diff --git a/lib/src/components/arm/arm.dart b/lib/src/components/arm/arm.dart
index 94657f11fbb..6a34bb2e792 100644
--- a/lib/src/components/arm/arm.dart
+++ b/lib/src/components/arm/arm.dart
@@ -1,6 +1,5 @@
+import '../../../viam_sdk.dart';
 import '../../gen/common/v1/common.pb.dart';
-import '../../resource/base.dart';
-import '../../robot/client.dart';
 
 /// {@category Components}
 /// Arm represents a physical robot arm that exists in three-dimensional space.
@@ -80,6 +79,15 @@ abstract class Arm extends Resource {
   /// For more information, see [Arm component](https://docs.viam.com/dev/reference/apis/components/arm/#ismoving).
   Future<bool> isMoving();
 
+  /// Get the kinematics data associated with the [Arm]
+  ///
+  /// ```
+  /// var kinematics = await myArm.getKinematics();
+  /// ```
+  ///
+  /// For more information, see [Arm component](https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics).
+  Future<Kinematics> getKinematics({Map<String, dynamic>? extra});
+
   /// Get the [ResourceName] for this [Arm] with the given [name].
   ///
   /// ```
diff --git a/lib/src/components/arm/client.dart b/lib/src/components/arm/client.dart
index 1822e07786e..3e948769a42 100644
--- a/lib/src/components/arm/client.dart
+++ b/lib/src/components/arm/client.dart
@@ -5,6 +5,7 @@ import '../../gen/component/arm/v1/arm.pbgrpc.dart';
 import '../../gen/google/protobuf/struct.pb.dart';
 import '../../resource/base.dart';
 import '../../utils.dart';
+import '../gripper/gripper.dart';
 import 'arm.dart';
 
 /// {@category Components}
@@ -91,4 +92,13 @@ class ArmClient extends Arm with RPCDebugLoggerMixin implements ResourceRPCClien
     final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
+
+  @override
+  Future<Kinematics> getKinematics({Map<String, dynamic>? extra}) async {
+    final request = GetKinematicsRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getKinematics(request, options: callOptions);
+    return Kinematics.fromProto(response);
+  }
 }
diff --git a/lib/src/components/arm/service.dart b/lib/src/components/arm/service.dart
index cc00fec6624..2565f9cbb14 100644
--- a/lib/src/components/arm/service.dart
+++ b/lib/src/components/arm/service.dart
@@ -84,9 +84,12 @@ class ArmService extends ArmServiceBase {
   }
 
   @override
-  Future<GetKinematicsResponse> getKinematics(ServiceCall call, GetKinematicsRequest request) {
-    // TODO: implement getKinematics
-    throw UnimplementedError();
+  Future<GetKinematicsResponse> getKinematics(ServiceCall call, GetKinematicsRequest request) async {
+    final arm = _armFromManager(request.name);
+    final response = await arm.getKinematics(extra: request.extra.toMap());
+    return GetKinematicsResponse()
+      ..format = response.format
+      ..kinematicsData = response.raw;
   }
 
   @override
diff --git a/lib/widgets/resources/arm_widgets/joint_positions_widget.dart b/lib/widgets/resources/arm_widgets/joint_positions_widget.dart
index 1f048d1b935..2ff419ea9bb 100644
--- a/lib/widgets/resources/arm_widgets/joint_positions_widget.dart
+++ b/lib/widgets/resources/arm_widgets/joint_positions_widget.dart
@@ -1,6 +1,7 @@
 import 'package:flutter/material.dart';
 import 'package:flutter/services.dart';
 
+import '../../../src/utils.dart';
 import '../../../viam_sdk.dart' as viam;
 import '../arm.dart';
 
@@ -20,6 +21,7 @@ class JointPositionsWidget extends StatefulWidget {
 class _JointPositionsWidgetState extends State<JointPositionsWidget> {
   List<double> _jointValues = [];
   bool _isLive = false;
+  bool _isLoading = false;
   List<TextEditingController> _textControllers = [];
 
   @override
@@ -39,21 +41,39 @@ class _JointPositionsWidgetState extends State<JointPositionsWidget> {
   }
 
   Future<void> _getJointPositions() async {
-    for (final controller in _textControllers) {
-      controller.dispose();
-    }
-
-    _jointValues = await widget.arm.jointPositions();
-    _textControllers = List.generate(
-      _jointValues.length,
-      (index) => TextEditingController(text: _jointValues[index].toStringAsFixed(1)),
-    );
-    if (mounted) {
-      setState(() {});
+    if (_isLoading) return;
+    _isLoading = true;
+    try {
+      _jointValues = await widget.arm.jointPositions();
+
+      if (mounted) {
+        if (_textControllers.isEmpty || _textControllers.length != _jointValues.length) {
+          for (final controller in _textControllers) {
+            controller.dispose();
+          }
+          _textControllers = List.generate(
+            _jointValues.length,
+            (index) => TextEditingController(text: _jointValues[index].toStringAsFixed(1)),
+          );
+        } else {
+          for (int i = 0; i < _jointValues.length; i++) {
+            _textControllers[i].text = _jointValues[i].toStringAsFixed(1);
+          }
+        }
+        setState(() {});
+      }
+    } catch (e) {
+      if (mounted) await showErrorDialog(context, title: 'An error occurred', error: e.toString());
+    } finally {
+      if (mounted) {
+        _isLoading = false;
+      }
     }
   }
 
   void _updateJointValue(int index, double value) {
+    if (!mounted || _textControllers.isEmpty || index >= _textControllers.length) return;
+
     const double minPosition = -359.0;
     const double maxPosition = 359.0;
     final clampedValue = value.clamp(minPosition, maxPosition);
@@ -187,7 +207,7 @@ class _BuildJointControlRow extends StatelessWidget {
                   textAlign: TextAlign.center,
                   keyboardType: const TextInputType.numberWithOptions(decimal: true, signed: true),
                   inputFormatters: [
-                    FilteringTextInputFormatter.allow(RegExp(r'^\d+\.?\d{0,1}')),
+                    FilteringTextInputFormatter.allow(RegExp(r'^-?\d*\.?\d*')),
                   ],
                   onSubmitted: onSubmitted,
                 ),
diff --git a/lib/widgets/resources/arm_widgets/pose_widget.dart b/lib/widgets/resources/arm_widgets/pose_widget.dart
index 601c49750ce..0ccc5b1b59e 100644
--- a/lib/widgets/resources/arm_widgets/pose_widget.dart
+++ b/lib/widgets/resources/arm_widgets/pose_widget.dart
@@ -42,6 +42,7 @@ class _PoseWidgetState extends State<PoseWidget> {
 
   bool _isLive = false;
   bool _isGoingToPose = false;
+  bool _isLoading = false;
   Pose _controlValues = Pose();
 
   _TextControlStruct? _textControllers;
@@ -69,24 +70,46 @@ class _PoseWidgetState extends State<PoseWidget> {
       _textControllers!.oY.dispose();
       _textControllers!.oZ.dispose();
       _textControllers!.theta.dispose();
+      _textControllers = null;
     }
   }
 
   Future<void> _getStartPose() async {
-    _disposeControllers();
+    if (_isLoading) return;
+    _isLoading = true;
+    try {
+      final startPose = await widget.arm.endPosition();
+      if (mounted) {
+        _controlValues = startPose;
 
-    final startPose = await widget.arm.endPosition();
-    _controlValues = startPose;
-    _textControllers = _TextControlStruct(
-      TextEditingController(text: _controlValues.x.toStringAsFixed(1)),
-      TextEditingController(text: _controlValues.y.toStringAsFixed(1)),
-      TextEditingController(text: _controlValues.z.toStringAsFixed(1)),
-      TextEditingController(text: _controlValues.oX.toStringAsFixed(1)),
-      TextEditingController(text: _controlValues.oY.toStringAsFixed(1)),
-      TextEditingController(text: _controlValues.oZ.toStringAsFixed(1)),
-      TextEditingController(text: _controlValues.theta.toStringAsFixed(1)),
-    );
-    setState(() {});
+        if (_textControllers == null) {
+          _textControllers = _TextControlStruct(
+            TextEditingController(text: _controlValues.x.toStringAsFixed(1)),
+            TextEditingController(text: _controlValues.y.toStringAsFixed(1)),
+            TextEditingController(text: _controlValues.z.toStringAsFixed(1)),
+            TextEditingController(text: _controlValues.oX.toStringAsFixed(1)),
+            TextEditingController(text: _controlValues.oY.toStringAsFixed(1)),
+            TextEditingController(text: _controlValues.oZ.toStringAsFixed(1)),
+            TextEditingController(text: _controlValues.theta.toStringAsFixed(1)),
+          );
+        } else {
+          _textControllers!.x.text = _controlValues.x.toStringAsFixed(1);
+          _textControllers!.y.text = _controlValues.y.toStringAsFixed(1);
+          _textControllers!.z.text = _controlValues.z.toStringAsFixed(1);
+          _textControllers!.oX.text = _controlValues.oX.toStringAsFixed(1);
+          _textControllers!.oY.text = _controlValues.oY.toStringAsFixed(1);
+          _textControllers!.oZ.text = _controlValues.oZ.toStringAsFixed(1);
+          _textControllers!.theta.text = _controlValues.theta.toStringAsFixed(1);
+        }
+        setState(() {});
+      }
+    } catch (e) {
+      if (mounted) await showErrorDialog(context, title: 'An error occurred', error: e.toString());
+    } finally {
+      if (mounted) {
+        _isLoading = false;
+      }
+    }
   }
 
   Future<void> _updatePose() async {
@@ -109,6 +132,8 @@ class _PoseWidgetState extends State<PoseWidget> {
   }
 
   void _updateControlValue(String axis, TextEditingController textController, double value) {
+    if (!mounted || _textControllers == null) return;
+
     setState(() {
       switch (axis) {
         case 'x':
@@ -162,12 +187,16 @@ class _PoseWidgetState extends State<PoseWidget> {
                       controller: _textControllers!.x,
                       min: _minPosition,
                       max: _maxPosition,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'x',
-                        _textControllers!.x,
-                        newValue.clamp(_minPosition, _maxPosition),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'x',
+                          _textControllers!.x,
+                          newValue.clamp(_minPosition, _maxPosition),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                     _BuildJointControlRow(
                       label: 'Y',
@@ -175,12 +204,16 @@ class _PoseWidgetState extends State<PoseWidget> {
                       controller: _textControllers!.y,
                       min: _minPosition,
                       max: _maxPosition,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'y',
-                        _textControllers!.y,
-                        newValue.clamp(_minPosition, _maxPosition),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'y',
+                          _textControllers!.y,
+                          newValue.clamp(_minPosition, _maxPosition),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                     _BuildJointControlRow(
                       label: 'Z',
@@ -188,51 +221,67 @@ class _PoseWidgetState extends State<PoseWidget> {
                       controller: _textControllers!.z,
                       min: _minPosition,
                       max: _maxPosition,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'z',
-                        _textControllers!.z,
-                        newValue.clamp(_minPosition, _maxPosition),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'z',
+                          _textControllers!.z,
+                          newValue.clamp(_minPosition, _maxPosition),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                     _BuildJointControlRow(
                       label: 'OX',
-                      value: _controlValues.oX.roundToDouble(),
+                      value: _controlValues.oX,
                       controller: _textControllers!.oX,
                       min: _minOrientation,
                       max: _maxOrientation,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'oX',
-                        _textControllers!.oX,
-                        newValue.clamp(_minOrientation, _maxOrientation),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'oX',
+                          _textControllers!.oX,
+                          newValue.clamp(_minOrientation, _maxOrientation),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                     _BuildJointControlRow(
                       label: 'OY',
-                      value: _controlValues.oY.roundToDouble(),
+                      value: _controlValues.oY,
                       controller: _textControllers!.oY,
                       min: _minOrientation,
                       max: _maxOrientation,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'oY',
-                        _textControllers!.oY,
-                        newValue.clamp(_minOrientation, _maxOrientation),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'oY',
+                          _textControllers!.oY,
+                          newValue.clamp(_minOrientation, _maxOrientation),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                     _BuildJointControlRow(
                       label: 'OZ',
-                      value: _controlValues.oZ.roundToDouble(),
+                      value: _controlValues.oZ,
                       controller: _textControllers!.oZ,
                       min: _minOrientation,
                       max: _maxOrientation,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'oZ',
-                        _textControllers!.oZ,
-                        newValue.clamp(_minOrientation, _maxOrientation),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'oZ',
+                          _textControllers!.oZ,
+                          newValue.clamp(_minOrientation, _maxOrientation),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                     _BuildJointControlRow(
                       label: 'Theta',
@@ -240,12 +289,16 @@ class _PoseWidgetState extends State<PoseWidget> {
                       controller: _textControllers!.theta,
                       min: _minTheta,
                       max: _maxTheta,
-                      onValueChanged: (newValue) => _updateControlValue(
-                        'theta',
-                        _textControllers!.theta,
-                        newValue.clamp(_minTheta, _maxTheta),
-                      ),
-                      onValueChangedEnd: (newValue) async => _isLive ? _updatePose() : () {},
+                      onValueChanged: (newValue) {
+                        _updateControlValue(
+                          'theta',
+                          _textControllers!.theta,
+                          newValue.clamp(_minTheta, _maxTheta),
+                        );
+                        if (_isLive) {
+                          _updatePose();
+                        }
+                      },
                     ),
                   ],
                 ),
@@ -266,13 +319,6 @@ class _PoseWidgetState extends State<PoseWidget> {
                     Text(
                       'Live',
                     ),
-                    Tooltip(
-                      message: 'In Live mode, pose will update \non release of the slider',
-                      textAlign: TextAlign.center,
-                      triggerMode: TooltipTriggerMode.tap,
-                      preferBelow: false,
-                      child: Icon(Icons.info_outline),
-                    ),
                     Spacer(),
                     OutlinedButton.icon(
                       onPressed: _isLive ? null : _updatePose,
@@ -294,7 +340,6 @@ class _BuildJointControlRow extends StatelessWidget {
   final double min;
   final double max;
   final ValueChanged<double> onValueChanged;
-  final ValueChanged<double> onValueChangedEnd;
 
   const _BuildJointControlRow({
     required this.label,
@@ -303,7 +348,6 @@ class _BuildJointControlRow extends StatelessWidget {
     required this.min,
     required this.max,
     required this.onValueChanged,
-    required this.onValueChangedEnd,
   });
 
   @override
@@ -328,28 +372,25 @@ class _BuildJointControlRow extends StatelessWidget {
                   textAlign: TextAlign.center,
                   keyboardType: const TextInputType.numberWithOptions(decimal: true, signed: true),
                   inputFormatters: [
-                    FilteringTextInputFormatter.allow(RegExp(r'^-?\d+\.?\d{0,1}')),
+                    FilteringTextInputFormatter.allow(RegExp(r'^-?\d*\.?\d*')),
                   ],
                   onSubmitted: (newValue) {
                     final parsedValue = double.tryParse(newValue) ?? value;
                     onValueChanged(parsedValue);
-                    onValueChangedEnd(parsedValue);
                   },
                 ),
               ),
               Spacer(),
               IconButton(
                 icon: const Icon(Icons.remove),
-                onPressed: () async {
+                onPressed: () {
                   onValueChanged(value - (max == 1 ? 0.1 : 1.0));
-                  onValueChangedEnd(value);
                 },
               ),
               IconButton(
                 icon: const Icon(Icons.add),
-                onPressed: () async {
+                onPressed: () {
                   onValueChanged(value + (max == 1 ? 0.1 : 1.0));
-                  onValueChangedEnd(value);
                 },
               ),
             ],
@@ -359,12 +400,10 @@ class _BuildJointControlRow extends StatelessWidget {
               SizedBox(width: 35),
               Expanded(
                 child: Slider(
-                  value: value,
+                  value: value.clamp(min, max),
                   min: min,
                   max: max,
-                  label: value.toStringAsFixed(1),
                   onChanged: onValueChanged,
-                  onChangeEnd: onValueChangedEnd,
                 ),
               ),
             ],
diff --git a/test/unit_test/components/arm_test.dart b/test/unit_test/components/arm_test.dart
index fdf49e3d643..b3c992a7d31 100644
--- a/test/unit_test/components/arm_test.dart
+++ b/test/unit_test/components/arm_test.dart
@@ -18,6 +18,7 @@ class FakeArm extends Arm {
     ..z = 0;
   Map<String, dynamic>? extra;
   Map<String, Mesh> arm3DModels = {};
+  Kinematics armKinematics = Kinematics(KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, [1, 2, 3]);
 
   @override
   String name;
@@ -72,6 +73,12 @@ class FakeArm extends Arm {
     this.extra = extra;
     return arm3DModels;
   }
+
+  @override
+  Future<Kinematics> getKinematics({Map<String, dynamic>? extra}) async {
+    this.extra = extra;
+    return armKinematics;
+  }
 }
 
 void main() {
@@ -146,6 +153,12 @@ void main() {
       await arm.stop(extra: {'foo': 'bar'});
       expect(arm.extra, {'foo': 'bar'});
     });
+
+    test('getKinematics', () async {
+      final kinematics = await arm.getKinematics();
+      expect(kinematics.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
+      expect(kinematics.raw, [1, 2, 3]);
+    });
   });
 
   group('Arm RPC Tests', () {
@@ -264,6 +277,14 @@ void main() {
           ..extra = {'foo': 'bar'}.toStruct());
         expect(arm.extra, {'foo': 'bar'});
       });
+
+      test('getKinematics', () async {
+        final client = ArmServiceClient(channel);
+        final request = GetKinematicsRequest()..name = name;
+        final response = await client.getKinematics(request);
+        expect(response.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
+        expect(response.kinematicsData, [1, 2, 3]);
+      });
     });
 
     group('Arm Client Tests', () {
@@ -338,5 +359,11 @@ void main() {
         expect(arm.extra, {'foo': 'bar'});
       });
     });
+    test('getKinematics', () async {
+      final client = ArmClient(name, channel);
+      final kinematics = await client.getKinematics();
+      expect(kinematics.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
+      expect(kinematics.raw, [1, 2, 3]);
+    });
   });
 }