diff --git a/proto/viam/service/motion/v1/motion.proto b/proto/viam/service/motion/v1/motion.proto
index 576030327e..5d8fc0474d 100644
--- a/proto/viam/service/motion/v1/motion.proto
+++ b/proto/viam/service/motion/v1/motion.proto
@@ -3,6 +3,7 @@ syntax = "proto3";
 package viam.service.motion.v1;
 
 import "common/v1/common.proto";
+import "component/arm/v1/arm.proto";
 import "google/api/annotations.proto";
 import "google/protobuf/struct.proto";
 import "google/protobuf/timestamp.proto";
@@ -60,6 +61,13 @@ service MotionService {
     option (google.api.http) = {get: "/viam/api/v1/service/motion/{name}/get_plan"};
   }
 
+  // Streams joint-space waypoints to an arm, one session per arm at a time.
+  // The first message on the stream must be an Init; every subsequent message
+  // must be a Targets batch. Closing the request stream (client-side) drains
+  // any buffered trajectory to the arm before ending the call; canceling the
+  // call's context aborts the session immediately.
+  rpc StreamArmJointPositions(stream StreamArmJointPositionsRequest) returns (stream StreamArmJointPositionsResponse);
+
   // DoCommand sends/receives arbitrary commands
   rpc DoCommand(common.v1.DoCommandRequest) returns (common.v1.DoCommandResponse) {
     option (google.api.http) = {post: "/viam/api/v1/service/motion/{name}/do_command"};
@@ -411,3 +419,48 @@ message PlanStep {
 message ComponentState {
   common.v1.Pose pose = 1;
 }
+
+message StreamOptions {
+  // How much trajectory the motion service tries to keep buffered on the arm's side.
+  optional int32 arm_side_target_runway_ms = 1;
+
+  // How often the motion service aims to top up the arm's buffered runway.
+  optional int32 send_to_arm_interval_ms = 2;
+
+  // Size of the diagnostics window; non-positive disables its retention.
+  optional int32 diagnostics_window_secs = 3;
+
+  // Kinematic limits for the session's trajectory.
+  optional viam.component.arm.v1.MoveOptions move_options = 4;
+}
+
+message StreamArmJointPositionsRequest {
+  // Name of the motion service.
+  string name = 1;
+
+  oneof message {
+    // Session initiation. Sent exactly once and must be the first message on the stream.
+    Init init = 2;
+
+    // A batch of joint-position targets to append to the running session. Sent N times after init.
+    Targets targets = 3;
+  }
+
+  message Init {
+    // Name of the arm to stream joint positions to. Only one session per arm may run at a time.
+    string component_name = 1;
+
+    // Optional session configuration. If unset, the motion service applies its own defaults.
+    optional StreamOptions options = 2;
+
+    // Additional arguments to the method.
+    google.protobuf.Struct extra = 99;
+  }
+
+  message Targets {
+    // Target joint positions to append to the session, in order.
+    repeated viam.component.arm.v1.JointPositions positions = 1;
+  }
+}
+
+message StreamArmJointPositionsResponse {}
diff --git a/service/motion/v1/motion.pb.go b/service/motion/v1/motion.pb.go
index 4a2b0a271c..3f59907a9e 100644
--- a/service/motion/v1/motion.pb.go
+++ b/service/motion/v1/motion.pb.go
@@ -8,6 +8,7 @@ package v1
 
 import (
 	v1 "go.viam.com/api/common/v1"
+	v11 "go.viam.com/api/component/arm/v1"
 	_ "google.golang.org/genproto/googleapis/api/annotations"
 	protoreflect "google.golang.org/protobuf/reflect/protoreflect"
 	protoimpl "google.golang.org/protobuf/runtime/protoimpl"
@@ -1974,6 +1975,205 @@ func (x *ComponentState) GetPose() *v1.Pose {
 	return nil
 }
 
+type StreamOptions struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// How much trajectory the motion service tries to keep buffered on the arm's side.
+	ArmSideTargetRunwayMs *int32 `protobuf:"varint,1,opt,name=arm_side_target_runway_ms,json=armSideTargetRunwayMs,proto3,oneof" json:"arm_side_target_runway_ms,omitempty"`
+	// How often the motion service aims to top up the arm's buffered runway.
+	SendToArmIntervalMs *int32 `protobuf:"varint,2,opt,name=send_to_arm_interval_ms,json=sendToArmIntervalMs,proto3,oneof" json:"send_to_arm_interval_ms,omitempty"`
+	// Size of the diagnostics window; non-positive disables its retention.
+	DiagnosticsWindowSecs *int32 `protobuf:"varint,3,opt,name=diagnostics_window_secs,json=diagnosticsWindowSecs,proto3,oneof" json:"diagnostics_window_secs,omitempty"`
+	// Kinematic limits for the session's trajectory.
+	MoveOptions *v11.MoveOptions `protobuf:"bytes,4,opt,name=move_options,json=moveOptions,proto3,oneof" json:"move_options,omitempty"`
+}
+
+func (x *StreamOptions) Reset() {
+	*x = StreamOptions{}
+	mi := &file_service_motion_v1_motion_proto_msgTypes[27]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *StreamOptions) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*StreamOptions) ProtoMessage() {}
+
+func (x *StreamOptions) ProtoReflect() protoreflect.Message {
+	mi := &file_service_motion_v1_motion_proto_msgTypes[27]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use StreamOptions.ProtoReflect.Descriptor instead.
+func (*StreamOptions) Descriptor() ([]byte, []int) {
+	return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{27}
+}
+
+func (x *StreamOptions) GetArmSideTargetRunwayMs() int32 {
+	if x != nil && x.ArmSideTargetRunwayMs != nil {
+		return *x.ArmSideTargetRunwayMs
+	}
+	return 0
+}
+
+func (x *StreamOptions) GetSendToArmIntervalMs() int32 {
+	if x != nil && x.SendToArmIntervalMs != nil {
+		return *x.SendToArmIntervalMs
+	}
+	return 0
+}
+
+func (x *StreamOptions) GetDiagnosticsWindowSecs() int32 {
+	if x != nil && x.DiagnosticsWindowSecs != nil {
+		return *x.DiagnosticsWindowSecs
+	}
+	return 0
+}
+
+func (x *StreamOptions) GetMoveOptions() *v11.MoveOptions {
+	if x != nil {
+		return x.MoveOptions
+	}
+	return nil
+}
+
+type StreamArmJointPositionsRequest struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// Name of the motion service.
+	Name string `protobuf:"bytes,1,opt,name=name,proto3" json:"name,omitempty"`
+	// Types that are assignable to Message:
+	//
+	//	*StreamArmJointPositionsRequest_Init_
+	//	*StreamArmJointPositionsRequest_Targets_
+	Message isStreamArmJointPositionsRequest_Message `protobuf_oneof:"message"`
+}
+
+func (x *StreamArmJointPositionsRequest) Reset() {
+	*x = StreamArmJointPositionsRequest{}
+	mi := &file_service_motion_v1_motion_proto_msgTypes[28]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *StreamArmJointPositionsRequest) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*StreamArmJointPositionsRequest) ProtoMessage() {}
+
+func (x *StreamArmJointPositionsRequest) ProtoReflect() protoreflect.Message {
+	mi := &file_service_motion_v1_motion_proto_msgTypes[28]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use StreamArmJointPositionsRequest.ProtoReflect.Descriptor instead.
+func (*StreamArmJointPositionsRequest) Descriptor() ([]byte, []int) {
+	return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{28}
+}
+
+func (x *StreamArmJointPositionsRequest) GetName() string {
+	if x != nil {
+		return x.Name
+	}
+	return ""
+}
+
+func (m *StreamArmJointPositionsRequest) GetMessage() isStreamArmJointPositionsRequest_Message {
+	if m != nil {
+		return m.Message
+	}
+	return nil
+}
+
+func (x *StreamArmJointPositionsRequest) GetInit() *StreamArmJointPositionsRequest_Init {
+	if x, ok := x.GetMessage().(*StreamArmJointPositionsRequest_Init_); ok {
+		return x.Init
+	}
+	return nil
+}
+
+func (x *StreamArmJointPositionsRequest) GetTargets() *StreamArmJointPositionsRequest_Targets {
+	if x, ok := x.GetMessage().(*StreamArmJointPositionsRequest_Targets_); ok {
+		return x.Targets
+	}
+	return nil
+}
+
+type isStreamArmJointPositionsRequest_Message interface {
+	isStreamArmJointPositionsRequest_Message()
+}
+
+type StreamArmJointPositionsRequest_Init_ struct {
+	// Session initiation. Sent exactly once and must be the first message on the stream.
+	Init *StreamArmJointPositionsRequest_Init `protobuf:"bytes,2,opt,name=init,proto3,oneof"`
+}
+
+type StreamArmJointPositionsRequest_Targets_ struct {
+	// A batch of joint-position targets to append to the running session. Sent N times after init.
+	Targets *StreamArmJointPositionsRequest_Targets `protobuf:"bytes,3,opt,name=targets,proto3,oneof"`
+}
+
+func (*StreamArmJointPositionsRequest_Init_) isStreamArmJointPositionsRequest_Message() {}
+
+func (*StreamArmJointPositionsRequest_Targets_) isStreamArmJointPositionsRequest_Message() {}
+
+type StreamArmJointPositionsResponse struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+}
+
+func (x *StreamArmJointPositionsResponse) Reset() {
+	*x = StreamArmJointPositionsResponse{}
+	mi := &file_service_motion_v1_motion_proto_msgTypes[29]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *StreamArmJointPositionsResponse) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*StreamArmJointPositionsResponse) ProtoMessage() {}
+
+func (x *StreamArmJointPositionsResponse) ProtoReflect() protoreflect.Message {
+	mi := &file_service_motion_v1_motion_proto_msgTypes[29]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use StreamArmJointPositionsResponse.ProtoReflect.Descriptor instead.
+func (*StreamArmJointPositionsResponse) Descriptor() ([]byte, []int) {
+	return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{29}
+}
+
 type CollisionSpecification_AllowedFrameCollisions struct {
 	state         protoimpl.MessageState
 	sizeCache     protoimpl.SizeCache
@@ -1985,7 +2185,7 @@ type CollisionSpecification_AllowedFrameCollisions struct {
 
 func (x *CollisionSpecification_AllowedFrameCollisions) Reset() {
 	*x = CollisionSpecification_AllowedFrameCollisions{}
-	mi := &file_service_motion_v1_motion_proto_msgTypes[27]
+	mi := &file_service_motion_v1_motion_proto_msgTypes[30]
 	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 	ms.StoreMessageInfo(mi)
 }
@@ -1997,7 +2197,7 @@ func (x *CollisionSpecification_AllowedFrameCollisions) String() string {
 func (*CollisionSpecification_AllowedFrameCollisions) ProtoMessage() {}
 
 func (x *CollisionSpecification_AllowedFrameCollisions) ProtoReflect() protoreflect.Message {
-	mi := &file_service_motion_v1_motion_proto_msgTypes[27]
+	mi := &file_service_motion_v1_motion_proto_msgTypes[30]
 	if x != nil {
 		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
 		if ms.LoadMessageInfo() == nil {
@@ -2027,6 +2227,116 @@ func (x *CollisionSpecification_AllowedFrameCollisions) GetFrame2() string {
 	return ""
 }
 
+type StreamArmJointPositionsRequest_Init struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// Name of the arm to stream joint positions to. Only one session per arm may run at a time.
+	ComponentName string `protobuf:"bytes,1,opt,name=component_name,json=componentName,proto3" json:"component_name,omitempty"`
+	// Optional session configuration. If unset, the motion service applies its own defaults.
+	Options *StreamOptions `protobuf:"bytes,2,opt,name=options,proto3,oneof" json:"options,omitempty"`
+	// Additional arguments to the method.
+	Extra *structpb.Struct `protobuf:"bytes,99,opt,name=extra,proto3" json:"extra,omitempty"`
+}
+
+func (x *StreamArmJointPositionsRequest_Init) Reset() {
+	*x = StreamArmJointPositionsRequest_Init{}
+	mi := &file_service_motion_v1_motion_proto_msgTypes[32]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *StreamArmJointPositionsRequest_Init) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*StreamArmJointPositionsRequest_Init) ProtoMessage() {}
+
+func (x *StreamArmJointPositionsRequest_Init) ProtoReflect() protoreflect.Message {
+	mi := &file_service_motion_v1_motion_proto_msgTypes[32]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use StreamArmJointPositionsRequest_Init.ProtoReflect.Descriptor instead.
+func (*StreamArmJointPositionsRequest_Init) Descriptor() ([]byte, []int) {
+	return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{28, 0}
+}
+
+func (x *StreamArmJointPositionsRequest_Init) GetComponentName() string {
+	if x != nil {
+		return x.ComponentName
+	}
+	return ""
+}
+
+func (x *StreamArmJointPositionsRequest_Init) GetOptions() *StreamOptions {
+	if x != nil {
+		return x.Options
+	}
+	return nil
+}
+
+func (x *StreamArmJointPositionsRequest_Init) GetExtra() *structpb.Struct {
+	if x != nil {
+		return x.Extra
+	}
+	return nil
+}
+
+type StreamArmJointPositionsRequest_Targets struct {
+	state         protoimpl.MessageState
+	sizeCache     protoimpl.SizeCache
+	unknownFields protoimpl.UnknownFields
+
+	// Target joint positions to append to the session, in order.
+	Positions []*v11.JointPositions `protobuf:"bytes,1,rep,name=positions,proto3" json:"positions,omitempty"`
+}
+
+func (x *StreamArmJointPositionsRequest_Targets) Reset() {
+	*x = StreamArmJointPositionsRequest_Targets{}
+	mi := &file_service_motion_v1_motion_proto_msgTypes[33]
+	ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+	ms.StoreMessageInfo(mi)
+}
+
+func (x *StreamArmJointPositionsRequest_Targets) String() string {
+	return protoimpl.X.MessageStringOf(x)
+}
+
+func (*StreamArmJointPositionsRequest_Targets) ProtoMessage() {}
+
+func (x *StreamArmJointPositionsRequest_Targets) ProtoReflect() protoreflect.Message {
+	mi := &file_service_motion_v1_motion_proto_msgTypes[33]
+	if x != nil {
+		ms := protoimpl.X.MessageStateOf(protoimpl.Pointer(x))
+		if ms.LoadMessageInfo() == nil {
+			ms.StoreMessageInfo(mi)
+		}
+		return ms
+	}
+	return mi.MessageOf(x)
+}
+
+// Deprecated: Use StreamArmJointPositionsRequest_Targets.ProtoReflect.Descriptor instead.
+func (*StreamArmJointPositionsRequest_Targets) Descriptor() ([]byte, []int) {
+	return file_service_motion_v1_motion_proto_rawDescGZIP(), []int{28, 1}
+}
+
+func (x *StreamArmJointPositionsRequest_Targets) GetPositions() []*v11.JointPositions {
+	if x != nil {
+		return x.Positions
+	}
+	return nil
+}
+
 var File_service_motion_v1_motion_proto protoreflect.FileDescriptor
 
 var file_service_motion_v1_motion_proto_rawDesc = []byte{
@@ -2035,514 +2345,582 @@ var file_service_motion_v1_motion_proto_rawDesc = []byte{
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 }
 
 var (
@@ -2558,7 +2936,7 @@ func file_service_motion_v1_motion_proto_rawDescGZIP() []byte {
 }
 
 var file_service_motion_v1_motion_proto_enumTypes = make([]protoimpl.EnumInfo, 1)
-var file_service_motion_v1_motion_proto_msgTypes = make([]protoimpl.MessageInfo, 29)
+var file_service_motion_v1_motion_proto_msgTypes = make([]protoimpl.MessageInfo, 34)
 var file_service_motion_v1_motion_proto_goTypes = []any{
 	(PlanState)(0),                                        // 0: viam.service.motion.v1.PlanState
 	(*MoveRequest)(nil),                                   // 1: viam.service.motion.v1.MoveRequest
@@ -2588,97 +2966,112 @@ var file_service_motion_v1_motion_proto_goTypes = []any{
 	(*Plan)(nil),                                          // 25: viam.service.motion.v1.Plan
 	(*PlanStep)(nil),                                      // 26: viam.service.motion.v1.PlanStep
 	(*ComponentState)(nil),                                // 27: viam.service.motion.v1.ComponentState
-	(*CollisionSpecification_AllowedFrameCollisions)(nil), // 28: viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions
-	nil,                           // 29: viam.service.motion.v1.PlanStep.StepEntry
-	(*v1.PoseInFrame)(nil),        // 30: viam.common.v1.PoseInFrame
-	(*v1.ResourceName)(nil),       // 31: viam.common.v1.ResourceName
-	(*v1.WorldState)(nil),         // 32: viam.common.v1.WorldState
-	(*structpb.Struct)(nil),       // 33: google.protobuf.Struct
-	(*v1.Pose)(nil),               // 34: viam.common.v1.Pose
-	(*v1.Geometry)(nil),           // 35: viam.common.v1.Geometry
-	(*v1.GeoPoint)(nil),           // 36: viam.common.v1.GeoPoint
-	(*v1.GeoGeometry)(nil),        // 37: viam.common.v1.GeoGeometry
-	(*v1.Transform)(nil),          // 38: viam.common.v1.Transform
-	(*timestamppb.Timestamp)(nil), // 39: google.protobuf.Timestamp
-	(*v1.DoCommandRequest)(nil),   // 40: viam.common.v1.DoCommandRequest
-	(*v1.GetStatusRequest)(nil),   // 41: viam.common.v1.GetStatusRequest
-	(*v1.DoCommandResponse)(nil),  // 42: viam.common.v1.DoCommandResponse
-	(*v1.GetStatusResponse)(nil),  // 43: viam.common.v1.GetStatusResponse
+	(*StreamOptions)(nil),                                 // 28: viam.service.motion.v1.StreamOptions
+	(*StreamArmJointPositionsRequest)(nil),                // 29: viam.service.motion.v1.StreamArmJointPositionsRequest
+	(*StreamArmJointPositionsResponse)(nil),               // 30: viam.service.motion.v1.StreamArmJointPositionsResponse
+	(*CollisionSpecification_AllowedFrameCollisions)(nil), // 31: viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions
+	nil, // 32: viam.service.motion.v1.PlanStep.StepEntry
+	(*StreamArmJointPositionsRequest_Init)(nil),    // 33: viam.service.motion.v1.StreamArmJointPositionsRequest.Init
+	(*StreamArmJointPositionsRequest_Targets)(nil), // 34: viam.service.motion.v1.StreamArmJointPositionsRequest.Targets
+	(*v1.PoseInFrame)(nil),                         // 35: viam.common.v1.PoseInFrame
+	(*v1.ResourceName)(nil),                        // 36: viam.common.v1.ResourceName
+	(*v1.WorldState)(nil),                          // 37: viam.common.v1.WorldState
+	(*structpb.Struct)(nil),                        // 38: google.protobuf.Struct
+	(*v1.Pose)(nil),                                // 39: viam.common.v1.Pose
+	(*v1.Geometry)(nil),                            // 40: viam.common.v1.Geometry
+	(*v1.GeoPoint)(nil),                            // 41: viam.common.v1.GeoPoint
+	(*v1.GeoGeometry)(nil),                         // 42: viam.common.v1.GeoGeometry
+	(*v1.Transform)(nil),                           // 43: viam.common.v1.Transform
+	(*timestamppb.Timestamp)(nil),                  // 44: google.protobuf.Timestamp
+	(*v11.MoveOptions)(nil),                        // 45: viam.component.arm.v1.MoveOptions
+	(*v11.JointPositions)(nil),                     // 46: viam.component.arm.v1.JointPositions
+	(*v1.DoCommandRequest)(nil),                    // 47: viam.common.v1.DoCommandRequest
+	(*v1.GetStatusRequest)(nil),                    // 48: viam.common.v1.GetStatusRequest
+	(*v1.DoCommandResponse)(nil),                   // 49: viam.common.v1.DoCommandResponse
+	(*v1.GetStatusResponse)(nil),                   // 50: viam.common.v1.GetStatusResponse
 }
 var file_service_motion_v1_motion_proto_depIdxs = []int32{
-	30, // 0: viam.service.motion.v1.MoveRequest.destination:type_name -> viam.common.v1.PoseInFrame
-	31, // 1: viam.service.motion.v1.MoveRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
-	32, // 2: viam.service.motion.v1.MoveRequest.world_state:type_name -> viam.common.v1.WorldState
+	35, // 0: viam.service.motion.v1.MoveRequest.destination:type_name -> viam.common.v1.PoseInFrame
+	36, // 1: viam.service.motion.v1.MoveRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	37, // 2: viam.service.motion.v1.MoveRequest.world_state:type_name -> viam.common.v1.WorldState
 	17, // 3: viam.service.motion.v1.MoveRequest.constraints:type_name -> viam.service.motion.v1.Constraints
-	33, // 4: viam.service.motion.v1.MoveRequest.extra:type_name -> google.protobuf.Struct
-	34, // 5: viam.service.motion.v1.MoveOnMapRequest.destination:type_name -> viam.common.v1.Pose
-	31, // 6: viam.service.motion.v1.MoveOnMapRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
-	31, // 7: viam.service.motion.v1.MoveOnMapRequest.slam_service_name_deprecated:type_name -> viam.common.v1.ResourceName
+	38, // 4: viam.service.motion.v1.MoveRequest.extra:type_name -> google.protobuf.Struct
+	39, // 5: viam.service.motion.v1.MoveOnMapRequest.destination:type_name -> viam.common.v1.Pose
+	36, // 6: viam.service.motion.v1.MoveOnMapRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	36, // 7: viam.service.motion.v1.MoveOnMapRequest.slam_service_name_deprecated:type_name -> viam.common.v1.ResourceName
 	6,  // 8: viam.service.motion.v1.MoveOnMapRequest.motion_configuration:type_name -> viam.service.motion.v1.MotionConfiguration
-	35, // 9: viam.service.motion.v1.MoveOnMapRequest.obstacles:type_name -> viam.common.v1.Geometry
-	33, // 10: viam.service.motion.v1.MoveOnMapRequest.extra:type_name -> google.protobuf.Struct
-	31, // 11: viam.service.motion.v1.ObstacleDetector.vision_service_deprecated:type_name -> viam.common.v1.ResourceName
-	31, // 12: viam.service.motion.v1.ObstacleDetector.camera_deprecated:type_name -> viam.common.v1.ResourceName
+	40, // 9: viam.service.motion.v1.MoveOnMapRequest.obstacles:type_name -> viam.common.v1.Geometry
+	38, // 10: viam.service.motion.v1.MoveOnMapRequest.extra:type_name -> google.protobuf.Struct
+	36, // 11: viam.service.motion.v1.ObstacleDetector.vision_service_deprecated:type_name -> viam.common.v1.ResourceName
+	36, // 12: viam.service.motion.v1.ObstacleDetector.camera_deprecated:type_name -> viam.common.v1.ResourceName
 	5,  // 13: viam.service.motion.v1.MotionConfiguration.obstacle_detectors:type_name -> viam.service.motion.v1.ObstacleDetector
-	36, // 14: viam.service.motion.v1.MoveOnGlobeRequest.destination:type_name -> viam.common.v1.GeoPoint
-	31, // 15: viam.service.motion.v1.MoveOnGlobeRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
-	31, // 16: viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name_deprecated:type_name -> viam.common.v1.ResourceName
-	37, // 17: viam.service.motion.v1.MoveOnGlobeRequest.obstacles:type_name -> viam.common.v1.GeoGeometry
+	41, // 14: viam.service.motion.v1.MoveOnGlobeRequest.destination:type_name -> viam.common.v1.GeoPoint
+	36, // 15: viam.service.motion.v1.MoveOnGlobeRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	36, // 16: viam.service.motion.v1.MoveOnGlobeRequest.movement_sensor_name_deprecated:type_name -> viam.common.v1.ResourceName
+	42, // 17: viam.service.motion.v1.MoveOnGlobeRequest.obstacles:type_name -> viam.common.v1.GeoGeometry
 	6,  // 18: viam.service.motion.v1.MoveOnGlobeRequest.motion_configuration:type_name -> viam.service.motion.v1.MotionConfiguration
-	37, // 19: viam.service.motion.v1.MoveOnGlobeRequest.bounding_regions:type_name -> viam.common.v1.GeoGeometry
-	33, // 20: viam.service.motion.v1.MoveOnGlobeRequest.extra:type_name -> google.protobuf.Struct
-	31, // 21: viam.service.motion.v1.GetPoseRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
-	38, // 22: viam.service.motion.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform
-	33, // 23: viam.service.motion.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct
-	30, // 24: viam.service.motion.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame
-	31, // 25: viam.service.motion.v1.StopPlanRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
-	33, // 26: viam.service.motion.v1.StopPlanRequest.extra:type_name -> google.protobuf.Struct
-	33, // 27: viam.service.motion.v1.ListPlanStatusesRequest.extra:type_name -> google.protobuf.Struct
+	42, // 19: viam.service.motion.v1.MoveOnGlobeRequest.bounding_regions:type_name -> viam.common.v1.GeoGeometry
+	38, // 20: viam.service.motion.v1.MoveOnGlobeRequest.extra:type_name -> google.protobuf.Struct
+	36, // 21: viam.service.motion.v1.GetPoseRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	43, // 22: viam.service.motion.v1.GetPoseRequest.supplemental_transforms:type_name -> viam.common.v1.Transform
+	38, // 23: viam.service.motion.v1.GetPoseRequest.extra:type_name -> google.protobuf.Struct
+	35, // 24: viam.service.motion.v1.GetPoseResponse.pose:type_name -> viam.common.v1.PoseInFrame
+	36, // 25: viam.service.motion.v1.StopPlanRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	38, // 26: viam.service.motion.v1.StopPlanRequest.extra:type_name -> google.protobuf.Struct
+	38, // 27: viam.service.motion.v1.ListPlanStatusesRequest.extra:type_name -> google.protobuf.Struct
 	23, // 28: viam.service.motion.v1.ListPlanStatusesResponse.plan_statuses_with_ids:type_name -> viam.service.motion.v1.PlanStatusWithID
-	31, // 29: viam.service.motion.v1.GetPlanRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
-	33, // 30: viam.service.motion.v1.GetPlanRequest.extra:type_name -> google.protobuf.Struct
+	36, // 29: viam.service.motion.v1.GetPlanRequest.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	38, // 30: viam.service.motion.v1.GetPlanRequest.extra:type_name -> google.protobuf.Struct
 	22, // 31: viam.service.motion.v1.GetPlanResponse.current_plan_with_status:type_name -> viam.service.motion.v1.PlanWithStatus
 	22, // 32: viam.service.motion.v1.GetPlanResponse.replan_history:type_name -> viam.service.motion.v1.PlanWithStatus
 	18, // 33: viam.service.motion.v1.Constraints.linear_constraint:type_name -> viam.service.motion.v1.LinearConstraint
 	20, // 34: viam.service.motion.v1.Constraints.orientation_constraint:type_name -> viam.service.motion.v1.OrientationConstraint
 	21, // 35: viam.service.motion.v1.Constraints.collision_specification:type_name -> viam.service.motion.v1.CollisionSpecification
 	19, // 36: viam.service.motion.v1.Constraints.pseudolinear_constraint:type_name -> viam.service.motion.v1.PseudolinearConstraint
-	28, // 37: viam.service.motion.v1.CollisionSpecification.allows:type_name -> viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions
+	31, // 37: viam.service.motion.v1.CollisionSpecification.allows:type_name -> viam.service.motion.v1.CollisionSpecification.AllowedFrameCollisions
 	25, // 38: viam.service.motion.v1.PlanWithStatus.plan:type_name -> viam.service.motion.v1.Plan
 	24, // 39: viam.service.motion.v1.PlanWithStatus.status:type_name -> viam.service.motion.v1.PlanStatus
 	24, // 40: viam.service.motion.v1.PlanWithStatus.status_history:type_name -> viam.service.motion.v1.PlanStatus
-	31, // 41: viam.service.motion.v1.PlanStatusWithID.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	36, // 41: viam.service.motion.v1.PlanStatusWithID.component_name_deprecated:type_name -> viam.common.v1.ResourceName
 	24, // 42: viam.service.motion.v1.PlanStatusWithID.status:type_name -> viam.service.motion.v1.PlanStatus
 	0,  // 43: viam.service.motion.v1.PlanStatus.state:type_name -> viam.service.motion.v1.PlanState
-	39, // 44: viam.service.motion.v1.PlanStatus.timestamp:type_name -> google.protobuf.Timestamp
-	31, // 45: viam.service.motion.v1.Plan.component_name_deprecated:type_name -> viam.common.v1.ResourceName
+	44, // 44: viam.service.motion.v1.PlanStatus.timestamp:type_name -> google.protobuf.Timestamp
+	36, // 45: viam.service.motion.v1.Plan.component_name_deprecated:type_name -> viam.common.v1.ResourceName
 	26, // 46: viam.service.motion.v1.Plan.steps:type_name -> viam.service.motion.v1.PlanStep
-	29, // 47: viam.service.motion.v1.PlanStep.step:type_name -> viam.service.motion.v1.PlanStep.StepEntry
-	34, // 48: viam.service.motion.v1.ComponentState.pose:type_name -> viam.common.v1.Pose
-	27, // 49: viam.service.motion.v1.PlanStep.StepEntry.value:type_name -> viam.service.motion.v1.ComponentState
-	1,  // 50: viam.service.motion.v1.MotionService.Move:input_type -> viam.service.motion.v1.MoveRequest
-	3,  // 51: viam.service.motion.v1.MotionService.MoveOnMap:input_type -> viam.service.motion.v1.MoveOnMapRequest
-	7,  // 52: viam.service.motion.v1.MotionService.MoveOnGlobe:input_type -> viam.service.motion.v1.MoveOnGlobeRequest
-	9,  // 53: viam.service.motion.v1.MotionService.GetPose:input_type -> viam.service.motion.v1.GetPoseRequest
-	11, // 54: viam.service.motion.v1.MotionService.StopPlan:input_type -> viam.service.motion.v1.StopPlanRequest
-	13, // 55: viam.service.motion.v1.MotionService.ListPlanStatuses:input_type -> viam.service.motion.v1.ListPlanStatusesRequest
-	15, // 56: viam.service.motion.v1.MotionService.GetPlan:input_type -> viam.service.motion.v1.GetPlanRequest
-	40, // 57: viam.service.motion.v1.MotionService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
-	41, // 58: viam.service.motion.v1.MotionService.GetStatus:input_type -> viam.common.v1.GetStatusRequest
-	2,  // 59: viam.service.motion.v1.MotionService.Move:output_type -> viam.service.motion.v1.MoveResponse
-	4,  // 60: viam.service.motion.v1.MotionService.MoveOnMap:output_type -> viam.service.motion.v1.MoveOnMapResponse
-	8,  // 61: viam.service.motion.v1.MotionService.MoveOnGlobe:output_type -> viam.service.motion.v1.MoveOnGlobeResponse
-	10, // 62: viam.service.motion.v1.MotionService.GetPose:output_type -> viam.service.motion.v1.GetPoseResponse
-	12, // 63: viam.service.motion.v1.MotionService.StopPlan:output_type -> viam.service.motion.v1.StopPlanResponse
-	14, // 64: viam.service.motion.v1.MotionService.ListPlanStatuses:output_type -> viam.service.motion.v1.ListPlanStatusesResponse
-	16, // 65: viam.service.motion.v1.MotionService.GetPlan:output_type -> viam.service.motion.v1.GetPlanResponse
-	42, // 66: viam.service.motion.v1.MotionService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
-	43, // 67: viam.service.motion.v1.MotionService.GetStatus:output_type -> viam.common.v1.GetStatusResponse
-	59, // [59:68] is the sub-list for method output_type
-	50, // [50:59] is the sub-list for method input_type
-	50, // [50:50] is the sub-list for extension type_name
-	50, // [50:50] is the sub-list for extension extendee
-	0,  // [0:50] is the sub-list for field type_name
+	32, // 47: viam.service.motion.v1.PlanStep.step:type_name -> viam.service.motion.v1.PlanStep.StepEntry
+	39, // 48: viam.service.motion.v1.ComponentState.pose:type_name -> viam.common.v1.Pose
+	45, // 49: viam.service.motion.v1.StreamOptions.move_options:type_name -> viam.component.arm.v1.MoveOptions
+	33, // 50: viam.service.motion.v1.StreamArmJointPositionsRequest.init:type_name -> viam.service.motion.v1.StreamArmJointPositionsRequest.Init
+	34, // 51: viam.service.motion.v1.StreamArmJointPositionsRequest.targets:type_name -> viam.service.motion.v1.StreamArmJointPositionsRequest.Targets
+	27, // 52: viam.service.motion.v1.PlanStep.StepEntry.value:type_name -> viam.service.motion.v1.ComponentState
+	28, // 53: viam.service.motion.v1.StreamArmJointPositionsRequest.Init.options:type_name -> viam.service.motion.v1.StreamOptions
+	38, // 54: viam.service.motion.v1.StreamArmJointPositionsRequest.Init.extra:type_name -> google.protobuf.Struct
+	46, // 55: viam.service.motion.v1.StreamArmJointPositionsRequest.Targets.positions:type_name -> viam.component.arm.v1.JointPositions
+	1,  // 56: viam.service.motion.v1.MotionService.Move:input_type -> viam.service.motion.v1.MoveRequest
+	3,  // 57: viam.service.motion.v1.MotionService.MoveOnMap:input_type -> viam.service.motion.v1.MoveOnMapRequest
+	7,  // 58: viam.service.motion.v1.MotionService.MoveOnGlobe:input_type -> viam.service.motion.v1.MoveOnGlobeRequest
+	9,  // 59: viam.service.motion.v1.MotionService.GetPose:input_type -> viam.service.motion.v1.GetPoseRequest
+	11, // 60: viam.service.motion.v1.MotionService.StopPlan:input_type -> viam.service.motion.v1.StopPlanRequest
+	13, // 61: viam.service.motion.v1.MotionService.ListPlanStatuses:input_type -> viam.service.motion.v1.ListPlanStatusesRequest
+	15, // 62: viam.service.motion.v1.MotionService.GetPlan:input_type -> viam.service.motion.v1.GetPlanRequest
+	29, // 63: viam.service.motion.v1.MotionService.StreamArmJointPositions:input_type -> viam.service.motion.v1.StreamArmJointPositionsRequest
+	47, // 64: viam.service.motion.v1.MotionService.DoCommand:input_type -> viam.common.v1.DoCommandRequest
+	48, // 65: viam.service.motion.v1.MotionService.GetStatus:input_type -> viam.common.v1.GetStatusRequest
+	2,  // 66: viam.service.motion.v1.MotionService.Move:output_type -> viam.service.motion.v1.MoveResponse
+	4,  // 67: viam.service.motion.v1.MotionService.MoveOnMap:output_type -> viam.service.motion.v1.MoveOnMapResponse
+	8,  // 68: viam.service.motion.v1.MotionService.MoveOnGlobe:output_type -> viam.service.motion.v1.MoveOnGlobeResponse
+	10, // 69: viam.service.motion.v1.MotionService.GetPose:output_type -> viam.service.motion.v1.GetPoseResponse
+	12, // 70: viam.service.motion.v1.MotionService.StopPlan:output_type -> viam.service.motion.v1.StopPlanResponse
+	14, // 71: viam.service.motion.v1.MotionService.ListPlanStatuses:output_type -> viam.service.motion.v1.ListPlanStatusesResponse
+	16, // 72: viam.service.motion.v1.MotionService.GetPlan:output_type -> viam.service.motion.v1.GetPlanResponse
+	30, // 73: viam.service.motion.v1.MotionService.StreamArmJointPositions:output_type -> viam.service.motion.v1.StreamArmJointPositionsResponse
+	49, // 74: viam.service.motion.v1.MotionService.DoCommand:output_type -> viam.common.v1.DoCommandResponse
+	50, // 75: viam.service.motion.v1.MotionService.GetStatus:output_type -> viam.common.v1.GetStatusResponse
+	66, // [66:76] is the sub-list for method output_type
+	56, // [56:66] is the sub-list for method input_type
+	56, // [56:56] is the sub-list for extension type_name
+	56, // [56:56] is the sub-list for extension extendee
+	0,  // [0:56] is the sub-list for field type_name
 }
 
 func init() { file_service_motion_v1_motion_proto_init() }
@@ -2695,13 +3088,19 @@ func file_service_motion_v1_motion_proto_init() {
 	file_service_motion_v1_motion_proto_msgTypes[18].OneofWrappers = []any{}
 	file_service_motion_v1_motion_proto_msgTypes[19].OneofWrappers = []any{}
 	file_service_motion_v1_motion_proto_msgTypes[23].OneofWrappers = []any{}
+	file_service_motion_v1_motion_proto_msgTypes[27].OneofWrappers = []any{}
+	file_service_motion_v1_motion_proto_msgTypes[28].OneofWrappers = []any{
+		(*StreamArmJointPositionsRequest_Init_)(nil),
+		(*StreamArmJointPositionsRequest_Targets_)(nil),
+	}
+	file_service_motion_v1_motion_proto_msgTypes[32].OneofWrappers = []any{}
 	type x struct{}
 	out := protoimpl.TypeBuilder{
 		File: protoimpl.DescBuilder{
 			GoPackagePath: reflect.TypeOf(x{}).PkgPath(),
 			RawDescriptor: file_service_motion_v1_motion_proto_rawDesc,
 			NumEnums:      1,
-			NumMessages:   29,
+			NumMessages:   34,
 			NumExtensions: 0,
 			NumServices:   1,
 		},
diff --git a/service/motion/v1/motion.pb.gw.go b/service/motion/v1/motion.pb.gw.go
index aba7c3cfcd..1372197abe 100644
--- a/service/motion/v1/motion.pb.gw.go
+++ b/service/motion/v1/motion.pb.gw.go
@@ -522,6 +522,49 @@ func local_request_MotionService_GetPlan_0(ctx context.Context, marshaler runtim
 
 }
 
+func request_MotionService_StreamArmJointPositions_0(ctx context.Context, marshaler runtime.Marshaler, client MotionServiceClient, req *http.Request, pathParams map[string]string) (MotionService_StreamArmJointPositionsClient, runtime.ServerMetadata, error) {
+	var metadata runtime.ServerMetadata
+	stream, err := client.StreamArmJointPositions(ctx)
+	if err != nil {
+		grpclog.Errorf("Failed to start streaming: %v", err)
+		return nil, metadata, err
+	}
+	dec := marshaler.NewDecoder(req.Body)
+	handleSend := func() error {
+		var protoReq StreamArmJointPositionsRequest
+		err := dec.Decode(&protoReq)
+		if err == io.EOF {
+			return err
+		}
+		if err != nil {
+			grpclog.Errorf("Failed to decode request: %v", err)
+			return err
+		}
+		if err := stream.Send(&protoReq); err != nil {
+			grpclog.Errorf("Failed to send request: %v", err)
+			return err
+		}
+		return nil
+	}
+	go func() {
+		for {
+			if err := handleSend(); err != nil {
+				break
+			}
+		}
+		if err := stream.CloseSend(); err != nil {
+			grpclog.Errorf("Failed to terminate client stream: %v", err)
+		}
+	}()
+	header, err := stream.Header()
+	if err != nil {
+		grpclog.Errorf("Failed to get header from client: %v", err)
+		return nil, metadata, err
+	}
+	metadata.HeaderMD = header
+	return stream, metadata, nil
+}
+
 var (
 	filter_MotionService_DoCommand_0 = &utilities.DoubleArray{Encoding: map[string]int{"name": 0}, Base: []int{1, 1, 0}, Check: []int{0, 1, 2}}
 )
@@ -825,6 +868,13 @@ func RegisterMotionServiceHandlerServer(ctx context.Context, mux *runtime.ServeM
 
 	})
 
+	mux.Handle("POST", pattern_MotionService_StreamArmJointPositions_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		err := status.Error(codes.Unimplemented, "streaming calls are not yet supported in the in-process transport")
+		_, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+		return
+	})
+
 	mux.Handle("POST", pattern_MotionService_DoCommand_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
 		ctx, cancel := context.WithCancel(req.Context())
 		defer cancel()
@@ -1070,6 +1120,28 @@ func RegisterMotionServiceHandlerClient(ctx context.Context, mux *runtime.ServeM
 
 	})
 
+	mux.Handle("POST", pattern_MotionService_StreamArmJointPositions_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
+		ctx, cancel := context.WithCancel(req.Context())
+		defer cancel()
+		inboundMarshaler, outboundMarshaler := runtime.MarshalerForRequest(mux, req)
+		var err error
+		var annotatedContext context.Context
+		annotatedContext, err = runtime.AnnotateContext(ctx, mux, req, "/viam.service.motion.v1.MotionService/StreamArmJointPositions", runtime.WithHTTPPathPattern("/viam.service.motion.v1.MotionService/StreamArmJointPositions"))
+		if err != nil {
+			runtime.HTTPError(ctx, mux, outboundMarshaler, w, req, err)
+			return
+		}
+		resp, md, err := request_MotionService_StreamArmJointPositions_0(annotatedContext, inboundMarshaler, client, req, pathParams)
+		annotatedContext = runtime.NewServerMetadataContext(annotatedContext, md)
+		if err != nil {
+			runtime.HTTPError(annotatedContext, mux, outboundMarshaler, w, req, err)
+			return
+		}
+
+		forward_MotionService_StreamArmJointPositions_0(annotatedContext, mux, outboundMarshaler, w, req, func() (proto.Message, error) { return resp.Recv() }, mux.GetForwardResponseOptions()...)
+
+	})
+
 	mux.Handle("POST", pattern_MotionService_DoCommand_0, func(w http.ResponseWriter, req *http.Request, pathParams map[string]string) {
 		ctx, cancel := context.WithCancel(req.Context())
 		defer cancel()
@@ -1132,6 +1204,8 @@ var (
 
 	pattern_MotionService_GetPlan_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "get_plan"}, ""))
 
+	pattern_MotionService_StreamArmJointPositions_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1}, []string{"viam.service.motion.v1.MotionService", "StreamArmJointPositions"}, ""))
+
 	pattern_MotionService_DoCommand_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "do_command"}, ""))
 
 	pattern_MotionService_GetStatus_0 = runtime.MustPattern(runtime.NewPattern(1, []int{2, 0, 2, 1, 2, 2, 2, 3, 2, 4, 1, 0, 4, 1, 5, 5, 2, 6}, []string{"viam", "api", "v1", "service", "motion", "name", "get_status"}, ""))
@@ -1152,6 +1226,8 @@ var (
 
 	forward_MotionService_GetPlan_0 = runtime.ForwardResponseMessage
 
+	forward_MotionService_StreamArmJointPositions_0 = runtime.ForwardResponseStream
+
 	forward_MotionService_DoCommand_0 = runtime.ForwardResponseMessage
 
 	forward_MotionService_GetStatus_0 = runtime.ForwardResponseMessage
diff --git a/service/motion/v1/motion_grpc.pb.go b/service/motion/v1/motion_grpc.pb.go
index f9e27cf11c..52b1b576ca 100644
--- a/service/motion/v1/motion_grpc.pb.go
+++ b/service/motion/v1/motion_grpc.pb.go
@@ -50,6 +50,12 @@ type MotionServiceClient interface {
 	// Replans share the execution_id of the previously executing plan.
 	// This currently only returns plans for MoveOnGlobe and MoveOnMap.
 	GetPlan(ctx context.Context, in *GetPlanRequest, opts ...grpc.CallOption) (*GetPlanResponse, error)
+	// Streams joint-space waypoints to an arm, one session per arm at a time.
+	// The first message on the stream must be an Init; every subsequent message
+	// must be a Targets batch. Closing the request stream (client-side) drains
+	// any buffered trajectory to the arm before ending the call; canceling the
+	// call's context aborts the session immediately.
+	StreamArmJointPositions(ctx context.Context, opts ...grpc.CallOption) (MotionService_StreamArmJointPositionsClient, error)
 	// DoCommand sends/receives arbitrary commands
 	DoCommand(ctx context.Context, in *v1.DoCommandRequest, opts ...grpc.CallOption) (*v1.DoCommandResponse, error)
 	// GetStatus returns the status of the resource
@@ -128,6 +134,37 @@ func (c *motionServiceClient) GetPlan(ctx context.Context, in *GetPlanRequest, o
 	return out, nil
 }
 
+func (c *motionServiceClient) StreamArmJointPositions(ctx context.Context, opts ...grpc.CallOption) (MotionService_StreamArmJointPositionsClient, error) {
+	stream, err := c.cc.NewStream(ctx, &MotionService_ServiceDesc.Streams[0], "/viam.service.motion.v1.MotionService/StreamArmJointPositions", opts...)
+	if err != nil {
+		return nil, err
+	}
+	x := &motionServiceStreamArmJointPositionsClient{stream}
+	return x, nil
+}
+
+type MotionService_StreamArmJointPositionsClient interface {
+	Send(*StreamArmJointPositionsRequest) error
+	Recv() (*StreamArmJointPositionsResponse, error)
+	grpc.ClientStream
+}
+
+type motionServiceStreamArmJointPositionsClient struct {
+	grpc.ClientStream
+}
+
+func (x *motionServiceStreamArmJointPositionsClient) Send(m *StreamArmJointPositionsRequest) error {
+	return x.ClientStream.SendMsg(m)
+}
+
+func (x *motionServiceStreamArmJointPositionsClient) Recv() (*StreamArmJointPositionsResponse, error) {
+	m := new(StreamArmJointPositionsResponse)
+	if err := x.ClientStream.RecvMsg(m); err != nil {
+		return nil, err
+	}
+	return m, nil
+}
+
 func (c *motionServiceClient) DoCommand(ctx context.Context, in *v1.DoCommandRequest, opts ...grpc.CallOption) (*v1.DoCommandResponse, error) {
 	out := new(v1.DoCommandResponse)
 	err := c.cc.Invoke(ctx, "/viam.service.motion.v1.MotionService/DoCommand", in, out, opts...)
@@ -177,6 +214,12 @@ type MotionServiceServer interface {
 	// Replans share the execution_id of the previously executing plan.
 	// This currently only returns plans for MoveOnGlobe and MoveOnMap.
 	GetPlan(context.Context, *GetPlanRequest) (*GetPlanResponse, error)
+	// Streams joint-space waypoints to an arm, one session per arm at a time.
+	// The first message on the stream must be an Init; every subsequent message
+	// must be a Targets batch. Closing the request stream (client-side) drains
+	// any buffered trajectory to the arm before ending the call; canceling the
+	// call's context aborts the session immediately.
+	StreamArmJointPositions(MotionService_StreamArmJointPositionsServer) error
 	// DoCommand sends/receives arbitrary commands
 	DoCommand(context.Context, *v1.DoCommandRequest) (*v1.DoCommandResponse, error)
 	// GetStatus returns the status of the resource
@@ -209,6 +252,9 @@ func (UnimplementedMotionServiceServer) ListPlanStatuses(context.Context, *ListP
 func (UnimplementedMotionServiceServer) GetPlan(context.Context, *GetPlanRequest) (*GetPlanResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method GetPlan not implemented")
 }
+func (UnimplementedMotionServiceServer) StreamArmJointPositions(MotionService_StreamArmJointPositionsServer) error {
+	return status.Errorf(codes.Unimplemented, "method StreamArmJointPositions not implemented")
+}
 func (UnimplementedMotionServiceServer) DoCommand(context.Context, *v1.DoCommandRequest) (*v1.DoCommandResponse, error) {
 	return nil, status.Errorf(codes.Unimplemented, "method DoCommand not implemented")
 }
@@ -354,6 +400,32 @@ func _MotionService_GetPlan_Handler(srv interface{}, ctx context.Context, dec fu
 	return interceptor(ctx, in, info, handler)
 }
 
+func _MotionService_StreamArmJointPositions_Handler(srv interface{}, stream grpc.ServerStream) error {
+	return srv.(MotionServiceServer).StreamArmJointPositions(&motionServiceStreamArmJointPositionsServer{stream})
+}
+
+type MotionService_StreamArmJointPositionsServer interface {
+	Send(*StreamArmJointPositionsResponse) error
+	Recv() (*StreamArmJointPositionsRequest, error)
+	grpc.ServerStream
+}
+
+type motionServiceStreamArmJointPositionsServer struct {
+	grpc.ServerStream
+}
+
+func (x *motionServiceStreamArmJointPositionsServer) Send(m *StreamArmJointPositionsResponse) error {
+	return x.ServerStream.SendMsg(m)
+}
+
+func (x *motionServiceStreamArmJointPositionsServer) Recv() (*StreamArmJointPositionsRequest, error) {
+	m := new(StreamArmJointPositionsRequest)
+	if err := x.ServerStream.RecvMsg(m); err != nil {
+		return nil, err
+	}
+	return m, nil
+}
+
 func _MotionService_DoCommand_Handler(srv interface{}, ctx context.Context, dec func(interface{}) error, interceptor grpc.UnaryServerInterceptor) (interface{}, error) {
 	in := new(v1.DoCommandRequest)
 	if err := dec(in); err != nil {
@@ -434,6 +506,13 @@ var MotionService_ServiceDesc = grpc.ServiceDesc{
 			Handler:    _MotionService_GetStatus_Handler,
 		},
 	},
-	Streams:  []grpc.StreamDesc{},
+	Streams: []grpc.StreamDesc{
+		{
+			StreamName:    "StreamArmJointPositions",
+			Handler:       _MotionService_StreamArmJointPositions_Handler,
+			ServerStreams: true,
+			ClientStreams: true,
+		},
+	},
 	Metadata: "service/motion/v1/motion.proto",
 }