From b05a74ff1d6c41248ae516b395116005af1a6563 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Thu, 24 Oct 2024 15:44:10 -0400
Subject: [PATCH 01/14] update go mod

---
 go.mod | 2 +-
 go.sum | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/go.mod b/go.mod
index fac647b9ef8..6474e068033 100644
--- a/go.mod
+++ b/go.mod
@@ -85,7 +85,7 @@ require (
 	go.uber.org/atomic v1.11.0
 	go.uber.org/multierr v1.11.0
 	go.uber.org/zap v1.27.0
-	go.viam.com/api v0.1.350
+	go.viam.com/api v0.1.351
 	go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2
 	go.viam.com/utils v0.1.106
 	goji.io v2.0.2+incompatible
diff --git a/go.sum b/go.sum
index b5c7e8b740a..e244c7d0e89 100644
--- a/go.sum
+++ b/go.sum
@@ -1647,6 +1647,8 @@ go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
 go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
 go.viam.com/api v0.1.350 h1:pMyU/fFS4cEsQNQoC69lBapwl6R2jbN2q4hoT+Sz8lw=
 go.viam.com/api v0.1.350/go.mod h1:5lpVRxMsKFCaahqsnJfPGwJ9baoQ6PIKQu3lxvy6Wtw=
+go.viam.com/api v0.1.351 h1:jNIpa7K1RzQzWrwnXJBwFZ+oQ/OiZBWLqTp9+7nznPI=
+go.viam.com/api v0.1.351/go.mod h1:5lpVRxMsKFCaahqsnJfPGwJ9baoQ6PIKQu3lxvy6Wtw=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts=
 go.viam.com/utils v0.1.106 h1:LcmVUBBV7ipzl4to4RJ4knj5bVdATU8reO77HNMimdA=

From 418dd2d9e91944a72fdd466332b73de817703b3b Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Tue, 29 Oct 2024 14:14:29 -0400
Subject: [PATCH 02/14] passing tests in arm package

---
 components/arm/arm.go                         | 25 +++++++------
 components/arm/arm_test.go                    | 28 ++------------
 components/arm/client.go                      | 37 ++++++++-----------
 components/arm/client_test.go                 | 29 ++++++---------
 components/arm/collector.go                   |  9 +++--
 components/arm/collectors_test.go             | 18 ++++-----
 components/arm/eva/eva.go                     | 24 +++++-------
 components/arm/fake/fake.go                   | 20 ++++------
 components/arm/fake/fake_test.go              | 10 ++---
 components/arm/server.go                      | 22 +++++------
 components/arm/server_test.go                 | 32 ++++++++--------
 components/arm/universalrobots/ur.go          | 21 ++++-------
 components/arm/wrapper/wrapper.go             | 17 +++------
 components/arm/xarm/xarm.go                   |  9 +----
 components/arm/xarm/xarm_comm.go              | 12 +++---
 motionplan/motionPlanner.go                   |  4 +-
 motionplan/solverFrame.go                     |  8 ++--
 motionplan/tpspace/ptgDiffDrive.go            |  2 +-
 motionplan/tpspace/ptgGroupFrame.go           |  2 +-
 motionplan/tpspace/ptgIKFrame.go              |  2 +-
 referenceframe/errors.go                      |  6 +--
 referenceframe/frame.go                       | 14 +++----
 referenceframe/{primitives.go => input.go}    | 28 ++++++++++++--
 .../{primitives_test.go => input_test.go}     |  0
 referenceframe/model.go                       |  2 +-
 referenceframe/model_test.go                  |  4 +-
 robot/client/client_test.go                   |  4 +-
 robot/impl/local_robot_test.go                |  8 ++--
 services/datamanager/builtin/builtin_test.go  |  6 +--
 services/motion/builtin/wrapperFrame.go       |  8 ++--
 services/motion/motion_helpers_test.go        |  9 ++---
 testutils/inject/arm.go                       | 14 +++----
 32 files changed, 196 insertions(+), 238 deletions(-)
 rename referenceframe/{primitives.go => input.go} (73%)
 rename referenceframe/{primitives_test.go => input_test.go} (100%)

diff --git a/components/arm/arm.go b/components/arm/arm.go
index 8615fb193d4..2f86aca4871 100644
--- a/components/arm/arm.go
+++ b/components/arm/arm.go
@@ -8,6 +8,7 @@ package arm
 
 import (
 	"context"
+	"errors"
 	"fmt"
 
 	v1 "go.viam.com/api/common/v1"
@@ -22,6 +23,8 @@ import (
 	"go.viam.com/rdk/utils"
 )
 
+var ErrModelNotValid = errors.New("unable to retrieve a valid arm model from arm")
+
 func init() {
 	resource.RegisterAPI(API, resource.APIRegistration[Arm]{
 		Status:                      resource.StatusFunc(CreateStatus),
@@ -111,10 +114,10 @@ type Arm interface {
 
 	// MoveToJointPositions moves the arm's joints to the given positions.
 	// This will block until done or a new operation cancels this one.
-	MoveToJointPositions(ctx context.Context, positionDegs *pb.JointPositions, extra map[string]interface{}) error
+	MoveToJointPositions(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error
 
 	// JointPositions returns the current joint positions of the arm.
-	JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
+	JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
 }
 
 // FromDependencies is a helper for getting the named arm from a collection of
@@ -136,19 +139,20 @@ func NamesFromRobot(r robot.Robot) []string {
 // CreateStatus creates a status from the arm. This will report calculated end effector positions even if the given
 // arm is perceived to be out of bounds.
 func CreateStatus(ctx context.Context, a Arm) (*pb.Status, error) {
-	var jointPositions *pb.JointPositions
+	model := a.ModelFrame()
 	joints, err := a.JointPositions(ctx, nil)
 	if err != nil {
 		return nil, err
 	}
-	jointPositions = joints
 
 	var endPosition *v1.Pose
-	model := a.ModelFrame()
-	if model != nil && joints != nil {
-		if endPose, err := referenceframe.ComputeOOBPosition(model, model.InputFromProtobuf(jointPositions)); err == nil {
-			endPosition = spatialmath.PoseToProtobuf(endPose)
-		}
+	if endPose, err := referenceframe.ComputeOOBPosition(model, joints); err == nil {
+		endPosition = spatialmath.PoseToProtobuf(endPose)
+	}
+
+	var jointPositions *pb.JointPositions
+	if jp, err := referenceframe.JointPositionsFromInputs(model, joints); err == nil {
+		jointPositions = jp
 	}
 
 	isMoving, err := a.IsMoving(ctx)
@@ -182,12 +186,11 @@ func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredInputs []refe
 		return err
 	}
 	model := a.ModelFrame()
-	checkPositions := model.InputFromProtobuf(currentJointPos)
 	limits := model.DoF()
 	for i, val := range desiredInputs {
 		max := limits[i].Max
 		min := limits[i].Min
-		currPosition := checkPositions[i]
+		currPosition := currentJointPos[i]
 		// to make sure that val is a valid input it must either bring the joint closer inbounds or keep the joint inbounds.
 		if currPosition.Value > limits[i].Max {
 			max = currPosition.Value
diff --git a/components/arm/arm_test.go b/components/arm/arm_test.go
index 4036c9170ef..2750429a99a 100644
--- a/components/arm/arm_test.go
+++ b/components/arm/arm_test.go
@@ -73,8 +73,8 @@ func TestCreateStatus(t *testing.T) {
 	injectArm := &inject.Arm{}
 
 	//nolint:unparam
-	successfulJointPositionsFunc := func(context.Context, map[string]interface{}) (*pb.JointPositions, error) {
-		return successfulStatus.JointPositions, nil
+	successfulJointPositionsFunc := func(context.Context, map[string]interface{}) ([]referenceframe.Input, error) {
+		return referenceframe.FloatsToInputs(referenceframe.JointPositionsToRadians(successfulStatus.JointPositions)), nil
 	}
 
 	successfulIsMovingFunc := func(context.Context) (bool, error) {
@@ -161,7 +161,7 @@ func TestCreateStatus(t *testing.T) {
 		injectArm.ModelFrameFunc = successfulModelFrameFunc
 
 		errFail := errors.New("can't get joint positions")
-		injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+		injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 			return nil, errFail
 		}
 
@@ -170,31 +170,9 @@ func TestCreateStatus(t *testing.T) {
 		test.That(t, actualStatus, test.ShouldBeNil)
 	})
 
-	t.Run("nil JointPositions", func(t *testing.T) {
-		injectArm.IsMovingFunc = successfulIsMovingFunc
-		injectArm.ModelFrameFunc = successfulModelFrameFunc
-
-		injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
-			return nil, nil //nolint:nilnil
-		}
-
-		expectedStatus := &pb.Status{
-			EndPosition:    nil,
-			JointPositions: nil,
-			IsMoving:       successfulStatus.IsMoving,
-		}
-
-		actualStatus, err := arm.CreateStatus(context.Background(), injectArm)
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, actualStatus.EndPosition, test.ShouldEqual, expectedStatus.EndPosition)
-		test.That(t, actualStatus.JointPositions, test.ShouldEqual, expectedStatus.JointPositions)
-		test.That(t, actualStatus.IsMoving, test.ShouldEqual, expectedStatus.IsMoving)
-	})
-
 	t.Run("nil model frame", func(t *testing.T) {
 		injectArm.IsMovingFunc = successfulIsMovingFunc
 		injectArm.JointPositionsFunc = successfulJointPositionsFunc
-
 		injectArm.ModelFrameFunc = func() referenceframe.Model {
 			return nil
 		}
diff --git a/components/arm/client.go b/components/arm/client.go
index d1b060d03a1..42d0ad3c597 100644
--- a/components/arm/client.go
+++ b/components/arm/client.go
@@ -5,7 +5,6 @@ package arm
 
 import (
 	"context"
-	"errors"
 
 	commonpb "go.viam.com/api/common/v1"
 	pb "go.viam.com/api/component/arm/v1"
@@ -19,8 +18,6 @@ import (
 	"go.viam.com/rdk/spatialmath"
 )
 
-var errArmClientModelNotValid = errors.New("unable to retrieve a valid arm model from arm client")
-
 // client implements ArmServiceClient.
 type client struct {
 	resource.Named
@@ -49,7 +46,12 @@ func NewClientFromConn(
 	}
 	clientFrame, err := c.updateKinematics(ctx, nil)
 	if err != nil {
-		logger.CErrorw(ctx, "error getting model for arm; will not allow certain methods", "err", err)
+		logger.CWarnw(
+			ctx,
+			"error getting model for arm; making the assumption that joints are revolute and that their positions are specified in degrees",
+			"err",
+			err,
+		)
 	} else {
 		c.model = clientFrame
 	}
@@ -87,7 +89,7 @@ func (c *client) MoveToPosition(ctx context.Context, pose spatialmath.Pose, extr
 	return err
 }
 
-func (c *client) MoveToJointPositions(ctx context.Context, positions *pb.JointPositions, extra map[string]interface{}) error {
+func (c *client) MoveToJointPositions(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error {
 	ext, err := protoutils.StructToStructPb(extra)
 	if err != nil {
 		return err
@@ -95,15 +97,19 @@ func (c *client) MoveToJointPositions(ctx context.Context, positions *pb.JointPo
 	if positions == nil {
 		c.logger.Warnf("%s MoveToJointPositions: position parameter is nil", c.name)
 	}
+	jp, err := referenceframe.JointPositionsFromInputs(c.model, positions)
+	if err != nil {
+		return err
+	}
 	_, err = c.client.MoveToJointPositions(ctx, &pb.MoveToJointPositionsRequest{
 		Name:      c.name,
-		Positions: positions,
+		Positions: jp,
 		Extra:     ext,
 	})
 	return err
 }
 
-func (c *client) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (c *client) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	ext, err := protoutils.StructToStructPb(extra)
 	if err != nil {
 		return nil, err
@@ -115,7 +121,7 @@ func (c *client) JointPositions(ctx context.Context, extra map[string]interface{
 	if err != nil {
 		return nil, err
 	}
-	return resp.Positions, nil
+	return referenceframe.InputsFromJointPositions(c.model, resp.Positions)
 }
 
 func (c *client) Stop(ctx context.Context, extra map[string]interface{}) error {
@@ -135,23 +141,12 @@ func (c *client) ModelFrame() referenceframe.Model {
 }
 
 func (c *client) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
-	if c.model == nil {
-		return nil, errArmClientModelNotValid
-	}
-	resp, err := c.JointPositions(ctx, nil)
-	if err != nil {
-		return nil, err
-	}
-	return c.model.InputFromProtobuf(resp), nil
+	return c.JointPositions(ctx, nil)
 }
 
 func (c *client) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	if c.model == nil {
-		return errArmClientModelNotValid
-	}
 	for _, goal := range inputSteps {
-		err := c.MoveToJointPositions(ctx, c.model.ProtobufFromInput(goal), nil)
-		if err != nil {
+		if err := c.MoveToJointPositions(ctx, goal, nil); err != nil {
 			return err
 		}
 	}
diff --git a/components/arm/client_test.go b/components/arm/client_test.go
index e0191286aa5..a2e50585b54 100644
--- a/components/arm/client_test.go
+++ b/components/arm/client_test.go
@@ -6,7 +6,6 @@ import (
 	"testing"
 
 	"github.com/golang/geo/r3"
-	componentpb "go.viam.com/api/component/arm/v1"
 	robotpb "go.viam.com/api/robot/v1"
 	"go.viam.com/test"
 	"go.viam.com/utils/rpc"
@@ -32,19 +31,19 @@ func TestClient(t *testing.T) {
 
 	var (
 		capArmPos      spatialmath.Pose
-		capArmJointPos *componentpb.JointPositions
+		capArmJointPos []referenceframe.Input
 		extraOptions   map[string]interface{}
 	)
 
 	pos1 := spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3})
-	jointPos1 := &componentpb.JointPositions{Values: []float64{1.0, 2.0, 3.0}}
+	jointPos1 := []referenceframe.Input{{1.}, {2.}, {3.}}
 	expectedGeometries := []spatialmath.Geometry{spatialmath.NewPoint(r3.Vector{1, 2, 3}, "")}
 	injectArm := &inject.Arm{}
 	injectArm.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		extraOptions = extra
 		return pos1, nil
 	}
-	injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*componentpb.JointPositions, error) {
+	injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 		extraOptions = extra
 		return jointPos1, nil
 	}
@@ -54,7 +53,7 @@ func TestClient(t *testing.T) {
 		return nil
 	}
 
-	injectArm.MoveToJointPositionsFunc = func(ctx context.Context, jp *componentpb.JointPositions, extra map[string]interface{}) error {
+	injectArm.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		extraOptions = extra
 		return nil
@@ -64,22 +63,19 @@ func TestClient(t *testing.T) {
 		return errStopUnimplemented
 	}
 	injectArm.ModelFrameFunc = func() referenceframe.Model {
-		data := []byte("{\"links\": [{\"parent\": \"world\"}]}")
-		model, err := referenceframe.UnmarshalModelJSON(data, "")
-		test.That(t, err, test.ShouldBeNil)
-		return model
+		return nil
 	}
 	injectArm.GeometriesFunc = func(ctx context.Context) ([]spatialmath.Geometry, error) {
 		return expectedGeometries, nil
 	}
 
 	pos2 := spatialmath.NewPoseFromPoint(r3.Vector{X: 4, Y: 5, Z: 6})
-	jointPos2 := &componentpb.JointPositions{Values: []float64{4.0, 5.0, 6.0}}
+	jointPos2 := []referenceframe.Input{{4.}, {5.}, {6.}}
 	injectArm2 := &inject.Arm{}
 	injectArm2.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		return pos2, nil
 	}
-	injectArm2.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*componentpb.JointPositions, error) {
+	injectArm2.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 		return jointPos2, nil
 	}
 	injectArm2.MoveToPositionFunc = func(ctx context.Context, ap spatialmath.Pose, extra map[string]interface{}) error {
@@ -87,7 +83,7 @@ func TestClient(t *testing.T) {
 		return nil
 	}
 
-	injectArm2.MoveToJointPositionsFunc = func(ctx context.Context, jp *componentpb.JointPositions, extra map[string]interface{}) error {
+	injectArm2.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		return nil
 	}
@@ -95,10 +91,7 @@ func TestClient(t *testing.T) {
 		return nil
 	}
 	injectArm2.ModelFrameFunc = func() referenceframe.Model {
-		data := []byte("{\"links\": [{\"parent\": \"world\"}]}")
-		model, err := referenceframe.UnmarshalModelJSON(data, "")
-		test.That(t, err, test.ShouldBeNil)
-		return model
+		return nil
 	}
 
 	armSvc, err := resource.NewAPIResourceCollection(
@@ -157,7 +150,7 @@ func TestClient(t *testing.T) {
 
 		jointPos, err := arm1Client.JointPositions(context.Background(), map[string]interface{}{"foo": "JointPositions"})
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, jointPos.String(), test.ShouldResemble, jointPos1.String())
+		test.That(t, jointPos, test.ShouldResemble, jointPos1)
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "JointPositions"})
 
 		err = arm1Client.MoveToPosition(context.Background(), pos2, map[string]interface{}{"foo": "MoveToPosition"})
@@ -168,7 +161,7 @@ func TestClient(t *testing.T) {
 
 		err = arm1Client.MoveToJointPositions(context.Background(), jointPos2, map[string]interface{}{"foo": "MoveToJointPositions"})
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, capArmJointPos.String(), test.ShouldResemble, jointPos2.String())
+		test.That(t, capArmJointPos, test.ShouldResemble, jointPos2)
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveToJointPositions"})
 
 		err = arm1Client.Stop(context.Background(), map[string]interface{}{"foo": "Stop"})
diff --git a/components/arm/collector.go b/components/arm/collector.go
index 8df74a49970..6dd9a60c618 100644
--- a/components/arm/collector.go
+++ b/components/arm/collector.go
@@ -11,6 +11,7 @@ import (
 	"google.golang.org/protobuf/types/known/anypb"
 
 	"go.viam.com/rdk/data"
+	"go.viam.com/rdk/referenceframe"
 )
 
 type method int64
@@ -82,9 +83,11 @@ func newJointPositionsCollector(resource interface{}, params data.CollectorParam
 			}
 			return nil, data.FailedToReadErr(params.ComponentName, jointPositions.String(), err)
 		}
-		return pb.GetJointPositionsResponse{
-			Positions: v,
-		}, nil
+		jp, err := referenceframe.JointPositionsFromInputs(arm.ModelFrame(), v)
+		if err != nil {
+			return nil, data.FailedToReadErr(params.ComponentName, jointPositions.String(), err)
+		}
+		return pb.GetJointPositionsResponse{Positions: jp}, nil
 	})
 	return data.NewCollector(cFunc, params)
 }
diff --git a/components/arm/collectors_test.go b/components/arm/collectors_test.go
index bd737b91ba2..1313a2a7186 100644
--- a/components/arm/collectors_test.go
+++ b/components/arm/collectors_test.go
@@ -14,6 +14,7 @@ import (
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/data"
 	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/spatialmath"
 	tu "go.viam.com/rdk/testutils"
 	"go.viam.com/rdk/testutils/inject"
@@ -25,7 +26,7 @@ const (
 	numRetries      = 5
 )
 
-var floatList = []float64{1.0, 2.0, 3.0}
+var floatList = &pb.JointPositions{Values: []float64{1.0, 2.0, 3.0}}
 
 func TestCollectors(t *testing.T) {
 	tests := []struct {
@@ -51,11 +52,7 @@ func TestCollectors(t *testing.T) {
 		{
 			name:      "Joint positions collector should write a list of positions",
 			collector: arm.NewJointPositionsCollector,
-			expected: tu.ToProtoMapIgnoreOmitEmpty(pb.GetJointPositionsResponse{
-				Positions: &pb.JointPositions{
-					Values: floatList,
-				},
-			}),
+			expected:  tu.ToProtoMapIgnoreOmitEmpty(pb.GetJointPositionsResponse{Positions: floatList}),
 		},
 	}
 
@@ -93,10 +90,11 @@ func newArm() arm.Arm {
 	a.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		return spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3}), nil
 	}
-	a.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
-		return &pb.JointPositions{
-			Values: floatList,
-		}, nil
+	a.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
+		return referenceframe.FloatsToInputs(referenceframe.JointPositionsToRadians(floatList)), nil
+	}
+	a.ModelFrameFunc = func() referenceframe.Model {
+		return nil
 	}
 	return a
 }
diff --git a/components/arm/eva/eva.go b/components/arm/eva/eva.go
index d5a69a21603..b32d0a6ca10 100644
--- a/components/arm/eva/eva.go
+++ b/components/arm/eva/eva.go
@@ -6,6 +6,7 @@ package eva
 import (
 	"bytes"
 	"context"
+
 	// for embedding model file.
 	_ "embed"
 	"encoding/json"
@@ -18,7 +19,6 @@ import (
 
 	"github.com/pkg/errors"
 	"go.uber.org/multierr"
-	pb "go.viam.com/api/component/arm/v1"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/components/arm"
@@ -129,12 +129,12 @@ func NewEva(ctx context.Context, conf resource.Config, logger logging.Logger) (a
 	return e, nil
 }
 
-func (e *eva) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (e *eva) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	data, err := e.DataSnapshot(ctx)
 	if err != nil {
-		return &pb.JointPositions{}, err
+		return nil, err
 	}
-	return referenceframe.JointPositionsFromRadians(data.ServosPosition), nil
+	return referenceframe.FloatsToInputs(data.ServosPosition), nil
 }
 
 // EndPosition computes and returns the current cartesian position.
@@ -153,17 +153,15 @@ func (e *eva) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra ma
 	return motion.MoveArm(ctx, e.logger, e, pos)
 }
 
-func (e *eva) MoveToJointPositions(ctx context.Context, newPositions *pb.JointPositions, extra map[string]interface{}) error {
+func (e *eva) MoveToJointPositions(ctx context.Context, newPositions []referenceframe.Input, extra map[string]interface{}) error {
 	// check that joint positions are not out of bounds
-	inputs := e.ModelFrame().InputFromProtobuf(newPositions)
-	if err := arm.CheckDesiredJointPositions(ctx, e, inputs); err != nil {
+	if err := arm.CheckDesiredJointPositions(ctx, e, newPositions); err != nil {
 		return err
 	}
 	ctx, done := e.opMgr.New(ctx)
 	defer done()
 
-	radians := referenceframe.JointPositionsToRadians(newPositions)
-
+	radians := referenceframe.InputsToFloats(newPositions)
 	err := e.doMoveJoints(ctx, radians)
 	if err == nil {
 		return nil
@@ -383,11 +381,7 @@ func (e *eva) ModelFrame() referenceframe.Model {
 }
 
 func (e *eva) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
-	res, err := e.JointPositions(ctx, nil)
-	if err != nil {
-		return nil, err
-	}
-	return e.model.InputFromProtobuf(res), nil
+	return e.JointPositions(ctx, nil)
 }
 
 func (e *eva) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
@@ -395,7 +389,7 @@ func (e *eva) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Inp
 		if err := arm.CheckDesiredJointPositions(ctx, e, goal); err != nil {
 			return err
 		}
-		err := e.MoveToJointPositions(ctx, e.model.ProtobufFromInput(goal), nil)
+		err := e.MoveToJointPositions(ctx, goal, nil)
 		if err != nil {
 			return err
 		}
diff --git a/components/arm/fake/fake.go b/components/arm/fake/fake.go
index 38a3dac88cb..4f9a4433c90 100644
--- a/components/arm/fake/fake.go
+++ b/components/arm/fake/fake.go
@@ -8,7 +8,6 @@ import (
 	"sync"
 
 	"github.com/pkg/errors"
-	pb "go.viam.com/api/component/arm/v1"
 
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/components/arm/eva"
@@ -175,26 +174,25 @@ func (a *Arm) MoveToPosition(ctx context.Context, pose spatialmath.Pose, extra m
 }
 
 // MoveToJointPositions sets the joints.
-func (a *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error {
-	inputs := a.model.InputFromProtobuf(joints)
-	if err := arm.CheckDesiredJointPositions(ctx, a, inputs); err != nil {
+func (a *Arm) MoveToJointPositions(ctx context.Context, joints []referenceframe.Input, extra map[string]interface{}) error {
+	if err := arm.CheckDesiredJointPositions(ctx, a, joints); err != nil {
 		return err
 	}
 	a.mu.RLock()
 	defer a.mu.RUnlock()
-	_, err := a.model.Transform(inputs)
+	_, err := a.model.Transform(joints)
 	if err != nil {
 		return err
 	}
-	copy(a.joints, inputs)
+	copy(a.joints, joints)
 	return nil
 }
 
 // JointPositions returns joints.
-func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	a.mu.RLock()
 	defer a.mu.RUnlock()
-	return a.model.ProtobufFromInput(a.joints), nil
+	return a.joints, nil
 }
 
 // Stop doesn't do anything for a fake arm.
@@ -217,11 +215,7 @@ func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
 // GoToInputs moves the fake arm to the given inputs.
 func (a *Arm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
 	for _, goal := range inputSteps {
-		a.mu.RLock()
-		positionDegs := a.model.ProtobufFromInput(goal)
-		a.mu.RUnlock()
-		err := a.MoveToJointPositions(ctx, positionDegs, nil)
-		if err != nil {
+		if err := a.MoveToJointPositions(ctx, goal, nil); err != nil {
 			return err
 		}
 	}
diff --git a/components/arm/fake/fake_test.go b/components/arm/fake/fake_test.go
index 4a541aff7b5..c5e4874ed99 100644
--- a/components/arm/fake/fake_test.go
+++ b/components/arm/fake/fake_test.go
@@ -2,9 +2,9 @@ package fake
 
 import (
 	"context"
+	"math"
 	"testing"
 
-	pb "go.viam.com/api/component/arm/v1"
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/logging"
@@ -115,13 +115,13 @@ func TestJointPositions(t *testing.T) {
 	// Round trip test for MoveToJointPositions -> JointPositions
 	arm, err := NewArm(ctx, nil, cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
-	samplePositions := &pb.JointPositions{Values: []float64{0, 30, 60, 90, 60, 30}}
+	samplePositions := []referenceframe.Input{{0}, {math.Pi}, {-math.Pi}, {0}, {math.Pi}, {-math.Pi}}
 	test.That(t, arm.MoveToJointPositions(ctx, samplePositions, nil), test.ShouldBeNil)
 	positions, err := arm.JointPositions(ctx, nil)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, len(positions.Values), test.ShouldEqual, len(samplePositions.Values))
-	for i := range samplePositions.Values {
-		test.That(t, positions.Values[i], test.ShouldAlmostEqual, samplePositions.Values[i])
+	test.That(t, len(positions), test.ShouldEqual, len(samplePositions))
+	for i := range samplePositions {
+		test.That(t, positions[i], test.ShouldResemble, samplePositions[i])
 	}
 
 	// Round trip test for GoToInputs -> CurrentInputs
diff --git a/components/arm/server.go b/components/arm/server.go
index aba3d26af95..72d65042f07 100644
--- a/components/arm/server.go
+++ b/components/arm/server.go
@@ -12,6 +12,7 @@ import (
 
 	"go.viam.com/rdk/operation"
 	"go.viam.com/rdk/protoutils"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/referenceframe/urdf"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/spatialmath"
@@ -55,10 +56,7 @@ func (s *serviceServer) GetEndPosition(
 }
 
 // GetJointPositions gets the current joint position of an arm of the underlying robot.
-func (s *serviceServer) GetJointPositions(
-	ctx context.Context,
-	req *pb.GetJointPositionsRequest,
-) (*pb.GetJointPositionsResponse, error) {
+func (s *serviceServer) GetJointPositions(ctx context.Context, req *pb.GetJointPositionsRequest) (*pb.GetJointPositionsResponse, error) {
 	arm, err := s.coll.Resource(req.Name)
 	if err != nil {
 		return nil, err
@@ -67,13 +65,11 @@ func (s *serviceServer) GetJointPositions(
 	if err != nil {
 		return nil, err
 	}
-	// Have a default empty joint position object in case the position returned is nil,
-	// this guards against nil objects being transferred over the wire.
-	convertedPos := &pb.JointPositions{Values: []float64{}}
-	if pos != nil {
-		convertedPos.Values = pos.Values
+	jp, err := referenceframe.JointPositionsFromInputs(arm.ModelFrame(), pos)
+	if err != nil {
+		return nil, err
 	}
-	return &pb.GetJointPositionsResponse{Positions: convertedPos}, nil
+	return &pb.GetJointPositionsResponse{Positions: jp}, nil
 }
 
 // MoveToPosition returns the position of the arm specified.
@@ -100,7 +96,11 @@ func (s *serviceServer) MoveToJointPositions(
 	if err != nil {
 		return nil, err
 	}
-	return &pb.MoveToJointPositionsResponse{}, arm.MoveToJointPositions(ctx, req.Positions, req.Extra.AsMap())
+	inputs, err := referenceframe.InputsFromJointPositions(arm.ModelFrame(), req.Positions)
+	if err != nil {
+		return nil, err
+	}
+	return &pb.MoveToJointPositionsResponse{}, arm.MoveToJointPositions(ctx, inputs, req.Extra.AsMap())
 }
 
 // Stop stops the arm specified.
diff --git a/components/arm/server_test.go b/components/arm/server_test.go
index e087ba02fd8..daca3d95a1f 100644
--- a/components/arm/server_test.go
+++ b/components/arm/server_test.go
@@ -49,19 +49,19 @@ func TestServer(t *testing.T) {
 
 	var (
 		capArmPos      spatialmath.Pose
-		capArmJointPos *pb.JointPositions
+		capArmJointPos []referenceframe.Input
 		extraOptions   map[string]interface{}
 	)
 
 	pose1 := spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3})
-	positionDegs1 := &pb.JointPositions{Values: []float64{1.0, 2.0, 3.0}}
+	positions := []float64{1., 2., 3., 1., 2., 3.}
 	injectArm.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		extraOptions = extra
 		return pose1, nil
 	}
-	injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+	injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 		extraOptions = extra
-		return positionDegs1, nil
+		return referenceframe.FloatsToInputs(positions), nil
 	}
 	injectArm.MoveToPositionFunc = func(ctx context.Context, ap spatialmath.Pose, extra map[string]interface{}) error {
 		capArmPos = ap
@@ -69,7 +69,7 @@ func TestServer(t *testing.T) {
 		return nil
 	}
 
-	injectArm.MoveToJointPositionsFunc = func(ctx context.Context, jp *pb.JointPositions, extra map[string]interface{}) error {
+	injectArm.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		extraOptions = extra
 		return nil
@@ -87,11 +87,11 @@ func TestServer(t *testing.T) {
 	}
 
 	pose2 := &commonpb.Pose{X: 4, Y: 5, Z: 6}
-	positionDegs2 := &pb.JointPositions{Values: []float64{4.0, 5.0, 6.0}}
+	positionDegs2 := &pb.JointPositions{Values: []float64{4.0, 5.0, 6.0, 4.0, 5.0, 6.0}}
 	injectArm2.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		return nil, errGetPoseFailed
 	}
-	injectArm2.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+	injectArm2.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 		return nil, errGetJointsFailed
 	}
 	injectArm2.MoveToPositionFunc = func(ctx context.Context, ap spatialmath.Pose, extra map[string]interface{}) error {
@@ -99,7 +99,7 @@ func TestServer(t *testing.T) {
 		return errMoveToPositionFailed
 	}
 
-	injectArm2.MoveToJointPositionsFunc = func(ctx context.Context, jp *pb.JointPositions, extra map[string]interface{}) error {
+	injectArm2.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		return errMoveToJointPositionFailed
 	}
@@ -166,7 +166,7 @@ func TestServer(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		resp, err := armServer.GetJointPositions(context.Background(), &pb.GetJointPositionsRequest{Name: testArmName, Extra: ext})
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, resp.Positions.String(), test.ShouldResemble, positionDegs1.String())
+		test.That(t, referenceframe.JointPositionsToRadians(resp.Positions), test.ShouldResemble, positions)
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "JointPositions"})
 
 		_, err = armServer.GetJointPositions(context.Background(), &pb.GetJointPositionsRequest{Name: failArmName})
@@ -175,12 +175,11 @@ func TestServer(t *testing.T) {
 
 		// Redefine JointPositionsFunc to test nil return.
 		//nolint: nilnil
-		injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+		injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 			return nil, nil
 		}
-		resp, err = armServer.GetJointPositions(context.Background(), &pb.GetJointPositionsRequest{Name: testArmName})
-		test.That(t, err, test.ShouldBeNil)
-		test.That(t, resp.Positions.Values, test.ShouldResemble, []float64{})
+		_, err = armServer.GetJointPositions(context.Background(), &pb.GetJointPositionsRequest{Name: testArmName})
+		test.That(t, err.Error(), test.ShouldResemble, referenceframe.NewIncorrectDoFError(0, len(positions)).Error())
 	})
 
 	t.Run("move to joint position", func(t *testing.T) {
@@ -198,16 +197,17 @@ func TestServer(t *testing.T) {
 			&pb.MoveToJointPositionsRequest{Name: testArmName, Positions: positionDegs2, Extra: ext},
 		)
 		test.That(t, err, test.ShouldBeNil)
-		test.That(t, capArmJointPos.String(), test.ShouldResemble, positionDegs2.String())
+		positionsRads2, err := referenceframe.InputsFromJointPositions(nil, positionDegs2)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, capArmJointPos, test.ShouldResemble, positionsRads2)
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveToJointPositions"})
 
 		_, err = armServer.MoveToJointPositions(
 			context.Background(),
-			&pb.MoveToJointPositionsRequest{Name: failArmName, Positions: positionDegs1},
+			&pb.MoveToJointPositionsRequest{Name: failArmName, Positions: &pb.JointPositions{Values: positions}},
 		)
 		test.That(t, err, test.ShouldNotBeNil)
 		test.That(t, err.Error(), test.ShouldContainSubstring, errMoveToJointPositionFailed.Error())
-		test.That(t, capArmJointPos.String(), test.ShouldResemble, positionDegs1.String())
 	})
 
 	t.Run("get kinematics", func(t *testing.T) {
diff --git a/components/arm/universalrobots/ur.go b/components/arm/universalrobots/ur.go
index 6a706a0a91a..e81eaae6d7b 100644
--- a/components/arm/universalrobots/ur.go
+++ b/components/arm/universalrobots/ur.go
@@ -4,6 +4,7 @@ package universalrobots
 import (
 	"bufio"
 	"context"
+
 	// for embedding model file.
 	_ "embed"
 	"encoding/binary"
@@ -19,7 +20,6 @@ import (
 
 	"github.com/pkg/errors"
 	"go.uber.org/multierr"
-	pb "go.viam.com/api/component/arm/v1"
 	goutils "go.viam.com/utils"
 
 	"go.viam.com/rdk/components/arm"
@@ -332,7 +332,7 @@ func (ua *urArm) getState() (robotState, error) {
 }
 
 // JointPositions gets the current joint positions of the UR arm.
-func (ua *urArm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (ua *urArm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	radians := []float64{}
 	state, err := ua.getState()
 	if err != nil {
@@ -341,7 +341,7 @@ func (ua *urArm) JointPositions(ctx context.Context, extra map[string]interface{
 	for _, j := range state.Joints {
 		radians = append(radians, j.Qactual)
 	}
-	return referenceframe.JointPositionsFromRadians(radians), nil
+	return referenceframe.FloatsToInputs(radians), nil
 }
 
 // EndPosition computes and returns the current cartesian position.
@@ -376,13 +376,12 @@ func (ua *urArm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra
 }
 
 // MoveToJointPositions moves the UR arm to the specified joint positions.
-func (ua *urArm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error {
+func (ua *urArm) MoveToJointPositions(ctx context.Context, joints []referenceframe.Input, extra map[string]interface{}) error {
 	// check that joint positions are not out of bounds
-	inputs := ua.ModelFrame().InputFromProtobuf(joints)
-	if err := arm.CheckDesiredJointPositions(ctx, ua, inputs); err != nil {
+	if err := arm.CheckDesiredJointPositions(ctx, ua, joints); err != nil {
 		return err
 	}
-	return ua.moveToJointPositionRadians(ctx, referenceframe.JointPositionsToRadians(joints))
+	return ua.moveToJointPositionRadians(ctx, referenceframe.InputsToFloats(joints))
 }
 
 // Stop stops the arm with some deceleration.
@@ -494,11 +493,7 @@ func (ua *urArm) moveToJointPositionRadians(ctx context.Context, radians []float
 
 // CurrentInputs returns the current Inputs of the UR arm.
 func (ua *urArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
-	res, err := ua.JointPositions(ctx, nil)
-	if err != nil {
-		return nil, err
-	}
-	return ua.model.InputFromProtobuf(res), nil
+	return ua.JointPositions(ctx, nil)
 }
 
 // GoToInputs moves the UR arm to the Inputs specified.
@@ -508,7 +503,7 @@ func (ua *urArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.
 		if err := arm.CheckDesiredJointPositions(ctx, ua, goal); err != nil {
 			return err
 		}
-		err := ua.MoveToJointPositions(ctx, ua.model.ProtobufFromInput(goal), nil)
+		err := ua.MoveToJointPositions(ctx, goal, nil)
 		if err != nil {
 			return err
 		}
diff --git a/components/arm/wrapper/wrapper.go b/components/arm/wrapper/wrapper.go
index a1f0fcb1f23..ca4d7815c80 100644
--- a/components/arm/wrapper/wrapper.go
+++ b/components/arm/wrapper/wrapper.go
@@ -7,8 +7,6 @@ import (
 	"strings"
 	"sync"
 
-	pb "go.viam.com/api/component/arm/v1"
-
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/operation"
@@ -124,10 +122,9 @@ func (wrapper *Arm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, ex
 }
 
 // MoveToJointPositions sets the joints.
-func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error {
+func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints []referenceframe.Input, extra map[string]interface{}) error {
 	// check that joint positions are not out of bounds
-	inputs := wrapper.model.InputFromProtobuf(joints)
-	if err := arm.CheckDesiredJointPositions(ctx, wrapper, inputs); err != nil {
+	if err := arm.CheckDesiredJointPositions(ctx, wrapper, joints); err != nil {
 		return err
 	}
 	ctx, done := wrapper.opMgr.New(ctx)
@@ -139,7 +136,7 @@ func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints *pb.JointPo
 }
 
 // JointPositions returns the set joints.
-func (wrapper *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (wrapper *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	wrapper.mu.RLock()
 	defer wrapper.mu.RUnlock()
 
@@ -169,11 +166,7 @@ func (wrapper *Arm) IsMoving(ctx context.Context) (bool, error) {
 func (wrapper *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
 	wrapper.mu.RLock()
 	defer wrapper.mu.RUnlock()
-	res, err := wrapper.actual.JointPositions(ctx, nil)
-	if err != nil {
-		return nil, err
-	}
-	return wrapper.model.InputFromProtobuf(res), nil
+	return wrapper.actual.JointPositions(ctx, nil)
 }
 
 // GoToInputs moves the arm to the specified goal inputs.
@@ -183,7 +176,7 @@ func (wrapper *Arm) GoToInputs(ctx context.Context, inputSteps ...[]referencefra
 		if err := arm.CheckDesiredJointPositions(ctx, wrapper, goal); err != nil {
 			return err
 		}
-		err := wrapper.MoveToJointPositions(ctx, wrapper.model.ProtobufFromInput(goal), nil)
+		err := wrapper.MoveToJointPositions(ctx, goal, nil)
 		if err != nil {
 			return err
 		}
diff --git a/components/arm/xarm/xarm.go b/components/arm/xarm/xarm.go
index 91185af1069..01388beed57 100644
--- a/components/arm/xarm/xarm.go
+++ b/components/arm/xarm/xarm.go
@@ -191,11 +191,7 @@ func (x *xArm) Reconfigure(ctx context.Context, deps resource.Dependencies, conf
 }
 
 func (x *xArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
-	res, err := x.JointPositions(ctx, nil)
-	if err != nil {
-		return nil, err
-	}
-	return x.model.InputFromProtobuf(res), nil
+	return x.JointPositions(ctx, nil)
 }
 
 func (x *xArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
@@ -209,8 +205,7 @@ func (x *xArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.In
 	if err != nil {
 		return err
 	}
-	from := x.model.InputFromProtobuf(curPos)
-	armRawSteps, err := x.createRawJointSteps(from, inputSteps)
+	armRawSteps, err := x.createRawJointSteps(curPos, inputSteps)
 	if err != nil {
 		return err
 	}
diff --git a/components/arm/xarm/xarm_comm.go b/components/arm/xarm/xarm_comm.go
index 0356a90f0ac..a2592d294a3 100644
--- a/components/arm/xarm/xarm_comm.go
+++ b/components/arm/xarm/xarm_comm.go
@@ -8,7 +8,6 @@ import (
 	"time"
 
 	"go.uber.org/multierr"
-	pb "go.viam.com/api/component/arm/v1"
 	"go.viam.com/utils"
 
 	"go.viam.com/rdk/referenceframe"
@@ -353,10 +352,10 @@ func (x *xArm) Close(ctx context.Context) error {
 }
 
 // MoveToJointPositions moves the arm to the requested joint positions.
-func (x *xArm) MoveToJointPositions(ctx context.Context, newPositions *pb.JointPositions, extra map[string]interface{}) error {
+func (x *xArm) MoveToJointPositions(ctx context.Context, newPositions []referenceframe.Input, extra map[string]interface{}) error {
 	ctx, done := x.opMgr.New(ctx)
 	defer done()
-	return x.GoToInputs(ctx, x.model.InputFromProtobuf(newPositions))
+	return x.GoToInputs(ctx, newPositions)
 }
 
 // Using the configured moveHz, joint speed, and joint acceleration, create the series of joint positions for the arm to follow,
@@ -553,20 +552,19 @@ func (x *xArm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra m
 }
 
 // JointPositions returns the current positions of all joints.
-func (x *xArm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (x *xArm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	c := x.newCmd(regMap["JointPos"])
 
 	jData, err := x.send(ctx, c, true)
 	if err != nil {
-		return &pb.JointPositions{}, err
+		return nil, err
 	}
 	var radians []float64
 	for i := 0; i < x.dof; i++ {
 		idx := i*4 + 1
 		radians = append(radians, float64(rutils.Float32FromBytesLE((jData.params[idx : idx+4]))))
 	}
-
-	return referenceframe.JointPositionsFromRadians(radians), nil
+	return referenceframe.FloatsToInputs(radians), nil
 }
 
 // Stop stops the xArm but also reinitializes the arm so it can take commands again.
diff --git a/motionplan/motionPlanner.go b/motionplan/motionPlanner.go
index df25b21ed24..105538f9d42 100644
--- a/motionplan/motionPlanner.go
+++ b/motionplan/motionPlanner.go
@@ -115,10 +115,10 @@ func (req *PlanRequest) validatePlanRequest() error {
 			return errors.Errorf("%s does not have a start configuration", req.Frame.Name())
 		}
 		if frameDOF != len(seedMap) {
-			return frame.NewIncorrectInputLengthError(len(seedMap), len(req.Frame.DoF()))
+			return frame.NewIncorrectDoFError(len(seedMap), len(req.Frame.DoF()))
 		}
 	} else if ok && frameDOF != len(seedMap) {
-		return frame.NewIncorrectInputLengthError(len(seedMap), len(req.Frame.DoF()))
+		return frame.NewIncorrectDoFError(len(seedMap), len(req.Frame.DoF()))
 	}
 
 	return nil
diff --git a/motionplan/solverFrame.go b/motionplan/solverFrame.go
index e6c438d5b06..a4f260c7495 100644
--- a/motionplan/solverFrame.go
+++ b/motionplan/solverFrame.go
@@ -180,7 +180,7 @@ func (sf *solverFrame) Name() string {
 // Transform returns the pose between the two frames of this solver for a given set of inputs.
 func (sf *solverFrame) Transform(inputs []frame.Input) (spatial.Pose, error) {
 	if len(inputs) != len(sf.DoF()) {
-		return nil, frame.NewIncorrectInputLengthError(len(inputs), len(sf.DoF()))
+		return nil, frame.NewIncorrectDoFError(len(inputs), len(sf.DoF()))
 	}
 	pf := frame.NewPoseInFrame(sf.solveFrameName, spatial.NewZeroPose())
 	solveName := sf.goalFrameName
@@ -197,10 +197,10 @@ func (sf *solverFrame) Transform(inputs []frame.Input) (spatial.Pose, error) {
 // Interpolate interpolates the given amount between the two sets of inputs.
 func (sf *solverFrame) Interpolate(from, to []frame.Input, by float64) ([]frame.Input, error) {
 	if len(from) != len(sf.DoF()) {
-		return nil, frame.NewIncorrectInputLengthError(len(from), len(sf.DoF()))
+		return nil, frame.NewIncorrectDoFError(len(from), len(sf.DoF()))
 	}
 	if len(to) != len(sf.DoF()) {
-		return nil, frame.NewIncorrectInputLengthError(len(to), len(sf.DoF()))
+		return nil, frame.NewIncorrectDoFError(len(to), len(sf.DoF()))
 	}
 	interp := make([]frame.Input, 0, len(to))
 	posIdx := 0
@@ -250,7 +250,7 @@ func (sf *solverFrame) ProtobufFromInput(input []frame.Input) *pb.JointPositions
 // geometries in the solverFrame in the reference frame of the World frame.
 func (sf *solverFrame) Geometries(inputs []frame.Input) (*frame.GeometriesInFrame, error) {
 	if len(inputs) != len(sf.DoF()) {
-		return nil, frame.NewIncorrectInputLengthError(len(inputs), len(sf.DoF()))
+		return nil, frame.NewIncorrectDoFError(len(inputs), len(sf.DoF()))
 	}
 	var errAll error
 	inputMap := sf.sliceToMap(inputs)
diff --git a/motionplan/tpspace/ptgDiffDrive.go b/motionplan/tpspace/ptgDiffDrive.go
index a9008524c44..a6d26d06682 100644
--- a/motionplan/tpspace/ptgDiffDrive.go
+++ b/motionplan/tpspace/ptgDiffDrive.go
@@ -38,7 +38,7 @@ func (ptg *ptgDiffDrive) Velocities(alpha, dist float64) (float64, float64, erro
 // rotation. For distance, dist is equal to the number of radians rotated plus the number of millimeters of straight motion.
 func (ptg *ptgDiffDrive) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
 	if len(inputs) != 2 {
-		return nil, referenceframe.NewIncorrectInputLengthError(len(inputs), 2)
+		return nil, referenceframe.NewIncorrectDoFError(len(inputs), 2)
 	}
 	alpha := inputs[0].Value
 	dist := inputs[1].Value
diff --git a/motionplan/tpspace/ptgGroupFrame.go b/motionplan/tpspace/ptgGroupFrame.go
index ced465139c9..fefd580f73c 100644
--- a/motionplan/tpspace/ptgGroupFrame.go
+++ b/motionplan/tpspace/ptgGroupFrame.go
@@ -287,7 +287,7 @@ func (pf *ptgGroupFrame) PTGSolvers() []PTGSolver {
 func (pf *ptgGroupFrame) validInputs(inputs []referenceframe.Input) error {
 	var errAll error
 	if len(inputs) != len(pf.limits) {
-		return referenceframe.NewIncorrectInputLengthError(len(inputs), len(pf.limits))
+		return referenceframe.NewIncorrectDoFError(len(inputs), len(pf.limits))
 	}
 	for i := 0; i < len(pf.limits); i++ {
 		if inputs[i].Value < pf.limits[i].Min || inputs[i].Value > pf.limits[i].Max {
diff --git a/motionplan/tpspace/ptgIKFrame.go b/motionplan/tpspace/ptgIKFrame.go
index ec8305f7c03..94131a32db9 100644
--- a/motionplan/tpspace/ptgIKFrame.go
+++ b/motionplan/tpspace/ptgIKFrame.go
@@ -57,7 +57,7 @@ func (pf *ptgIKFrame) Geometries(inputs []referenceframe.Input) (*referenceframe
 func (pf *ptgIKFrame) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
 	if len(inputs) != len(pf.DoF()) && len(inputs) != 2 {
 		// We also want to always support 2 inputs
-		return nil, referenceframe.NewIncorrectInputLengthError(len(inputs), len(pf.DoF()))
+		return nil, referenceframe.NewIncorrectDoFError(len(inputs), len(pf.DoF()))
 	}
 	p1 := spatialmath.NewZeroPose()
 	for i := 0; i < len(inputs); i += 2 {
diff --git a/referenceframe/errors.go b/referenceframe/errors.go
index 113e84947b7..4d1549d1f34 100644
--- a/referenceframe/errors.go
+++ b/referenceframe/errors.go
@@ -44,9 +44,9 @@ func NewFrameAlreadyExistsError(frameName string) error {
 	return errors.Errorf("frame with name %q already in frame system", frameName)
 }
 
-// NewIncorrectInputLengthError returns an error indicating that the length of the Input array does not match the DoF of the frame.
-func NewIncorrectInputLengthError(actual, expected int) error {
-	return errors.Errorf("number of inputs does not match frame DoF, expected %d but got %d", expected, actual)
+// NewIncorrectDoFError returns an error indicating that the length of the array does not match the DoF of the frame.
+func NewIncorrectDoFError(actual, expected int) error {
+	return errors.Errorf("array length does not match frame DoF, expected %d but got %d", expected, actual)
 }
 
 // NewUnsupportedJointTypeError returns an error indicating that a given joint type is not supported by current model parsing.
diff --git a/referenceframe/frame.go b/referenceframe/frame.go
index 4bbf36726e7..5f12bd94cdc 100644
--- a/referenceframe/frame.go
+++ b/referenceframe/frame.go
@@ -39,7 +39,7 @@ func RestrictedRandomFrameInputs(m Frame, rSeed *rand.Rand, restrictionPercent f
 	}
 	dof := m.DoF()
 	if len(reference) != len(dof) {
-		return nil, NewIncorrectInputLengthError(len(reference), len(dof))
+		return nil, NewIncorrectDoFError(len(reference), len(dof))
 	}
 	pos := make([]Input, 0, len(dof))
 	for i, limit := range dof {
@@ -151,7 +151,7 @@ func (bf *baseFrame) Interpolate(from, to []Input, by float64) ([]Input, error)
 func (bf *baseFrame) validInputs(inputs []Input) error {
 	var errAll error
 	if len(inputs) != len(bf.limits) {
-		return NewIncorrectInputLengthError(len(inputs), len(bf.limits))
+		return NewIncorrectDoFError(len(inputs), len(bf.limits))
 	}
 	for i := 0; i < len(bf.limits); i++ {
 		if inputs[i].Value < bf.limits[i].Min || inputs[i].Value > bf.limits[i].Max {
@@ -181,7 +181,7 @@ func (sf *tailGeometryStaticFrame) Geometries(input []Input) (*GeometriesInFrame
 		return NewGeometriesInFrame(sf.Name(), nil), nil
 	}
 	if len(input) != 0 {
-		return nil, NewIncorrectInputLengthError(len(input), 0)
+		return nil, NewIncorrectDoFError(len(input), 0)
 	}
 	newGeom := sf.geometry.Transform(sf.transform)
 	if newGeom.Label() == "" {
@@ -242,7 +242,7 @@ func NewStaticFrameWithGeometry(name string, pose spatial.Pose, geometry spatial
 // Transform returns the pose associated with this static referenceframe.
 func (sf *staticFrame) Transform(input []Input) (spatial.Pose, error) {
 	if len(input) != 0 {
-		return nil, NewIncorrectInputLengthError(len(input), 0)
+		return nil, NewIncorrectDoFError(len(input), 0)
 	}
 	return sf.transform, nil
 }
@@ -263,7 +263,7 @@ func (sf *staticFrame) Geometries(input []Input) (*GeometriesInFrame, error) {
 		return NewGeometriesInFrame(sf.Name(), nil), nil
 	}
 	if len(input) != 0 {
-		return nil, NewIncorrectInputLengthError(len(input), 0)
+		return nil, NewIncorrectDoFError(len(input), 0)
 	}
 	newGeom := sf.geometry.Transform(spatial.NewZeroPose())
 	if newGeom.Label() == "" {
@@ -489,10 +489,10 @@ func (pf *poseFrame) Transform(inputs []Input) (spatial.Pose, error) {
 // Interpolate interpolates the given amount between the two sets of inputs.
 func (pf *poseFrame) Interpolate(from, to []Input, by float64) ([]Input, error) {
 	if err := pf.baseFrame.validInputs(from); err != nil {
-		return nil, NewIncorrectInputLengthError(len(from), len(pf.DoF()))
+		return nil, NewIncorrectDoFError(len(from), len(pf.DoF()))
 	}
 	if err := pf.baseFrame.validInputs(to); err != nil {
-		return nil, NewIncorrectInputLengthError(len(to), len(pf.DoF()))
+		return nil, NewIncorrectDoFError(len(to), len(pf.DoF()))
 	}
 	fromPose, err := pf.Transform(from)
 	if err != nil {
diff --git a/referenceframe/primitives.go b/referenceframe/input.go
similarity index 73%
rename from referenceframe/primitives.go
rename to referenceframe/input.go
index c5ced88a77b..467532be170 100644
--- a/referenceframe/primitives.go
+++ b/referenceframe/input.go
@@ -10,13 +10,35 @@ import (
 	"go.viam.com/rdk/utils"
 )
 
-// Input wraps the input to a mutable frame, e.g. a joint angle or a gantry position. Revolute inputs should be in
-// radians. Prismatic inputs should be in mm.
-// TODO: Determine what more this needs, or eschew in favor of raw float64s if nothing needed.
+// Input wraps the input to a mutable frame, e.g. a joint angle or a gantry position.
+//   - revolute inputs should be in radians.
+//   - prismatic inputs should be in mm.
 type Input struct {
 	Value float64
 }
 
+func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, error) {
+	if f == nil {
+		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
+		return JointPositionsFromRadians(InputsToFloats(inputs)), nil
+	}
+	if len(f.DoF()) != len(inputs) {
+		return nil, NewIncorrectDoFError(len(inputs), len(f.DoF()))
+	}
+	return f.ProtobufFromInput(inputs), nil
+}
+
+func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error) {
+	if f == nil {
+		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
+		return FloatsToInputs(JointPositionsToRadians(jp)), nil
+	}
+	if len(f.DoF()) != len(jp.Values) {
+		return nil, NewIncorrectDoFError(len(jp.Values), len(f.DoF()))
+	}
+	return f.InputFromProtobuf(jp), nil
+}
+
 // FloatsToInputs wraps a slice of floats in Inputs.
 func FloatsToInputs(floats []float64) []Input {
 	inputs := make([]Input, len(floats))
diff --git a/referenceframe/primitives_test.go b/referenceframe/input_test.go
similarity index 100%
rename from referenceframe/primitives_test.go
rename to referenceframe/input_test.go
diff --git a/referenceframe/model.go b/referenceframe/model.go
index 3cbf9de7e42..be69a832706 100644
--- a/referenceframe/model.go
+++ b/referenceframe/model.go
@@ -210,7 +210,7 @@ func (m *SimpleModel) ModelPieceFrames(inputs []Input) (map[string]Frame, error)
 // between quaternions and OV are not needed.
 func (m *SimpleModel) inputsToFrames(inputs []Input, collectAll bool) ([]*staticFrame, error) {
 	if len(m.DoF()) != len(inputs) {
-		return nil, NewIncorrectInputLengthError(len(inputs), len(m.DoF()))
+		return nil, NewIncorrectDoFError(len(inputs), len(m.DoF()))
 	}
 	var err error
 	poses := make([]*staticFrame, 0, len(m.OrdTransforms))
diff --git a/referenceframe/model_test.go b/referenceframe/model_test.go
index 686967c846d..6bda57de026 100644
--- a/referenceframe/model_test.go
+++ b/referenceframe/model_test.go
@@ -75,12 +75,12 @@ func TestIncorrectInputs(t *testing.T) {
 	// test incorrect number of inputs
 	pose, err := m.Transform(make([]Input, dof+1))
 	test.That(t, pose, test.ShouldBeNil)
-	test.That(t, err.Error(), test.ShouldContainSubstring, NewIncorrectInputLengthError(dof+1, dof).Error())
+	test.That(t, err.Error(), test.ShouldContainSubstring, NewIncorrectDoFError(dof+1, dof).Error())
 
 	// test incorrect number of inputs to Geometries
 	gf, err := m.Geometries(make([]Input, dof-1))
 	test.That(t, gf, test.ShouldBeNil)
-	test.That(t, err.Error(), test.ShouldContainSubstring, NewIncorrectInputLengthError(dof-1, dof).Error())
+	test.That(t, err.Error(), test.ShouldContainSubstring, NewIncorrectDoFError(dof-1, dof).Error())
 }
 
 func TestModelGeometries(t *testing.T) {
diff --git a/robot/client/client_test.go b/robot/client/client_test.go
index 776900d379a..b452af0049f 100644
--- a/robot/client/client_test.go
+++ b/robot/client/client_test.go
@@ -495,7 +495,7 @@ func TestStatusClient(t *testing.T) {
 	test.That(t, err, test.ShouldNotBeNil)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "not found")
 
-	err = arm1.MoveToJointPositions(context.Background(), &armpb.JointPositions{Values: []float64{1}}, nil)
+	err = arm1.MoveToJointPositions(context.Background(), []referenceframe.Input{}, nil)
 	test.That(t, err, test.ShouldNotBeNil)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "not found")
 
@@ -563,7 +563,7 @@ func TestStatusClient(t *testing.T) {
 	test.That(t, err, test.ShouldNotBeNil)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "not found")
 
-	err = resource1.(arm.Arm).MoveToJointPositions(context.Background(), &armpb.JointPositions{Values: []float64{1}}, nil)
+	err = resource1.(arm.Arm).MoveToJointPositions(context.Background(), []referenceframe.Input{}, nil)
 	test.That(t, err, test.ShouldNotBeNil)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "not found")
 
diff --git a/robot/impl/local_robot_test.go b/robot/impl/local_robot_test.go
index b8acda30b62..e9743f5317a 100644
--- a/robot/impl/local_robot_test.go
+++ b/robot/impl/local_robot_test.go
@@ -20,6 +20,7 @@ import (
 	"github.com/golang/geo/r3"
 	"go.mongodb.org/mongo-driver/bson/primitive"
 	"go.uber.org/zap"
+
 	// registers all components.
 	commonpb "go.viam.com/api/common/v1"
 	armpb "go.viam.com/api/component/arm/v1"
@@ -1218,8 +1219,7 @@ func TestGetRemoteResourceAndGrandFather(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	r0Arm, ok := r0arm1.(arm.Arm)
 	test.That(t, ok, test.ShouldBeTrue)
-	tPos := referenceframe.JointPositionsFromRadians([]float64{math.Pi})
-	err = r0Arm.MoveToJointPositions(context.Background(), tPos, nil)
+	err = r0Arm.MoveToJointPositions(context.Background(), []referenceframe.Input{{math.Pi}}, nil)
 	test.That(t, err, test.ShouldBeNil)
 	p0Arm1, err := r0Arm.JointPositions(context.Background(), nil)
 	test.That(t, err, test.ShouldBeNil)
@@ -1269,7 +1269,7 @@ func TestGetRemoteResourceAndGrandFather(t *testing.T) {
 	test.That(t, ok, test.ShouldBeTrue)
 	pos, err := rrArm1.JointPositions(ctx, nil)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, pos.Values, test.ShouldResemble, p0Arm1.Values)
+	test.That(t, pos, test.ShouldResemble, p0Arm1)
 
 	arm1, err = r.ResourceByName(arm.Named("arm1"))
 	test.That(t, err, test.ShouldBeNil)
@@ -1277,7 +1277,7 @@ func TestGetRemoteResourceAndGrandFather(t *testing.T) {
 	test.That(t, ok, test.ShouldBeTrue)
 	pos, err = rrArm1.JointPositions(ctx, nil)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, pos.Values, test.ShouldResemble, p0Arm1.Values)
+	test.That(t, pos, test.ShouldResemble, p0Arm1)
 
 	_, err = r.ResourceByName(arm.Named("remote:foo:pieceArm"))
 	test.That(t, err, test.ShouldBeNil)
diff --git a/services/datamanager/builtin/builtin_test.go b/services/datamanager/builtin/builtin_test.go
index ba1c59848c7..9a0de0b5adb 100644
--- a/services/datamanager/builtin/builtin_test.go
+++ b/services/datamanager/builtin/builtin_test.go
@@ -17,7 +17,6 @@ import (
 	"github.com/benbjohnson/clock"
 	"github.com/pkg/errors"
 	v1 "go.viam.com/api/app/datasync/v1"
-	v1Arm "go.viam.com/api/component/arm/v1"
 	"go.viam.com/test"
 	goutils "go.viam.com/utils"
 	"go.viam.com/utils/rpc"
@@ -33,6 +32,7 @@ import (
 	"go.viam.com/rdk/internal/cloud"
 	cloudinject "go.viam.com/rdk/internal/testutils/inject"
 	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/services/datamanager"
 	"go.viam.com/rdk/services/datamanager/builtin/capture"
@@ -284,8 +284,8 @@ func TestFileDeletion(t *testing.T) {
 			JointPositionsFunc: func(
 				ctx context.Context,
 				extra map[string]interface{},
-			) (*v1Arm.JointPositions, error) {
-				return &v1Arm.JointPositions{Values: []float64{1.0, 2.0, 3.0, 4.0}}, nil
+			) ([]referenceframe.Input, error) {
+				return referenceframe.FloatsToInputs([]float64{1.0, 2.0, 3.0, 4.0}), nil
 			},
 		},
 		gantry.Named("gantry1"): &inject.Gantry{
diff --git a/services/motion/builtin/wrapperFrame.go b/services/motion/builtin/wrapperFrame.go
index 5f1eb3a2a49..62ab422c1ef 100644
--- a/services/motion/builtin/wrapperFrame.go
+++ b/services/motion/builtin/wrapperFrame.go
@@ -39,7 +39,7 @@ func (wf *wrapperFrame) Name() string {
 // Transform returns the associated pose given a list of inputs.
 func (wf *wrapperFrame) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
 	if len(inputs) != len(wf.DoF()) {
-		return nil, referenceframe.NewIncorrectInputLengthError(len(inputs), len(wf.DoF()))
+		return nil, referenceframe.NewIncorrectDoFError(len(inputs), len(wf.DoF()))
 	}
 	// executionFramePose is our pose in a given set of plan.Trajectory inputs
 	executionFramePose, err := wf.executionFrame.Transform(inputs[:len(wf.executionFrame.DoF())])
@@ -58,10 +58,10 @@ func (wf *wrapperFrame) Transform(inputs []referenceframe.Input) (spatialmath.Po
 // Interpolate interpolates the given amount between the two sets of inputs.
 func (wf *wrapperFrame) Interpolate(from, to []referenceframe.Input, by float64) ([]referenceframe.Input, error) {
 	if len(from) != len(wf.DoF()) {
-		return nil, referenceframe.NewIncorrectInputLengthError(len(from), len(wf.DoF()))
+		return nil, referenceframe.NewIncorrectDoFError(len(from), len(wf.DoF()))
 	}
 	if len(to) != len(wf.DoF()) {
-		return nil, referenceframe.NewIncorrectInputLengthError(len(to), len(wf.DoF()))
+		return nil, referenceframe.NewIncorrectDoFError(len(to), len(wf.DoF()))
 	}
 	interp := make([]referenceframe.Input, 0, len(to))
 
@@ -97,7 +97,7 @@ func (wf *wrapperFrame) Interpolate(from, to []referenceframe.Input, by float64)
 // Geometries returns an object representing the 3D space associated with the executionFrame's geometry.
 func (wf *wrapperFrame) Geometries(inputs []referenceframe.Input) (*referenceframe.GeometriesInFrame, error) {
 	if len(inputs) != len(wf.DoF()) {
-		return nil, referenceframe.NewIncorrectInputLengthError(len(inputs), len(wf.DoF()))
+		return nil, referenceframe.NewIncorrectDoFError(len(inputs), len(wf.DoF()))
 	}
 	sfGeometries := []spatialmath.Geometry{}
 	gf, err := wf.executionFrame.Geometries(make([]referenceframe.Input, len(wf.executionFrame.DoF())))
diff --git a/services/motion/motion_helpers_test.go b/services/motion/motion_helpers_test.go
index 694c1f07380..f1274b64ddd 100644
--- a/services/motion/motion_helpers_test.go
+++ b/services/motion/motion_helpers_test.go
@@ -7,7 +7,6 @@ import (
 
 	"github.com/golang/geo/r3"
 	"github.com/pkg/errors"
-	pb "go.viam.com/api/component/arm/v1"
 	"go.viam.com/test"
 
 	"go.viam.com/rdk/components/arm"
@@ -117,8 +116,8 @@ func TestOOBArmMotion(t *testing.T) {
 	OOBFloats := []float64{0, 0, 0, 0, 0, 720}
 	injectedArm := &inject.Arm{
 		Arm: notReal,
-		JointPositionsFunc: func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
-			return &pb.JointPositions{Values: OOBFloats}, nil
+		JointPositionsFunc: func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
+			return referenceframe.FloatsToInputs(OOBFloats), nil
 		},
 		CurrentInputsFunc: func(ctx context.Context) ([]referenceframe.Input, error) {
 			return referenceframe.FloatsToInputs(OOBFloats), nil
@@ -139,12 +138,12 @@ func TestOOBArmMotion(t *testing.T) {
 	})
 
 	t.Run("MoveToJointPositions fails OOB and moving further OOB", func(t *testing.T) {
-		err := injectedArm.MoveToJointPositions(context.Background(), &pb.JointPositions{Values: []float64{0, 0, 0, 0, 0, 900}}, nil)
+		err := injectedArm.MoveToJointPositions(context.Background(), referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 900}), nil)
 		test.That(t, err, test.ShouldNotBeNil)
 	})
 
 	t.Run("MoveToJointPositions succeeds when OOB and moving further in-bounds", func(t *testing.T) {
-		err := injectedArm.MoveToJointPositions(context.Background(), &pb.JointPositions{Values: []float64{0, 0, 0, 0, 0, 0}}, nil)
+		err := injectedArm.MoveToJointPositions(context.Background(), referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0}), nil)
 		test.That(t, err, test.ShouldBeNil)
 	})
 }
diff --git a/testutils/inject/arm.go b/testutils/inject/arm.go
index 8079a08b914..df0d92bba3c 100644
--- a/testutils/inject/arm.go
+++ b/testutils/inject/arm.go
@@ -3,8 +3,6 @@ package inject
 import (
 	"context"
 
-	pb "go.viam.com/api/component/arm/v1"
-
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/resource"
@@ -18,8 +16,8 @@ type Arm struct {
 	DoFunc                   func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
 	EndPositionFunc          func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
 	MoveToPositionFunc       func(ctx context.Context, to spatialmath.Pose, extra map[string]interface{}) error
-	MoveToJointPositionsFunc func(ctx context.Context, pos *pb.JointPositions, extra map[string]interface{}) error
-	JointPositionsFunc       func(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
+	MoveToJointPositionsFunc func(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error
+	JointPositionsFunc       func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
 	StopFunc                 func(ctx context.Context, extra map[string]interface{}) error
 	IsMovingFunc             func(context.Context) (bool, error)
 	CloseFunc                func(ctx context.Context) error
@@ -56,15 +54,15 @@ func (a *Arm) MoveToPosition(ctx context.Context, to spatialmath.Pose, extra map
 }
 
 // MoveToJointPositions calls the injected MoveToJointPositions or the real version.
-func (a *Arm) MoveToJointPositions(ctx context.Context, jp *pb.JointPositions, extra map[string]interface{}) error {
+func (a *Arm) MoveToJointPositions(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error {
 	if a.MoveToJointPositionsFunc == nil {
-		return a.Arm.MoveToJointPositions(ctx, jp, extra)
+		return a.Arm.MoveToJointPositions(ctx, positions, extra)
 	}
-	return a.MoveToJointPositionsFunc(ctx, jp, extra)
+	return a.MoveToJointPositionsFunc(ctx, positions, extra)
 }
 
 // JointPositions calls the injected JointPositions or the real version.
-func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
+func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	if a.JointPositionsFunc == nil {
 		return a.Arm.JointPositions(ctx, extra)
 	}

From 8116d33868ee28335cee0ce737ebab290a876e68 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Tue, 29 Oct 2024 14:41:09 -0400
Subject: [PATCH 03/14] lint

---
 components/arm/arm.go                | 3 ---
 components/arm/eva/eva.go            | 1 -
 components/arm/universalrobots/ur.go | 1 -
 go.sum                               | 2 --
 referenceframe/input.go              | 4 ++++
 robot/impl/local_robot_test.go       | 1 -
 6 files changed, 4 insertions(+), 8 deletions(-)

diff --git a/components/arm/arm.go b/components/arm/arm.go
index 2f86aca4871..369d71e65bd 100644
--- a/components/arm/arm.go
+++ b/components/arm/arm.go
@@ -8,7 +8,6 @@ package arm
 
 import (
 	"context"
-	"errors"
 	"fmt"
 
 	v1 "go.viam.com/api/common/v1"
@@ -23,8 +22,6 @@ import (
 	"go.viam.com/rdk/utils"
 )
 
-var ErrModelNotValid = errors.New("unable to retrieve a valid arm model from arm")
-
 func init() {
 	resource.RegisterAPI(API, resource.APIRegistration[Arm]{
 		Status:                      resource.StatusFunc(CreateStatus),
diff --git a/components/arm/eva/eva.go b/components/arm/eva/eva.go
index b32d0a6ca10..b7d93204667 100644
--- a/components/arm/eva/eva.go
+++ b/components/arm/eva/eva.go
@@ -6,7 +6,6 @@ package eva
 import (
 	"bytes"
 	"context"
-
 	// for embedding model file.
 	_ "embed"
 	"encoding/json"
diff --git a/components/arm/universalrobots/ur.go b/components/arm/universalrobots/ur.go
index e81eaae6d7b..49889fd7e40 100644
--- a/components/arm/universalrobots/ur.go
+++ b/components/arm/universalrobots/ur.go
@@ -4,7 +4,6 @@ package universalrobots
 import (
 	"bufio"
 	"context"
-
 	// for embedding model file.
 	_ "embed"
 	"encoding/binary"
diff --git a/go.sum b/go.sum
index e244c7d0e89..d39f0257674 100644
--- a/go.sum
+++ b/go.sum
@@ -1645,8 +1645,6 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
 go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
 go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
 go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
-go.viam.com/api v0.1.350 h1:pMyU/fFS4cEsQNQoC69lBapwl6R2jbN2q4hoT+Sz8lw=
-go.viam.com/api v0.1.350/go.mod h1:5lpVRxMsKFCaahqsnJfPGwJ9baoQ6PIKQu3lxvy6Wtw=
 go.viam.com/api v0.1.351 h1:jNIpa7K1RzQzWrwnXJBwFZ+oQ/OiZBWLqTp9+7nznPI=
 go.viam.com/api v0.1.351/go.mod h1:5lpVRxMsKFCaahqsnJfPGwJ9baoQ6PIKQu3lxvy6Wtw=
 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps=
diff --git a/referenceframe/input.go b/referenceframe/input.go
index 467532be170..e7e7c37877a 100644
--- a/referenceframe/input.go
+++ b/referenceframe/input.go
@@ -17,6 +17,8 @@ type Input struct {
 	Value float64
 }
 
+// JointPositionsFromInputs converts the given slice of Input to a JointPositions struct,
+// using the ProtobufFromInput function provided by the given Frame.
 func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, error) {
 	if f == nil {
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
@@ -28,6 +30,8 @@ func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, erro
 	return f.ProtobufFromInput(inputs), nil
 }
 
+// InputsFromJointPositions converts the given JointPositions struct to a slice of Input,
+// using the ProtobufFromInput function provided by the given Frame.
 func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error) {
 	if f == nil {
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
diff --git a/robot/impl/local_robot_test.go b/robot/impl/local_robot_test.go
index e9743f5317a..f1fcb5339ce 100644
--- a/robot/impl/local_robot_test.go
+++ b/robot/impl/local_robot_test.go
@@ -20,7 +20,6 @@ import (
 	"github.com/golang/geo/r3"
 	"go.mongodb.org/mongo-driver/bson/primitive"
 	"go.uber.org/zap"
-
 	// registers all components.
 	commonpb "go.viam.com/api/common/v1"
 	armpb "go.viam.com/api/component/arm/v1"

From 3e83af9e5946b9422662ae8ee98cc0eaea8caefe Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Tue, 29 Oct 2024 15:45:36 -0400
Subject: [PATCH 04/14] lint

---
 motionplan/motionPlanner_test.go             | 4 ++--
 services/datamanager/builtin/builtin_test.go | 3 +++
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/motionplan/motionPlanner_test.go b/motionplan/motionPlanner_test.go
index 0a710e86339..0b1c8fda434 100644
--- a/motionplan/motionPlanner_test.go
+++ b/motionplan/motionPlanner_test.go
@@ -1148,7 +1148,7 @@ func TestValidatePlanRequest(t *testing.T) {
 					"frame1": frame.FloatsToInputs([]float64{0}),
 				},
 			},
-			expectedErr: errors.New("number of inputs does not match frame DoF, expected 0 but got 1"),
+			expectedErr: frame.NewIncorrectDoFError(1, 0),
 		},
 		{
 			name: "incorrect length StartConfiguration - fail",
@@ -1171,7 +1171,7 @@ func TestValidatePlanRequest(t *testing.T) {
 					"frame2": frame.FloatsToInputs([]float64{0, 0, 0, 0, 0}),
 				},
 			},
-			expectedErr: errors.New("number of inputs does not match frame DoF, expected 1 but got 5"),
+			expectedErr: frame.NewIncorrectDoFError(5, 1),
 		},
 		{
 			name: "well formed PlanRequest",
diff --git a/services/datamanager/builtin/builtin_test.go b/services/datamanager/builtin/builtin_test.go
index 9a0de0b5adb..274f0da8ea4 100644
--- a/services/datamanager/builtin/builtin_test.go
+++ b/services/datamanager/builtin/builtin_test.go
@@ -287,6 +287,9 @@ func TestFileDeletion(t *testing.T) {
 			) ([]referenceframe.Input, error) {
 				return referenceframe.FloatsToInputs([]float64{1.0, 2.0, 3.0, 4.0}), nil
 			},
+			ModelFrameFunc: func() referenceframe.Model {
+				return nil
+			},
 		},
 		gantry.Named("gantry1"): &inject.Gantry{
 			PositionFunc: func(

From 3ededbcf674456181f8fc1d0940b0a636ec9e42c Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Wed, 30 Oct 2024 11:42:03 -0400
Subject: [PATCH 05/14] lint

---
 components/arm/client.go | 1 +
 referenceframe/input.go  | 7 +++++++
 2 files changed, 8 insertions(+)

diff --git a/components/arm/client.go b/components/arm/client.go
index 42d0ad3c597..6abb04e7abd 100644
--- a/components/arm/client.go
+++ b/components/arm/client.go
@@ -145,6 +145,7 @@ func (c *client) CurrentInputs(ctx context.Context) ([]referenceframe.Input, err
 }
 
 func (c *client) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
+	// TODO: switch this over call MoveThroughJointPositions when that API is ready
 	for _, goal := range inputSteps {
 		if err := c.MoveToJointPositions(ctx, goal, nil); err != nil {
 			return err
diff --git a/referenceframe/input.go b/referenceframe/input.go
index e7e7c37877a..1bcd1132e13 100644
--- a/referenceframe/input.go
+++ b/referenceframe/input.go
@@ -1,6 +1,7 @@
 package referenceframe
 
 import (
+	"errors"
 	"fmt"
 	"math"
 
@@ -24,6 +25,9 @@ func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, erro
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
 		return JointPositionsFromRadians(InputsToFloats(inputs)), nil
 	}
+	if inputs == nil {
+		return nil, errors.New("inputs cannot be nil")
+	}
 	if len(f.DoF()) != len(inputs) {
 		return nil, NewIncorrectDoFError(len(inputs), len(f.DoF()))
 	}
@@ -37,6 +41,9 @@ func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error) {
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
 		return FloatsToInputs(JointPositionsToRadians(jp)), nil
 	}
+	if jp == nil {
+		return nil, errors.New("jointPositions cannot be nil")
+	}
 	if len(f.DoF()) != len(jp.Values) {
 		return nil, NewIncorrectDoFError(len(jp.Values), len(f.DoF()))
 	}

From d18ff0c26a4bea0458fbf03e6c2cb1fc6c6b0fed Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Wed, 30 Oct 2024 12:21:18 -0400
Subject: [PATCH 06/14] lint

---
 referenceframe/input.go | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/referenceframe/input.go b/referenceframe/input.go
index 1bcd1132e13..9ce24f4c880 100644
--- a/referenceframe/input.go
+++ b/referenceframe/input.go
@@ -25,12 +25,12 @@ func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, erro
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
 		return JointPositionsFromRadians(InputsToFloats(inputs)), nil
 	}
-	if inputs == nil {
-		return nil, errors.New("inputs cannot be nil")
-	}
 	if len(f.DoF()) != len(inputs) {
 		return nil, NewIncorrectDoFError(len(inputs), len(f.DoF()))
 	}
+	if inputs == nil {
+		return nil, errors.New("inputs cannot be nil")
+	}
 	return f.ProtobufFromInput(inputs), nil
 }
 
@@ -41,12 +41,12 @@ func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error) {
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
 		return FloatsToInputs(JointPositionsToRadians(jp)), nil
 	}
-	if jp == nil {
-		return nil, errors.New("jointPositions cannot be nil")
-	}
 	if len(f.DoF()) != len(jp.Values) {
 		return nil, NewIncorrectDoFError(len(jp.Values), len(f.DoF()))
 	}
+	if jp == nil {
+		return nil, errors.New("jointPositions cannot be nil")
+	}
 	return f.InputFromProtobuf(jp), nil
 }
 

From 5cfecfa8951d7826cc6da574791e1f710761b6b2 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Wed, 30 Oct 2024 15:53:34 -0400
Subject: [PATCH 07/14] first pass

---
 components/arm/arm.go                | 29 +++++++++++++------
 components/arm/client.go             | 33 ++++++++++++++++++++--
 components/arm/eva/eva.go            | 10 +++++++
 components/arm/fake/fake.go          |  9 ++++++
 components/arm/pb_helpers.go         | 42 ++++++++++++++++++++++++++++
 components/arm/server.go             | 22 +++++++++++++++
 components/arm/universalrobots/ur.go | 10 +++++++
 components/arm/wrapper/wrapper.go    |  9 ++++++
 components/arm/xarm/xarm_comm.go     | 10 +++++++
 9 files changed, 163 insertions(+), 11 deletions(-)

diff --git a/components/arm/arm.go b/components/arm/arm.go
index 369d71e65bd..99754ba7ee5 100644
--- a/components/arm/arm.go
+++ b/components/arm/arm.go
@@ -75,17 +75,26 @@ func Named(name string) resource.Name {
 //
 // MoveToJointPositions example:
 //
-//	// Assumes you have imported "go.viam.com/api/component/arm/v1" as `componentpb`
 //	myArm, err := arm.FromRobot(machine, "my_arm")
 //
-//	// Declare an array of values with your desired rotational value for each joint on the arm.
-//	degrees := []float64{4.0, 5.0, 6.0}
+//	// Declare an array of values with your desired rotational value (in radians) for each joint on the arm.
+//	inputs := referenceframe.FloatsToInputs([]float64{0, math.Pi/2, math.Pi})
 //
-//	// Declare a new JointPositions with these values.
-//	jointPos := &componentpb.JointPositions{Values: degrees}
+//	// Move each joint of the arm to the positions specified in the above slice
+//	err = myArm.MoveToJointPositions(context.Background(), inputs, nil)
 //
-//	// Move each joint of the arm to the position these values specify.
-//	err = myArm.MoveToJointPositions(context.Background(), jointPos, nil)
+// MoveToJointPositions example:
+//
+//	myArm, err := arm.FromRobot(machine, "my_arm")
+//
+//	// Declare a 2D array of values with your desired rotational value (in radians) for each joint on the arm.
+//	inputs := [][]referenceframe.Input{
+//		referenceframe.FloatsToInputs([]float64{0, math.Pi/2, math.Pi})
+//		referenceframe.FloatsToInputs([]float64{0, 0, 0})
+//	}
+//
+//	// Move each joint of the arm through the positions in the slice defined above
+//	err = myArm.MoveThroughJointPositions(context.Background(), inputs, nil, nil)
 //
 // JointPositions example:
 //
@@ -109,10 +118,14 @@ type Arm interface {
 	// This will block until done or a new operation cancels this one.
 	MoveToPosition(ctx context.Context, pose spatialmath.Pose, extra map[string]interface{}) error
 
-	// MoveToJointPositions moves the arm's joints to the given positions.
+	// MoveToJointPositions moves the arm's joints through the given positions in the order they are specified.
 	// This will block until done or a new operation cancels this one.
 	MoveToJointPositions(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error
 
+	// MoveToJointPositions moves the arm's joints to the given positions.
+	// This will block until done or a new operation cancels this one.
+	MoveThroughJointPositions(ctx context.Context, positions [][]referenceframe.Input, options *MoveOptions, extra map[string]any) error
+
 	// JointPositions returns the current joint positions of the arm.
 	JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
 }
diff --git a/components/arm/client.go b/components/arm/client.go
index 6abb04e7abd..d872e60a846 100644
--- a/components/arm/client.go
+++ b/components/arm/client.go
@@ -94,9 +94,6 @@ func (c *client) MoveToJointPositions(ctx context.Context, positions []reference
 	if err != nil {
 		return err
 	}
-	if positions == nil {
-		c.logger.Warnf("%s MoveToJointPositions: position parameter is nil", c.name)
-	}
 	jp, err := referenceframe.JointPositionsFromInputs(c.model, positions)
 	if err != nil {
 		return err
@@ -109,6 +106,36 @@ func (c *client) MoveToJointPositions(ctx context.Context, positions []reference
 	return err
 }
 
+func (c *client) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	options *MoveOptions,
+	extra map[string]interface{},
+) error {
+	ext, err := protoutils.StructToStructPb(extra)
+	if err != nil {
+		return err
+	}
+	if positions == nil {
+		c.logger.Warnf("%s MoveThroughJointPositions: position argument is nil", c.name)
+	}
+	allJPs := make([]*pb.JointPositions, 0, len(positions))
+	for _, position := range positions {
+		jp, err := referenceframe.JointPositionsFromInputs(c.model, position)
+		if err != nil {
+			return err
+		}
+		allJPs = append(allJPs, jp)
+	}
+	_, err = c.client.MoveThroughJointPositions(ctx, &pb.MoveThroughJointPositionsRequest{
+		Name:      c.name,
+		Positions: allJPs,
+		Options:   options.toProtobuf(),
+		Extra:     ext,
+	})
+	return err
+}
+
 func (c *client) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	ext, err := protoutils.StructToStructPb(extra)
 	if err != nil {
diff --git a/components/arm/eva/eva.go b/components/arm/eva/eva.go
index b7d93204667..28f45fbc524 100644
--- a/components/arm/eva/eva.go
+++ b/components/arm/eva/eva.go
@@ -6,6 +6,7 @@ package eva
 import (
 	"bytes"
 	"context"
+
 	// for embedding model file.
 	_ "embed"
 	"encoding/json"
@@ -177,6 +178,15 @@ func (e *eva) MoveToJointPositions(ctx context.Context, newPositions []reference
 	return e.doMoveJoints(ctx, radians)
 }
 
+func (e *eva) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	_ *arm.MoveOptions,
+	_ map[string]interface{},
+) error {
+	return e.GoToInputs(ctx, positions...)
+}
+
 func (e *eva) doMoveJoints(ctx context.Context, joints []float64) error {
 	if err := e.apiLock(ctx); err != nil {
 		return err
diff --git a/components/arm/fake/fake.go b/components/arm/fake/fake.go
index 4f9a4433c90..3fecb38beff 100644
--- a/components/arm/fake/fake.go
+++ b/components/arm/fake/fake.go
@@ -188,6 +188,15 @@ func (a *Arm) MoveToJointPositions(ctx context.Context, joints []referenceframe.
 	return nil
 }
 
+func (a *Arm) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	_ *arm.MoveOptions,
+	_ map[string]interface{},
+) error {
+	return a.GoToInputs(ctx, positions...)
+}
+
 // JointPositions returns joints.
 func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	a.mu.RLock()
diff --git a/components/arm/pb_helpers.go b/components/arm/pb_helpers.go
index 2c8da8b5127..1e533b07168 100644
--- a/components/arm/pb_helpers.go
+++ b/components/arm/pb_helpers.go
@@ -4,11 +4,53 @@ import (
 	"fmt"
 
 	commonpb "go.viam.com/api/common/v1"
+	pb "go.viam.com/api/component/arm/v1"
 
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/referenceframe/urdf"
+	"go.viam.com/rdk/utils"
 )
 
+const (
+	defaultMaxVelDegPerSec  = 60.
+	defaultMaxAccDegPerSec2 = 1.
+)
+
+type MoveOptions struct {
+	MaxVel, MaxAcc float64
+}
+
+func NewDefaultMoveOptions() *MoveOptions {
+	return moveOptionsFromProtobuf(nil)
+}
+
+func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
+	if protobuf == nil {
+		protobuf = &pb.MoveOptions{}
+	}
+
+	var vel, acc float64
+	if protobuf.MaxVelDegsPerSec == nil {
+		vel = defaultMaxVelDegPerSec
+	}
+	if protobuf.MaxAccDegsPerSec2 == nil {
+		acc = defaultMaxAccDegPerSec2
+	}
+	return &MoveOptions{
+		MaxVel: utils.DegToRad(vel),
+		MaxAcc: utils.DegToRad(acc),
+	}
+}
+
+func (opts MoveOptions) toProtobuf() *pb.MoveOptions {
+	vel := utils.RadToDeg(opts.MaxVel)
+	acc := utils.RadToDeg(opts.MaxAcc)
+	return &pb.MoveOptions{
+		MaxVelDegsPerSec:  &vel,
+		MaxAccDegsPerSec2: &acc,
+	}
+}
+
 func parseKinematicsResponse(name string, resp *commonpb.GetKinematicsResponse) (referenceframe.Model, error) {
 	format := resp.GetFormat()
 	data := resp.GetKinematicsData()
diff --git a/components/arm/server.go b/components/arm/server.go
index 72d65042f07..cc6d7c544c5 100644
--- a/components/arm/server.go
+++ b/components/arm/server.go
@@ -103,6 +103,28 @@ func (s *serviceServer) MoveToJointPositions(
 	return &pb.MoveToJointPositionsResponse{}, arm.MoveToJointPositions(ctx, inputs, req.Extra.AsMap())
 }
 
+// MoveThroughJointPositions moves an arm of the underlying robot through the requested joint positions.
+func (s *serviceServer) MoveThroughJointPositions(
+	ctx context.Context,
+	req *pb.MoveThroughJointPositionsRequest,
+) (*pb.MoveToJointPositionsResponse, error) {
+	operation.CancelOtherWithLabel(ctx, req.Name)
+	arm, err := s.coll.Resource(req.Name)
+	if err != nil {
+		return nil, err
+	}
+	allInputs := make([][]referenceframe.Input, 0, len(req.Positions))
+	for _, position := range req.Positions {
+		inputs, err := referenceframe.InputsFromJointPositions(arm.ModelFrame(), position)
+		if err != nil {
+			return nil, err
+		}
+		allInputs = append(allInputs, inputs)
+	}
+	err = arm.MoveThroughJointPositions(ctx, allInputs, moveOptionsFromProtobuf(req.Options), req.Extra.AsMap())
+	return &pb.MoveToJointPositionsResponse{}, err
+}
+
 // Stop stops the arm specified.
 func (s *serviceServer) Stop(ctx context.Context, req *pb.StopRequest) (*pb.StopResponse, error) {
 	operation.CancelOtherWithLabel(ctx, req.Name)
diff --git a/components/arm/universalrobots/ur.go b/components/arm/universalrobots/ur.go
index 49889fd7e40..9b384791068 100644
--- a/components/arm/universalrobots/ur.go
+++ b/components/arm/universalrobots/ur.go
@@ -4,6 +4,7 @@ package universalrobots
 import (
 	"bufio"
 	"context"
+
 	// for embedding model file.
 	_ "embed"
 	"encoding/binary"
@@ -383,6 +384,15 @@ func (ua *urArm) MoveToJointPositions(ctx context.Context, joints []referencefra
 	return ua.moveToJointPositionRadians(ctx, referenceframe.InputsToFloats(joints))
 }
 
+func (ua *urArm) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	_ *arm.MoveOptions,
+	_ map[string]interface{},
+) error {
+	return ua.GoToInputs(ctx, positions...)
+}
+
 // Stop stops the arm with some deceleration.
 func (ua *urArm) Stop(ctx context.Context, extra map[string]interface{}) error {
 	if !ua.inRemoteMode {
diff --git a/components/arm/wrapper/wrapper.go b/components/arm/wrapper/wrapper.go
index ca4d7815c80..33f78af1c1a 100644
--- a/components/arm/wrapper/wrapper.go
+++ b/components/arm/wrapper/wrapper.go
@@ -135,6 +135,15 @@ func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints []reference
 	return wrapper.actual.MoveToJointPositions(ctx, joints, extra)
 }
 
+func (wrapper *Arm) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	_ *arm.MoveOptions,
+	_ map[string]interface{},
+) error {
+	return wrapper.GoToInputs(ctx, positions...)
+}
+
 // JointPositions returns the set joints.
 func (wrapper *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	wrapper.mu.RLock()
diff --git a/components/arm/xarm/xarm_comm.go b/components/arm/xarm/xarm_comm.go
index a2592d294a3..45ac4f4702c 100644
--- a/components/arm/xarm/xarm_comm.go
+++ b/components/arm/xarm/xarm_comm.go
@@ -10,6 +10,7 @@ import (
 	"go.uber.org/multierr"
 	"go.viam.com/utils"
 
+	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/referenceframe"
 	"go.viam.com/rdk/services/motion"
 	"go.viam.com/rdk/spatialmath"
@@ -358,6 +359,15 @@ func (x *xArm) MoveToJointPositions(ctx context.Context, newPositions []referenc
 	return x.GoToInputs(ctx, newPositions)
 }
 
+func (x *xArm) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	_ *arm.MoveOptions,
+	_ map[string]interface{},
+) error {
+	return x.GoToInputs(ctx, positions...)
+}
+
 // Using the configured moveHz, joint speed, and joint acceleration, create the series of joint positions for the arm to follow,
 // using a trapezoidal velocity profile to blend between waypoints to the extent possible.
 func (x *xArm) createRawJointSteps(startInputs []referenceframe.Input, inputSteps [][]referenceframe.Input) ([][]float64, error) {

From c5933714ee263713281b8d89a6919896353cddd4 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Wed, 30 Oct 2024 16:02:01 -0400
Subject: [PATCH 08/14] fix comment

---
 components/arm/arm.go | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/components/arm/arm.go b/components/arm/arm.go
index 99754ba7ee5..2b18e3b3106 100644
--- a/components/arm/arm.go
+++ b/components/arm/arm.go
@@ -118,11 +118,11 @@ type Arm interface {
 	// This will block until done or a new operation cancels this one.
 	MoveToPosition(ctx context.Context, pose spatialmath.Pose, extra map[string]interface{}) error
 
-	// MoveToJointPositions moves the arm's joints through the given positions in the order they are specified.
+	// MoveToJointPositions moves the arm's joints to the given positions.
 	// This will block until done or a new operation cancels this one.
 	MoveToJointPositions(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error
 
-	// MoveToJointPositions moves the arm's joints to the given positions.
+	// MoveThroughJointPositions moves the arm's joints through the given positions in the order they are specified.
 	// This will block until done or a new operation cancels this one.
 	MoveThroughJointPositions(ctx context.Context, positions [][]referenceframe.Input, options *MoveOptions, extra map[string]any) error
 

From b799883eda9aff17a59bd5b735e9000f82454e37 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Wed, 30 Oct 2024 16:33:49 -0400
Subject: [PATCH 09/14] invert who calls who

---
 components/arm/arm.go                | 16 ----------------
 components/arm/eva/eva.go            | 22 +++++++++++-----------
 components/arm/fake/fake.go          | 15 ++++++++-------
 components/arm/universalrobots/ur.go | 24 ++++++++++++------------
 components/arm/wrapper/wrapper.go    | 26 ++++++++++++--------------
 components/arm/xarm/xarm.go          | 16 +---------------
 components/arm/xarm/xarm_comm.go     | 16 +++++++++++++++-
 services/motion/motion_helpers.go    |  2 +-
 8 files changed, 60 insertions(+), 77 deletions(-)

diff --git a/components/arm/arm.go b/components/arm/arm.go
index 2b18e3b3106..67b291fbd81 100644
--- a/components/arm/arm.go
+++ b/components/arm/arm.go
@@ -172,22 +172,6 @@ func CreateStatus(ctx context.Context, a Arm) (*pb.Status, error) {
 	return &pb.Status{EndPosition: endPosition, JointPositions: jointPositions, IsMoving: isMoving}, nil
 }
 
-// GoToWaypoints will visit in turn each of the joint position waypoints generated by a motion planner.
-func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error {
-	for _, waypoint := range waypoints {
-		err := ctx.Err() // make sure we haven't been cancelled
-		if err != nil {
-			return err
-		}
-
-		err = a.GoToInputs(ctx, waypoint)
-		if err != nil {
-			return err
-		}
-	}
-	return nil
-}
-
 // CheckDesiredJointPositions validates that the desired joint positions either bring the joint back
 // in bounds or do not move the joint more out of bounds.
 func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredInputs []referenceframe.Input) error {
diff --git a/components/arm/eva/eva.go b/components/arm/eva/eva.go
index 28f45fbc524..c6f5aeaf9a5 100644
--- a/components/arm/eva/eva.go
+++ b/components/arm/eva/eva.go
@@ -184,7 +184,16 @@ func (e *eva) MoveThroughJointPositions(
 	_ *arm.MoveOptions,
 	_ map[string]interface{},
 ) error {
-	return e.GoToInputs(ctx, positions...)
+	for _, goal := range positions {
+		if err := arm.CheckDesiredJointPositions(ctx, e, goal); err != nil {
+			return err
+		}
+		err := e.MoveToJointPositions(ctx, goal, nil)
+		if err != nil {
+			return err
+		}
+	}
+	return nil
 }
 
 func (e *eva) doMoveJoints(ctx context.Context, joints []float64) error {
@@ -394,16 +403,7 @@ func (e *eva) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
 }
 
 func (e *eva) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	for _, goal := range inputSteps {
-		if err := arm.CheckDesiredJointPositions(ctx, e, goal); err != nil {
-			return err
-		}
-		err := e.MoveToJointPositions(ctx, goal, nil)
-		if err != nil {
-			return err
-		}
-	}
-	return nil
+	return e.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
 }
 
 func (e *eva) Close(ctx context.Context) error {
diff --git a/components/arm/fake/fake.go b/components/arm/fake/fake.go
index 3fecb38beff..966eb70ebdb 100644
--- a/components/arm/fake/fake.go
+++ b/components/arm/fake/fake.go
@@ -188,13 +188,19 @@ func (a *Arm) MoveToJointPositions(ctx context.Context, joints []referenceframe.
 	return nil
 }
 
+// GoToInputs moves the fake arm through the given inputs.
 func (a *Arm) MoveThroughJointPositions(
 	ctx context.Context,
 	positions [][]referenceframe.Input,
 	_ *arm.MoveOptions,
 	_ map[string]interface{},
 ) error {
-	return a.GoToInputs(ctx, positions...)
+	for _, goal := range positions {
+		if err := a.MoveToJointPositions(ctx, goal, nil); err != nil {
+			return err
+		}
+	}
+	return nil
 }
 
 // JointPositions returns joints.
@@ -223,12 +229,7 @@ func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
 
 // GoToInputs moves the fake arm to the given inputs.
 func (a *Arm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	for _, goal := range inputSteps {
-		if err := a.MoveToJointPositions(ctx, goal, nil); err != nil {
-			return err
-		}
-	}
-	return nil
+	return a.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
 }
 
 // Close does nothing.
diff --git a/components/arm/universalrobots/ur.go b/components/arm/universalrobots/ur.go
index 9b384791068..2c6f2677b68 100644
--- a/components/arm/universalrobots/ur.go
+++ b/components/arm/universalrobots/ur.go
@@ -390,7 +390,17 @@ func (ua *urArm) MoveThroughJointPositions(
 	_ *arm.MoveOptions,
 	_ map[string]interface{},
 ) error {
-	return ua.GoToInputs(ctx, positions...)
+	for _, goal := range positions {
+		// check that joint positions are not out of bounds
+		if err := arm.CheckDesiredJointPositions(ctx, ua, goal); err != nil {
+			return err
+		}
+		err := ua.MoveToJointPositions(ctx, goal, nil)
+		if err != nil {
+			return err
+		}
+	}
+	return nil
 }
 
 // Stop stops the arm with some deceleration.
@@ -507,17 +517,7 @@ func (ua *urArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, err
 
 // GoToInputs moves the UR arm to the Inputs specified.
 func (ua *urArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	for _, goal := range inputSteps {
-		// check that joint positions are not out of bounds
-		if err := arm.CheckDesiredJointPositions(ctx, ua, goal); err != nil {
-			return err
-		}
-		err := ua.MoveToJointPositions(ctx, goal, nil)
-		if err != nil {
-			return err
-		}
-	}
-	return nil
+	return ua.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
 }
 
 // Geometries returns the list of geometries associated with the resource, in any order. The poses of the geometries reflect their
diff --git a/components/arm/wrapper/wrapper.go b/components/arm/wrapper/wrapper.go
index 33f78af1c1a..db8bf9b1f4e 100644
--- a/components/arm/wrapper/wrapper.go
+++ b/components/arm/wrapper/wrapper.go
@@ -141,7 +141,17 @@ func (wrapper *Arm) MoveThroughJointPositions(
 	_ *arm.MoveOptions,
 	_ map[string]interface{},
 ) error {
-	return wrapper.GoToInputs(ctx, positions...)
+	for _, goal := range positions {
+		// check that joint positions are not out of bounds
+		if err := arm.CheckDesiredJointPositions(ctx, wrapper, goal); err != nil {
+			return err
+		}
+		err := wrapper.MoveToJointPositions(ctx, goal, nil)
+		if err != nil {
+			return err
+		}
+	}
+	return nil
 }
 
 // JointPositions returns the set joints.
@@ -173,24 +183,12 @@ func (wrapper *Arm) IsMoving(ctx context.Context) (bool, error) {
 
 // CurrentInputs returns the current inputs of the arm.
 func (wrapper *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
-	wrapper.mu.RLock()
-	defer wrapper.mu.RUnlock()
 	return wrapper.actual.JointPositions(ctx, nil)
 }
 
 // GoToInputs moves the arm to the specified goal inputs.
 func (wrapper *Arm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	for _, goal := range inputSteps {
-		// check that joint positions are not out of bounds
-		if err := arm.CheckDesiredJointPositions(ctx, wrapper, goal); err != nil {
-			return err
-		}
-		err := wrapper.MoveToJointPositions(ctx, goal, nil)
-		if err != nil {
-			return err
-		}
-	}
-	return nil
+	return wrapper.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
 }
 
 // Geometries returns the list of geometries associated with the resource, in any order. The poses of the geometries reflect their
diff --git a/components/arm/xarm/xarm.go b/components/arm/xarm/xarm.go
index 01388beed57..500d54bd369 100644
--- a/components/arm/xarm/xarm.go
+++ b/components/arm/xarm/xarm.go
@@ -195,21 +195,7 @@ func (x *xArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error
 }
 
 func (x *xArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	for _, goal := range inputSteps {
-		// check that joint positions are not out of bounds
-		if err := arm.CheckDesiredJointPositions(ctx, x, goal); err != nil {
-			return err
-		}
-	}
-	curPos, err := x.JointPositions(ctx, nil)
-	if err != nil {
-		return err
-	}
-	armRawSteps, err := x.createRawJointSteps(curPos, inputSteps)
-	if err != nil {
-		return err
-	}
-	return x.executeInputs(ctx, armRawSteps)
+	return x.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
 }
 
 func (x *xArm) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error) {
diff --git a/components/arm/xarm/xarm_comm.go b/components/arm/xarm/xarm_comm.go
index 45ac4f4702c..50e5396817b 100644
--- a/components/arm/xarm/xarm_comm.go
+++ b/components/arm/xarm/xarm_comm.go
@@ -365,7 +365,21 @@ func (x *xArm) MoveThroughJointPositions(
 	_ *arm.MoveOptions,
 	_ map[string]interface{},
 ) error {
-	return x.GoToInputs(ctx, positions...)
+	for _, goal := range positions {
+		// check that joint positions are not out of bounds
+		if err := arm.CheckDesiredJointPositions(ctx, x, goal); err != nil {
+			return err
+		}
+	}
+	curPos, err := x.JointPositions(ctx, nil)
+	if err != nil {
+		return err
+	}
+	armRawSteps, err := x.createRawJointSteps(curPos, positions)
+	if err != nil {
+		return err
+	}
+	return x.executeInputs(ctx, armRawSteps)
 }
 
 // Using the configured moveHz, joint speed, and joint acceleration, create the series of joint positions for the arm to follow,
diff --git a/services/motion/motion_helpers.go b/services/motion/motion_helpers.go
index 0d0149091a3..a16f4e72542 100644
--- a/services/motion/motion_helpers.go
+++ b/services/motion/motion_helpers.go
@@ -84,5 +84,5 @@ func MoveArm(ctx context.Context, logger logging.Logger, a arm.Arm, dst spatialm
 	if err != nil {
 		return err
 	}
-	return arm.GoToWaypoints(ctx, a, plan)
+	return a.MoveThroughJointPositions(ctx, plan, arm.NewDefaultMoveOptions(), nil)
 }

From 595efa3f9844cca840da97492d0a6c4f36a54f24 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Thu, 31 Oct 2024 16:26:15 -0400
Subject: [PATCH 10/14] remove moveOptions defaults

---
 components/arm/eva/eva.go            |  2 +-
 components/arm/fake/fake.go          |  2 +-
 components/arm/pb_helpers.go         | 13 ++-----------
 components/arm/universalrobots/ur.go |  2 +-
 components/arm/wrapper/wrapper.go    |  2 +-
 components/arm/xarm/xarm.go          |  2 +-
 6 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/components/arm/eva/eva.go b/components/arm/eva/eva.go
index c6f5aeaf9a5..43da89af3f0 100644
--- a/components/arm/eva/eva.go
+++ b/components/arm/eva/eva.go
@@ -403,7 +403,7 @@ func (e *eva) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
 }
 
 func (e *eva) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	return e.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
+	return e.MoveThroughJointPositions(ctx, inputSteps, nil, nil)
 }
 
 func (e *eva) Close(ctx context.Context) error {
diff --git a/components/arm/fake/fake.go b/components/arm/fake/fake.go
index 966eb70ebdb..e9ede7f28d1 100644
--- a/components/arm/fake/fake.go
+++ b/components/arm/fake/fake.go
@@ -229,7 +229,7 @@ func (a *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
 
 // GoToInputs moves the fake arm to the given inputs.
 func (a *Arm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	return a.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
+	return a.MoveThroughJointPositions(ctx, inputSteps, nil, nil)
 }
 
 // Close does nothing.
diff --git a/components/arm/pb_helpers.go b/components/arm/pb_helpers.go
index 1e533b07168..07a778c1233 100644
--- a/components/arm/pb_helpers.go
+++ b/components/arm/pb_helpers.go
@@ -11,19 +11,10 @@ import (
 	"go.viam.com/rdk/utils"
 )
 
-const (
-	defaultMaxVelDegPerSec  = 60.
-	defaultMaxAccDegPerSec2 = 1.
-)
-
 type MoveOptions struct {
 	MaxVel, MaxAcc float64
 }
 
-func NewDefaultMoveOptions() *MoveOptions {
-	return moveOptionsFromProtobuf(nil)
-}
-
 func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
 	if protobuf == nil {
 		protobuf = &pb.MoveOptions{}
@@ -31,10 +22,10 @@ func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
 
 	var vel, acc float64
 	if protobuf.MaxVelDegsPerSec == nil {
-		vel = defaultMaxVelDegPerSec
+		vel = 0
 	}
 	if protobuf.MaxAccDegsPerSec2 == nil {
-		acc = defaultMaxAccDegPerSec2
+		acc = 0
 	}
 	return &MoveOptions{
 		MaxVel: utils.DegToRad(vel),
diff --git a/components/arm/universalrobots/ur.go b/components/arm/universalrobots/ur.go
index 2c6f2677b68..aa922759001 100644
--- a/components/arm/universalrobots/ur.go
+++ b/components/arm/universalrobots/ur.go
@@ -517,7 +517,7 @@ func (ua *urArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, err
 
 // GoToInputs moves the UR arm to the Inputs specified.
 func (ua *urArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	return ua.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
+	return ua.MoveThroughJointPositions(ctx, inputSteps, nil, nil)
 }
 
 // Geometries returns the list of geometries associated with the resource, in any order. The poses of the geometries reflect their
diff --git a/components/arm/wrapper/wrapper.go b/components/arm/wrapper/wrapper.go
index db8bf9b1f4e..e6ab33a6947 100644
--- a/components/arm/wrapper/wrapper.go
+++ b/components/arm/wrapper/wrapper.go
@@ -188,7 +188,7 @@ func (wrapper *Arm) CurrentInputs(ctx context.Context) ([]referenceframe.Input,
 
 // GoToInputs moves the arm to the specified goal inputs.
 func (wrapper *Arm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	return wrapper.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
+	return wrapper.MoveThroughJointPositions(ctx, inputSteps, nil, nil)
 }
 
 // Geometries returns the list of geometries associated with the resource, in any order. The poses of the geometries reflect their
diff --git a/components/arm/xarm/xarm.go b/components/arm/xarm/xarm.go
index 500d54bd369..cf7e050f585 100644
--- a/components/arm/xarm/xarm.go
+++ b/components/arm/xarm/xarm.go
@@ -195,7 +195,7 @@ func (x *xArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error
 }
 
 func (x *xArm) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	return x.MoveThroughJointPositions(ctx, inputSteps, arm.NewDefaultMoveOptions(), nil)
+	return x.MoveThroughJointPositions(ctx, inputSteps, nil, nil)
 }
 
 func (x *xArm) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error) {

From 9d3967e9e66c1ad01379c2c0164d452a20496eab Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Thu, 31 Oct 2024 17:24:10 -0400
Subject: [PATCH 11/14] add tests

---
 components/arm/client_test.go     | 35 +++++++++++++++++++-----
 components/arm/pb_helpers.go      |  8 +++---
 components/arm/server.go          |  4 +--
 components/arm/server_test.go     | 32 +++++++++++++++++++++-
 services/motion/motion_helpers.go |  2 +-
 testutils/inject/arm.go           | 45 ++++++++++++++++++++++---------
 6 files changed, 98 insertions(+), 28 deletions(-)

diff --git a/components/arm/client_test.go b/components/arm/client_test.go
index a2e50585b54..9381e7ec9f1 100644
--- a/components/arm/client_test.go
+++ b/components/arm/client_test.go
@@ -32,12 +32,14 @@ func TestClient(t *testing.T) {
 	var (
 		capArmPos      spatialmath.Pose
 		capArmJointPos []referenceframe.Input
+		moveOptions    arm.MoveOptions
 		extraOptions   map[string]interface{}
 	)
 
 	pos1 := spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3})
 	jointPos1 := []referenceframe.Input{{1.}, {2.}, {3.}}
 	expectedGeometries := []spatialmath.Geometry{spatialmath.NewPoint(r3.Vector{1, 2, 3}, "")}
+	expectedMoveOptions := arm.MoveOptions{MaxVel: 1, MaxAcc: 2}
 	injectArm := &inject.Arm{}
 	injectArm.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		extraOptions = extra
@@ -52,12 +54,22 @@ func TestClient(t *testing.T) {
 		extraOptions = extra
 		return nil
 	}
-
 	injectArm.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		extraOptions = extra
 		return nil
 	}
+	injectArm.MoveThroughJointPositionsFunc = func(
+		ctx context.Context,
+		positions [][]referenceframe.Input,
+		options *arm.MoveOptions,
+		extra map[string]interface{},
+	) error {
+		capArmJointPos = positions[len(positions)-1]
+		moveOptions = *options
+		extraOptions = extra
+		return nil
+	}
 	injectArm.StopFunc = func(ctx context.Context, extra map[string]interface{}) error {
 		extraOptions = extra
 		return errStopUnimplemented
@@ -82,7 +94,6 @@ func TestClient(t *testing.T) {
 		capArmPos = ap
 		return nil
 	}
-
 	injectArm2.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		return nil
@@ -94,11 +105,10 @@ func TestClient(t *testing.T) {
 		return nil
 	}
 
-	armSvc, err := resource.NewAPIResourceCollection(
-		arm.API, map[resource.Name]arm.Arm{
-			arm.Named(testArmName):  injectArm,
-			arm.Named(testArmName2): injectArm2,
-		})
+	armSvc, err := resource.NewAPIResourceCollection(arm.API, map[resource.Name]arm.Arm{
+		arm.Named(testArmName):  injectArm,
+		arm.Named(testArmName2): injectArm2,
+	})
 	test.That(t, err, test.ShouldBeNil)
 	resourceAPI, ok, err := resource.LookupAPIRegistration[arm.Arm](arm.API)
 	test.That(t, err, test.ShouldBeNil)
@@ -164,6 +174,17 @@ func TestClient(t *testing.T) {
 		test.That(t, capArmJointPos, test.ShouldResemble, jointPos2)
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveToJointPositions"})
 
+ 		err = arm1Client.MoveThroughJointPositions(
+			context.Background(),
+			[][]referenceframe.Input{jointPos2, jointPos1},
+			&expectedMoveOptions,
+			map[string]interface{}{"foo": "MoveThroughJointPositions"},
+		)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, capArmJointPos, test.ShouldResemble, jointPos1)
+		test.That(t, moveOptions, test.ShouldResemble, expectedMoveOptions)
+		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveThroughJointPositions"})
+
 		err = arm1Client.Stop(context.Background(), map[string]interface{}{"foo": "Stop"})
 		test.That(t, err, test.ShouldNotBeNil)
 		test.That(t, err.Error(), test.ShouldContainSubstring, errStopUnimplemented.Error())
diff --git a/components/arm/pb_helpers.go b/components/arm/pb_helpers.go
index 07a778c1233..70e2cf12d1d 100644
--- a/components/arm/pb_helpers.go
+++ b/components/arm/pb_helpers.go
@@ -21,11 +21,11 @@ func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
 	}
 
 	var vel, acc float64
-	if protobuf.MaxVelDegsPerSec == nil {
-		vel = 0
+	if protobuf.MaxVelDegsPerSec != nil {
+		vel = *protobuf.MaxVelDegsPerSec
 	}
-	if protobuf.MaxAccDegsPerSec2 == nil {
-		acc = 0
+	if protobuf.MaxAccDegsPerSec2 != nil {
+		acc = *protobuf.MaxAccDegsPerSec2
 	}
 	return &MoveOptions{
 		MaxVel: utils.DegToRad(vel),
diff --git a/components/arm/server.go b/components/arm/server.go
index cc6d7c544c5..65abeef1c51 100644
--- a/components/arm/server.go
+++ b/components/arm/server.go
@@ -107,7 +107,7 @@ func (s *serviceServer) MoveToJointPositions(
 func (s *serviceServer) MoveThroughJointPositions(
 	ctx context.Context,
 	req *pb.MoveThroughJointPositionsRequest,
-) (*pb.MoveToJointPositionsResponse, error) {
+) (*pb.MoveThroughJointPositionsResponse, error) {
 	operation.CancelOtherWithLabel(ctx, req.Name)
 	arm, err := s.coll.Resource(req.Name)
 	if err != nil {
@@ -122,7 +122,7 @@ func (s *serviceServer) MoveThroughJointPositions(
 		allInputs = append(allInputs, inputs)
 	}
 	err = arm.MoveThroughJointPositions(ctx, allInputs, moveOptionsFromProtobuf(req.Options), req.Extra.AsMap())
-	return &pb.MoveToJointPositionsResponse{}, err
+	return &pb.MoveThroughJointPositionsResponse{}, err
 }
 
 // Stop stops the arm specified.
diff --git a/components/arm/server_test.go b/components/arm/server_test.go
index daca3d95a1f..1fa3bb1ab42 100644
--- a/components/arm/server_test.go
+++ b/components/arm/server_test.go
@@ -50,6 +50,7 @@ func TestServer(t *testing.T) {
 	var (
 		capArmPos      spatialmath.Pose
 		capArmJointPos []referenceframe.Input
+		moveOptions    arm.MoveOptions
 		extraOptions   map[string]interface{}
 	)
 
@@ -68,12 +69,22 @@ func TestServer(t *testing.T) {
 		extraOptions = extra
 		return nil
 	}
-
 	injectArm.MoveToJointPositionsFunc = func(ctx context.Context, jp []referenceframe.Input, extra map[string]interface{}) error {
 		capArmJointPos = jp
 		extraOptions = extra
 		return nil
 	}
+	injectArm.MoveThroughJointPositionsFunc = func(
+		ctx context.Context,
+		positions [][]referenceframe.Input,
+		options *arm.MoveOptions,
+		extra map[string]interface{},
+	) error {
+		capArmJointPos = positions[len(positions)-1]
+		moveOptions = *options
+		extraOptions = extra
+		return nil
+	}
 	injectArm.ModelFrameFunc = func() referenceframe.Model {
 		model, err := urdf.ParseModelXMLFile(utils.ResolveFile("referenceframe/urdf/testfiles/ur5e.urdf"), "foo")
 		if err != nil {
@@ -210,6 +221,25 @@ func TestServer(t *testing.T) {
 		test.That(t, err.Error(), test.ShouldContainSubstring, errMoveToJointPositionFailed.Error())
 	})
 
+	t.Run("move through joint positions", func(t *testing.T) {
+		ext, err := protoutils.StructToStructPb(map[string]interface{}{"foo": "MoveThroughJointPositions"})
+		test.That(t, err, test.ShouldBeNil)
+		positionDegs3 := &pb.JointPositions{Values: []float64{1.0, 5.0, 6.0, 1.0, 5.0, 6.0}}
+		positions := []*pb.JointPositions{positionDegs2, positionDegs3}
+		positionRads3, err := referenceframe.InputsFromJointPositions(nil, positionDegs3)
+		test.That(t, err, test.ShouldBeNil)
+		expectedVelocity := 180.
+		expectedMoveOptions := &pb.MoveOptions{MaxVelDegsPerSec: &expectedVelocity}
+		_, err = armServer.MoveThroughJointPositions(
+			context.Background(),
+			&pb.MoveThroughJointPositionsRequest{Name: testArmName, Positions: positions, Options: expectedMoveOptions, Extra: ext},
+		)
+		test.That(t, err, test.ShouldBeNil)
+		test.That(t, capArmJointPos, test.ShouldResemble, positionRads3)
+		test.That(t, moveOptions, test.ShouldResemble, arm.MoveOptions{MaxVel: utils.DegToRad(expectedVelocity)})
+		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveThroughJointPositions"})
+	})
+
 	t.Run("get kinematics", func(t *testing.T) {
 		_, err = armServer.GetKinematics(context.Background(), &commonpb.GetKinematicsRequest{Name: missingArmName})
 		test.That(t, err, test.ShouldNotBeNil)
diff --git a/services/motion/motion_helpers.go b/services/motion/motion_helpers.go
index a16f4e72542..38c0e59b1a2 100644
--- a/services/motion/motion_helpers.go
+++ b/services/motion/motion_helpers.go
@@ -84,5 +84,5 @@ func MoveArm(ctx context.Context, logger logging.Logger, a arm.Arm, dst spatialm
 	if err != nil {
 		return err
 	}
-	return a.MoveThroughJointPositions(ctx, plan, arm.NewDefaultMoveOptions(), nil)
+	return a.MoveThroughJointPositions(ctx, plan, nil, nil)
 }
diff --git a/testutils/inject/arm.go b/testutils/inject/arm.go
index df0d92bba3c..8916af39ef3 100644
--- a/testutils/inject/arm.go
+++ b/testutils/inject/arm.go
@@ -12,19 +12,25 @@ import (
 // Arm is an injected arm.
 type Arm struct {
 	arm.Arm
-	name                     resource.Name
-	DoFunc                   func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
-	EndPositionFunc          func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
-	MoveToPositionFunc       func(ctx context.Context, to spatialmath.Pose, extra map[string]interface{}) error
-	MoveToJointPositionsFunc func(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error
-	JointPositionsFunc       func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
-	StopFunc                 func(ctx context.Context, extra map[string]interface{}) error
-	IsMovingFunc             func(context.Context) (bool, error)
-	CloseFunc                func(ctx context.Context) error
-	ModelFrameFunc           func() referenceframe.Model
-	CurrentInputsFunc        func(ctx context.Context) ([]referenceframe.Input, error)
-	GoToInputsFunc           func(ctx context.Context, inputSteps ...[]referenceframe.Input) error
-	GeometriesFunc           func(ctx context.Context) ([]spatialmath.Geometry, error)
+	name                          resource.Name
+	DoFunc                        func(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error)
+	EndPositionFunc               func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
+	MoveToPositionFunc            func(ctx context.Context, to spatialmath.Pose, extra map[string]interface{}) error
+	MoveToJointPositionsFunc      func(ctx context.Context, positions []referenceframe.Input, extra map[string]interface{}) error
+	MoveThroughJointPositionsFunc func(
+		ctx context.Context,
+		positions [][]referenceframe.Input,
+		options *arm.MoveOptions,
+		extra map[string]interface{},
+	) error
+	JointPositionsFunc func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error)
+	StopFunc           func(ctx context.Context, extra map[string]interface{}) error
+	IsMovingFunc       func(context.Context) (bool, error)
+	CloseFunc          func(ctx context.Context) error
+	ModelFrameFunc     func() referenceframe.Model
+	CurrentInputsFunc  func(ctx context.Context) ([]referenceframe.Input, error)
+	GoToInputsFunc     func(ctx context.Context, inputSteps ...[]referenceframe.Input) error
+	GeometriesFunc     func(ctx context.Context) ([]spatialmath.Geometry, error)
 }
 
 // NewArm returns a new injected arm.
@@ -61,6 +67,19 @@ func (a *Arm) MoveToJointPositions(ctx context.Context, positions []referencefra
 	return a.MoveToJointPositionsFunc(ctx, positions, extra)
 }
 
+// MoveToJointPositions calls the injected MoveToJointPositions or the real version.
+func (a *Arm) MoveThroughJointPositions(
+	ctx context.Context,
+	positions [][]referenceframe.Input,
+	options *arm.MoveOptions,
+	extra map[string]interface{},
+) error {
+	if a.MoveToJointPositionsFunc == nil {
+		return a.Arm.MoveThroughJointPositions(ctx, positions, options, extra)
+	}
+	return a.MoveThroughJointPositionsFunc(ctx, positions, options, extra)
+}
+
 // JointPositions calls the injected JointPositions or the real version.
 func (a *Arm) JointPositions(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 	if a.JointPositionsFunc == nil {

From 1f41c35990117a7d61be9980ffcaa0c24ef69c89 Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Fri, 1 Nov 2024 12:00:58 -0400
Subject: [PATCH 12/14] more fixes

---
 components/arm/client.go             | 8 +-------
 components/arm/client_test.go        | 2 +-
 components/arm/eva/eva.go            | 1 -
 components/arm/fake/fake.go          | 2 +-
 components/arm/pb_helpers.go         | 1 +
 components/arm/universalrobots/ur.go | 1 -
 components/arm/wrapper/wrapper.go    | 1 +
 testutils/inject/arm.go              | 2 +-
 8 files changed, 6 insertions(+), 12 deletions(-)

diff --git a/components/arm/client.go b/components/arm/client.go
index d872e60a846..9991ead9686 100644
--- a/components/arm/client.go
+++ b/components/arm/client.go
@@ -172,13 +172,7 @@ func (c *client) CurrentInputs(ctx context.Context) ([]referenceframe.Input, err
 }
 
 func (c *client) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
-	// TODO: switch this over call MoveThroughJointPositions when that API is ready
-	for _, goal := range inputSteps {
-		if err := c.MoveToJointPositions(ctx, goal, nil); err != nil {
-			return err
-		}
-	}
-	return nil
+	return c.MoveThroughJointPositions(ctx, inputSteps, nil, nil)
 }
 
 func (c *client) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
diff --git a/components/arm/client_test.go b/components/arm/client_test.go
index 9381e7ec9f1..d9291a10600 100644
--- a/components/arm/client_test.go
+++ b/components/arm/client_test.go
@@ -174,7 +174,7 @@ func TestClient(t *testing.T) {
 		test.That(t, capArmJointPos, test.ShouldResemble, jointPos2)
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveToJointPositions"})
 
- 		err = arm1Client.MoveThroughJointPositions(
+		err = arm1Client.MoveThroughJointPositions(
 			context.Background(),
 			[][]referenceframe.Input{jointPos2, jointPos1},
 			&expectedMoveOptions,
diff --git a/components/arm/eva/eva.go b/components/arm/eva/eva.go
index 43da89af3f0..8d85334ec7c 100644
--- a/components/arm/eva/eva.go
+++ b/components/arm/eva/eva.go
@@ -6,7 +6,6 @@ package eva
 import (
 	"bytes"
 	"context"
-
 	// for embedding model file.
 	_ "embed"
 	"encoding/json"
diff --git a/components/arm/fake/fake.go b/components/arm/fake/fake.go
index e9ede7f28d1..92947835cf1 100644
--- a/components/arm/fake/fake.go
+++ b/components/arm/fake/fake.go
@@ -188,7 +188,7 @@ func (a *Arm) MoveToJointPositions(ctx context.Context, joints []referenceframe.
 	return nil
 }
 
-// GoToInputs moves the fake arm through the given inputs.
+// MoveThroughJointPositions moves the fake arm through the given inputs.
 func (a *Arm) MoveThroughJointPositions(
 	ctx context.Context,
 	positions [][]referenceframe.Input,
diff --git a/components/arm/pb_helpers.go b/components/arm/pb_helpers.go
index 70e2cf12d1d..2b39ec1467e 100644
--- a/components/arm/pb_helpers.go
+++ b/components/arm/pb_helpers.go
@@ -11,6 +11,7 @@ import (
 	"go.viam.com/rdk/utils"
 )
 
+// MoveOptions define parameters to be obeyed during arm movement.
 type MoveOptions struct {
 	MaxVel, MaxAcc float64
 }
diff --git a/components/arm/universalrobots/ur.go b/components/arm/universalrobots/ur.go
index aa922759001..6ff1304ad01 100644
--- a/components/arm/universalrobots/ur.go
+++ b/components/arm/universalrobots/ur.go
@@ -4,7 +4,6 @@ package universalrobots
 import (
 	"bufio"
 	"context"
-
 	// for embedding model file.
 	_ "embed"
 	"encoding/binary"
diff --git a/components/arm/wrapper/wrapper.go b/components/arm/wrapper/wrapper.go
index e6ab33a6947..16c66d2ac16 100644
--- a/components/arm/wrapper/wrapper.go
+++ b/components/arm/wrapper/wrapper.go
@@ -135,6 +135,7 @@ func (wrapper *Arm) MoveToJointPositions(ctx context.Context, joints []reference
 	return wrapper.actual.MoveToJointPositions(ctx, joints, extra)
 }
 
+// MoveThroughJointPositions moves the arm sequentially through the given joints.
 func (wrapper *Arm) MoveThroughJointPositions(
 	ctx context.Context,
 	positions [][]referenceframe.Input,
diff --git a/testutils/inject/arm.go b/testutils/inject/arm.go
index 8916af39ef3..765171728b3 100644
--- a/testutils/inject/arm.go
+++ b/testutils/inject/arm.go
@@ -67,7 +67,7 @@ func (a *Arm) MoveToJointPositions(ctx context.Context, positions []referencefra
 	return a.MoveToJointPositionsFunc(ctx, positions, extra)
 }
 
-// MoveToJointPositions calls the injected MoveToJointPositions or the real version.
+// MoveThroughJointPositions calls the injected MoveThroughJointPositions or the real version.
 func (a *Arm) MoveThroughJointPositions(
 	ctx context.Context,
 	positions [][]referenceframe.Input,

From 891fd1096515e31957973a3a31c287c319cbf30f Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Tue, 5 Nov 2024 11:03:25 -0500
Subject: [PATCH 13/14] rename stuct members

---
 components/arm/client_test.go |  2 +-
 components/arm/pb_helpers.go  | 10 +++++-----
 components/arm/server_test.go |  2 +-
 3 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/components/arm/client_test.go b/components/arm/client_test.go
index d9291a10600..b55b0e7936f 100644
--- a/components/arm/client_test.go
+++ b/components/arm/client_test.go
@@ -39,7 +39,7 @@ func TestClient(t *testing.T) {
 	pos1 := spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3})
 	jointPos1 := []referenceframe.Input{{1.}, {2.}, {3.}}
 	expectedGeometries := []spatialmath.Geometry{spatialmath.NewPoint(r3.Vector{1, 2, 3}, "")}
-	expectedMoveOptions := arm.MoveOptions{MaxVel: 1, MaxAcc: 2}
+	expectedMoveOptions := arm.MoveOptions{MaxVelRads: 1, MaxAccRads: 2}
 	injectArm := &inject.Arm{}
 	injectArm.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		extraOptions = extra
diff --git a/components/arm/pb_helpers.go b/components/arm/pb_helpers.go
index 2b39ec1467e..3a1106958c2 100644
--- a/components/arm/pb_helpers.go
+++ b/components/arm/pb_helpers.go
@@ -13,7 +13,7 @@ import (
 
 // MoveOptions define parameters to be obeyed during arm movement.
 type MoveOptions struct {
-	MaxVel, MaxAcc float64
+	MaxVelRads, MaxAccRads float64
 }
 
 func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
@@ -29,14 +29,14 @@ func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
 		acc = *protobuf.MaxAccDegsPerSec2
 	}
 	return &MoveOptions{
-		MaxVel: utils.DegToRad(vel),
-		MaxAcc: utils.DegToRad(acc),
+		MaxVelRads: utils.DegToRad(vel),
+		MaxAccRads: utils.DegToRad(acc),
 	}
 }
 
 func (opts MoveOptions) toProtobuf() *pb.MoveOptions {
-	vel := utils.RadToDeg(opts.MaxVel)
-	acc := utils.RadToDeg(opts.MaxAcc)
+	vel := utils.RadToDeg(opts.MaxVelRads)
+	acc := utils.RadToDeg(opts.MaxAccRads)
 	return &pb.MoveOptions{
 		MaxVelDegsPerSec:  &vel,
 		MaxAccDegsPerSec2: &acc,
diff --git a/components/arm/server_test.go b/components/arm/server_test.go
index 1fa3bb1ab42..8313fbefdf4 100644
--- a/components/arm/server_test.go
+++ b/components/arm/server_test.go
@@ -236,7 +236,7 @@ func TestServer(t *testing.T) {
 		)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, capArmJointPos, test.ShouldResemble, positionRads3)
-		test.That(t, moveOptions, test.ShouldResemble, arm.MoveOptions{MaxVel: utils.DegToRad(expectedVelocity)})
+		test.That(t, moveOptions, test.ShouldResemble, arm.MoveOptions{MaxVelRads: utils.DegToRad(expectedVelocity)})
 		test.That(t, extraOptions, test.ShouldResemble, map[string]interface{}{"foo": "MoveThroughJointPositions"})
 	})
 

From 47a80bac9e5ba6fd7011d89edfff4a5421335e2f Mon Sep 17 00:00:00 2001
From: Ray Bjorkman <raymond@viam.com>
Date: Tue, 5 Nov 2024 12:28:37 -0500
Subject: [PATCH 14/14] respond to PR comments

---
 components/arm/client.go     | 9 ++++++---
 components/arm/pb_helpers.go | 2 +-
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/components/arm/client.go b/components/arm/client.go
index 9991ead9686..66e26e6619b 100644
--- a/components/arm/client.go
+++ b/components/arm/client.go
@@ -127,12 +127,15 @@ func (c *client) MoveThroughJointPositions(
 		}
 		allJPs = append(allJPs, jp)
 	}
-	_, err = c.client.MoveThroughJointPositions(ctx, &pb.MoveThroughJointPositionsRequest{
+	req := &pb.MoveThroughJointPositionsRequest{
 		Name:      c.name,
 		Positions: allJPs,
-		Options:   options.toProtobuf(),
 		Extra:     ext,
-	})
+	}
+	if options != nil {
+		req.Options = options.toProtobuf()
+	}
+	_, err = c.client.MoveThroughJointPositions(ctx, req)
 	return err
 }
 
diff --git a/components/arm/pb_helpers.go b/components/arm/pb_helpers.go
index 3a1106958c2..e8668ffbaa1 100644
--- a/components/arm/pb_helpers.go
+++ b/components/arm/pb_helpers.go
@@ -34,7 +34,7 @@ func moveOptionsFromProtobuf(protobuf *pb.MoveOptions) *MoveOptions {
 	}
 }
 
-func (opts MoveOptions) toProtobuf() *pb.MoveOptions {
+func (opts *MoveOptions) toProtobuf() *pb.MoveOptions {
 	vel := utils.RadToDeg(opts.MaxVelRads)
 	acc := utils.RadToDeg(opts.MaxAccRads)
 	return &pb.MoveOptions{