, eg, foo.pb_default.
+ * For the list of reserved names please see:
+ *     net/proto2/compiler/js/internal/generator.cc#kKeyword.
+ * @param {boolean=} opt_includeInstance Deprecated. whether to include the
+ *     JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @return {!Object}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.toObject = function(opt_includeInstance) {
+  return proto.viam.component.arm.v1.MoveOptions.toObject(opt_includeInstance, this);
+};
+
+
+/**
+ * Static version of the {@see toObject} method.
+ * @param {boolean|undefined} includeInstance Deprecated. Whether to include
+ *     the JSPB instance for transitional soy proto support:
+ *     http://goto/soy-param-migration
+ * @param {!proto.viam.component.arm.v1.MoveOptions} msg The msg instance to transform.
+ * @return {!Object}
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.component.arm.v1.MoveOptions.toObject = function(includeInstance, msg) {
+  var f, obj = {
+    maxVelDegsPerSec: jspb.Message.getFloatingPointFieldWithDefault(msg, 1, 0.0),
+    maxAccDegsPerSec2: jspb.Message.getFloatingPointFieldWithDefault(msg, 2, 0.0)
+  };
+
+  if (includeInstance) {
+    obj.$jspbMessageInstance = msg;
+  }
+  return obj;
+};
+}
+
+
+/**
+ * Deserializes binary data (in protobuf wire format).
+ * @param {jspb.ByteSource} bytes The bytes to deserialize.
+ * @return {!proto.viam.component.arm.v1.MoveOptions}
+ */
+proto.viam.component.arm.v1.MoveOptions.deserializeBinary = function(bytes) {
+  var reader = new jspb.BinaryReader(bytes);
+  var msg = new proto.viam.component.arm.v1.MoveOptions;
+  return proto.viam.component.arm.v1.MoveOptions.deserializeBinaryFromReader(msg, reader);
+};
+
+
+/**
+ * Deserializes binary data (in protobuf wire format) from the
+ * given reader into the given message object.
+ * @param {!proto.viam.component.arm.v1.MoveOptions} msg The message object to deserialize into.
+ * @param {!jspb.BinaryReader} reader The BinaryReader to use.
+ * @return {!proto.viam.component.arm.v1.MoveOptions}
+ */
+proto.viam.component.arm.v1.MoveOptions.deserializeBinaryFromReader = function(msg, reader) {
+  while (reader.nextField()) {
+    if (reader.isEndGroup()) {
+      break;
+    }
+    var field = reader.getFieldNumber();
+    switch (field) {
+    case 1:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setMaxVelDegsPerSec(value);
+      break;
+    case 2:
+      var value = /** @type {number} */ (reader.readDouble());
+      msg.setMaxAccDegsPerSec2(value);
+      break;
+    default:
+      reader.skipField();
+      break;
+    }
+  }
+  return msg;
+};
+
+
+/**
+ * Serializes the message to binary data (in protobuf wire format).
+ * @return {!Uint8Array}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.serializeBinary = function() {
+  var writer = new jspb.BinaryWriter();
+  proto.viam.component.arm.v1.MoveOptions.serializeBinaryToWriter(this, writer);
+  return writer.getResultBuffer();
+};
+
+
+/**
+ * Serializes the given message to binary data (in protobuf wire
+ * format), writing to the given BinaryWriter.
+ * @param {!proto.viam.component.arm.v1.MoveOptions} message
+ * @param {!jspb.BinaryWriter} writer
+ * @suppress {unusedLocalVariables} f is only used for nested messages
+ */
+proto.viam.component.arm.v1.MoveOptions.serializeBinaryToWriter = function(message, writer) {
+  var f = undefined;
+  f = /** @type {number} */ (jspb.Message.getField(message, 1));
+  if (f != null) {
+    writer.writeDouble(
+      1,
+      f
+    );
+  }
+  f = /** @type {number} */ (jspb.Message.getField(message, 2));
+  if (f != null) {
+    writer.writeDouble(
+      2,
+      f
+    );
+  }
+};
+
+
+/**
+ * optional double max_vel_degs_per_sec = 1;
+ * @return {number}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.getMaxVelDegsPerSec = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 1, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.setMaxVelDegsPerSec = function(value) {
+  return jspb.Message.setField(this, 1, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.clearMaxVelDegsPerSec = function() {
+  return jspb.Message.setField(this, 1, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.hasMaxVelDegsPerSec = function() {
+  return jspb.Message.getField(this, 1) != null;
+};
+
+
+/**
+ * optional double max_acc_degs_per_sec2 = 2;
+ * @return {number}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.getMaxAccDegsPerSec2 = function() {
+  return /** @type {number} */ (jspb.Message.getFloatingPointFieldWithDefault(this, 2, 0.0));
+};
+
+
+/**
+ * @param {number} value
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.setMaxAccDegsPerSec2 = function(value) {
+  return jspb.Message.setField(this, 2, value);
+};
+
+
+/**
+ * Clears the field making it undefined.
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.clearMaxAccDegsPerSec2 = function() {
+  return jspb.Message.setField(this, 2, undefined);
+};
+
+
+/**
+ * Returns whether this field is set.
+ * @return {boolean}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.hasMaxAccDegsPerSec2 = function() {
+  return jspb.Message.getField(this, 2) != null;
+};
+
+
 goog.object.extend(exports, proto.viam.component.arm.v1);
diff --git a/gen/js/component/arm/v1/arm_pb_service.d.ts b/gen/js/component/arm/v1/arm_pb_service.d.ts
index 50bb74267..08cc19f88 100644
--- a/gen/js/component/arm/v1/arm_pb_service.d.ts
+++ b/gen/js/component/arm/v1/arm_pb_service.d.ts
@@ -41,6 +41,15 @@ type ArmServiceMoveToJointPositions = {
   readonly responseType: typeof component_arm_v1_arm_pb.MoveToJointPositionsResponse;
 };
 
+type ArmServiceMoveThroughJointPositions = {
+  readonly methodName: string;
+  readonly service: typeof ArmService;
+  readonly requestStream: false;
+  readonly responseStream: false;
+  readonly requestType: typeof component_arm_v1_arm_pb.MoveThroughJointPositionsRequest;
+  readonly responseType: typeof component_arm_v1_arm_pb.MoveThroughJointPositionsResponse;
+};
+
 type ArmServiceStop = {
   readonly methodName: string;
   readonly service: typeof ArmService;
@@ -92,6 +101,7 @@ export class ArmService {
   static readonly MoveToPosition: ArmServiceMoveToPosition;
   static readonly GetJointPositions: ArmServiceGetJointPositions;
   static readonly MoveToJointPositions: ArmServiceMoveToJointPositions;
+  static readonly MoveThroughJointPositions: ArmServiceMoveThroughJointPositions;
   static readonly Stop: ArmServiceStop;
   static readonly IsMoving: ArmServiceIsMoving;
   static readonly DoCommand: ArmServiceDoCommand;
@@ -167,6 +177,15 @@ export class ArmServiceClient {
     requestMessage: component_arm_v1_arm_pb.MoveToJointPositionsRequest,
     callback: (error: ServiceError|null, responseMessage: component_arm_v1_arm_pb.MoveToJointPositionsResponse|null) => void
   ): UnaryResponse;
+  moveThroughJointPositions(
+    requestMessage: component_arm_v1_arm_pb.MoveThroughJointPositionsRequest,
+    metadata: grpc.Metadata,
+    callback: (error: ServiceError|null, responseMessage: component_arm_v1_arm_pb.MoveThroughJointPositionsResponse|null) => void
+  ): UnaryResponse;
+  moveThroughJointPositions(
+    requestMessage: component_arm_v1_arm_pb.MoveThroughJointPositionsRequest,
+    callback: (error: ServiceError|null, responseMessage: component_arm_v1_arm_pb.MoveThroughJointPositionsResponse|null) => void
+  ): UnaryResponse;
   stop(
     requestMessage: component_arm_v1_arm_pb.StopRequest,
     metadata: grpc.Metadata,
diff --git a/gen/js/component/arm/v1/arm_pb_service.js b/gen/js/component/arm/v1/arm_pb_service.js
index 58bc34e2f..e67462234 100644
--- a/gen/js/component/arm/v1/arm_pb_service.js
+++ b/gen/js/component/arm/v1/arm_pb_service.js
@@ -47,6 +47,15 @@ ArmService.MoveToJointPositions = {
   responseType: component_arm_v1_arm_pb.MoveToJointPositionsResponse
 };
 
+ArmService.MoveThroughJointPositions = {
+  methodName: "MoveThroughJointPositions",
+  service: ArmService,
+  requestStream: false,
+  responseStream: false,
+  requestType: component_arm_v1_arm_pb.MoveThroughJointPositionsRequest,
+  responseType: component_arm_v1_arm_pb.MoveThroughJointPositionsResponse
+};
+
 ArmService.Stop = {
   methodName: "Stop",
   service: ArmService,
@@ -223,6 +232,37 @@ ArmServiceClient.prototype.moveToJointPositions = function moveToJointPositions(
   };
 };
 
+ArmServiceClient.prototype.moveThroughJointPositions = function moveThroughJointPositions(requestMessage, metadata, callback) {
+  if (arguments.length === 2) {
+    callback = arguments[1];
+  }
+  var client = grpc.unary(ArmService.MoveThroughJointPositions, {
+    request: requestMessage,
+    host: this.serviceHost,
+    metadata: metadata,
+    transport: this.options.transport,
+    debug: this.options.debug,
+    onEnd: function (response) {
+      if (callback) {
+        if (response.status !== grpc.Code.OK) {
+          var err = new Error(response.statusMessage);
+          err.code = response.status;
+          err.metadata = response.trailers;
+          callback(err, null);
+        } else {
+          callback(null, response.message);
+        }
+      }
+    }
+  });
+  return {
+    cancel: function () {
+      callback = null;
+      client.close();
+    }
+  };
+};
+
 ArmServiceClient.prototype.stop = function stop(requestMessage, metadata, callback) {
   if (arguments.length === 2) {
     callback = arguments[1];
diff --git a/proto/viam/component/arm/v1/arm.proto b/proto/viam/component/arm/v1/arm.proto
index 13deffd3f..0d8492d64 100644
--- a/proto/viam/component/arm/v1/arm.proto
+++ b/proto/viam/component/arm/v1/arm.proto
@@ -43,8 +43,8 @@ service ArmService {
     };
   }
 
-  // MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified, 
-  // obeying the specified velocity and acceleration limits. 
+  // MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified,
+  // obeying the specified velocity and acceleration limits.
   // This will block until done or a new operation cancels this one
   rpc MoveThroughJointPositions(MoveThroughJointPositionsRequest) returns (MoveThroughJointPositionsResponse) {
     option (common.v1.safety_heartbeat_monitored) = true;
diff --git a/service/datamanager/v1/data_manager.pb.gw.go b/service/datamanager/v1/data_manager.pb.gw.go
index 5a7e61ab2..5f497f653 100644
--- a/service/datamanager/v1/data_manager.pb.gw.go
+++ b/service/datamanager/v1/data_manager.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"
@@ -107,7 +107,7 @@ var (
 )
 
 func request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client DataManagerServiceClient, 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 (
@@ -140,7 +140,7 @@ func request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runti
 }
 
 func local_request_DataManagerService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server DataManagerServiceServer, 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 (
diff --git a/service/generic/v1/generic.pb.gw.go b/service/generic/v1/generic.pb.gw.go
index 3c74de8b6..298562d36 100644
--- a/service/generic/v1/generic.pb.gw.go
+++ b/service/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"
-	"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"
@@ -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.DoCommandRequest
+	var protoReq v1_0.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.DoCommandRequest
+	var protoReq v1_0.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (
diff --git a/service/motion/v1/motion.pb.gw.go b/service/motion/v1/motion.pb.gw.go
index 64bb4bed0..1b1262cea 100644
--- a/service/motion/v1/motion.pb.gw.go
+++ b/service/motion/v1/motion.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"
@@ -527,7 +527,7 @@ var (
 )
 
 func request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, client MotionServiceClient, 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 (
@@ -560,7 +560,7 @@ func request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Ma
 }
 
 func local_request_MotionService_DoCommand_0(ctx context.Context, marshaler runtime.Marshaler, server MotionServiceServer, 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/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 9fc2a2808..b0c69d02f 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"
-	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"
@@ -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_0.DoCommandRequest
+	var protoReq v1.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_0.DoCommandRequest
+	var protoReq v1.DoCommandRequest
 	var metadata runtime.ServerMetadata
 
 	var (