diff --git a/.changeset/smart-trees-jam.md b/.changeset/smart-trees-jam.md
new file mode 100644
index 0000000..a03d807
--- /dev/null
+++ b/.changeset/smart-trees-jam.md
@@ -0,0 +1,5 @@
+---
+'@viamrobotics/test-widgets': minor
+---
+
+feat: allow pasting for moveToPositions and moveToPose widgets"
diff --git a/package.json b/package.json
index 1a736b5..20aefc2 100644
--- a/package.json
+++ b/package.json
@@ -84,7 +84,7 @@
 		"@types/node": "^25.6.0",
 		"@types/three": "^0.183.1",
 		"@viamrobotics/motion-tools": "^1.19.1",
-		"@viamrobotics/prime-core": "^0.1.21",
+		"@viamrobotics/prime-core": "^0.1.22",
 		"@viamrobotics/sdk": "^0.69.0",
 		"@viamrobotics/svelte-sdk": "^1.2.1",
 		"@viamrobotics/tailwind-config": "^1.0.0",
diff --git a/pnpm-lock.yaml b/pnpm-lock.yaml
index a4541a2..4b98d04 100644
--- a/pnpm-lock.yaml
+++ b/pnpm-lock.yaml
@@ -91,10 +91,10 @@ importers:
         version: 0.183.1
       '@viamrobotics/motion-tools':
         specifier: ^1.19.1
-        version: 1.19.1(227c8cb51869e1778568ba51e8c8cd26)
+        version: 1.19.1(3de9b43f3c997d767960211059488fa9)
       '@viamrobotics/prime-core':
-        specifier: ^0.1.21
-        version: 0.1.21(@internationalized/date@3.12.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))
+        specifier: ^0.1.22
+        version: 0.1.22(@internationalized/date@3.12.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))
       '@viamrobotics/sdk':
         specifier: ^0.69.0
         version: 0.69.0
@@ -1308,8 +1308,8 @@ packages:
       svelte: '>=5'
       svelte-virtuallists: '>=1'
 
-  '@viamrobotics/prime-core@0.1.21':
-    resolution: {integrity: sha512-y/EG0eIqi7yfpUK86Lyha6h9ZFfl9YLr3/6B8nzpnua6dGuzAt22Rvgi3ekmJP4M6G5BczazjqYbd36ijO00lA==}
+  '@viamrobotics/prime-core@0.1.22':
+    resolution: {integrity: sha512-h5ukdMQqHSLIBCWyheliW7cJfCeMC2bIifa9hzHnWBUpuYPwoujG/4/4wWRhohG9XBN1bCZQs/txttUdXpxqBA==}
     peerDependencies:
       svelte: '>=5 <6'
 
@@ -4183,7 +4183,7 @@ snapshots:
       '@typescript-eslint/types': 8.59.1
       eslint-visitor-keys: 5.0.1
 
-  '@viamrobotics/motion-tools@1.19.1(227c8cb51869e1778568ba51e8c8cd26)':
+  '@viamrobotics/motion-tools@1.19.1(3de9b43f3c997d767960211059488fa9)':
     dependencies:
       '@ag-grid-community/client-side-row-model': 32.3.9
       '@ag-grid-community/core': 32.3.9
@@ -4198,7 +4198,7 @@ snapshots:
       '@threlte/extras': 9.15.0(@types/three@0.183.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))(three@0.183.2)
       '@threlte/rapier': 3.4.0(@dimforge/rapier3d-compat@0.12.0)(svelte@5.55.7(@typescript-eslint/types@8.59.1))(three@0.183.2)
       '@threlte/xr': 1.4.0(svelte@5.55.7(@typescript-eslint/types@8.59.1))(three@0.183.2)
-      '@viamrobotics/prime-core': 0.1.21(@internationalized/date@3.12.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))
+      '@viamrobotics/prime-core': 0.1.22(@internationalized/date@3.12.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))
       '@viamrobotics/sdk': 0.69.0
       '@viamrobotics/svelte-sdk': 1.2.1(@viamrobotics/sdk@0.69.0)(svelte@5.55.7(@typescript-eslint/types@8.59.1))
       '@zag-js/collapsible': 1.40.0
@@ -4227,7 +4227,7 @@ snapshots:
       - react
       - three
 
-  '@viamrobotics/prime-core@0.1.21(@internationalized/date@3.12.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))':
+  '@viamrobotics/prime-core@0.1.22(@internationalized/date@3.12.1)(svelte@5.55.7(@typescript-eslint/types@8.59.1))':
     dependencies:
       '@codemirror/commands': 6.3.0
       '@codemirror/lang-go': 6.0.1
diff --git a/src/lib/components/copy-button.svelte b/src/lib/components/copy-button.svelte
index f805f61..2b99a08 100644
--- a/src/lib/components/copy-button.svelte
+++ b/src/lib/components/copy-button.svelte
@@ -1,5 +1,5 @@
 <script lang="ts">
-	import { Icon } from '@viamrobotics/prime-core'
+	import { IconButton, Tooltip } from '@viamrobotics/prime-core'
 
 	interface Props {
 		data: string
@@ -25,13 +25,13 @@
 	}
 </script>
 
-<button
-	onclick={handleCopyClick}
-	aria-label={ariaLabel}
-	class="text-gray-6 hover:border-medium hover:bg-medium active:bg-gray-2 justify-items-end p-0.5"
->
-	<Icon
-		name={showCopySuccess ? 'check' : 'content-copy'}
-		size="xs"
+<Tooltip>
+	<IconButton
+		onclick={handleCopyClick}
+		aria-label={ariaLabel}
+		class="text-gray-6 hover:border-medium hover:bg-medium active:bg-gray-2 justify-items-end p-0.5"
+		icon={showCopySuccess ? 'check' : 'content-copy'}
+		label="Copy to clipboard"
 	/>
-</button>
+	<span slot="description">{ariaLabel}</span>
+</Tooltip>
diff --git a/src/lib/components/paste-button.svelte b/src/lib/components/paste-button.svelte
new file mode 100644
index 0000000..a6bf5d6
--- /dev/null
+++ b/src/lib/components/paste-button.svelte
@@ -0,0 +1,38 @@
+<script lang="ts">
+	import { IconButton, Tooltip } from '@viamrobotics/prime-core'
+
+	interface Props {
+		onPaste: (data: string) => boolean
+		ariaLabel?: string
+	}
+
+	const { onPaste, ariaLabel = 'Paste from clipboard' }: Props = $props()
+
+	let isPasteSuccessful = $state<boolean | null>(null)
+
+	const handlePasteClick = async (event: Event) => {
+		event.stopPropagation()
+		event.preventDefault()
+		const data = await globalThis.navigator.clipboard.readText()
+		isPasteSuccessful = onPaste(data)
+		setTimeout(() => {
+			isPasteSuccessful = null
+		}, 750)
+	}
+
+	const iconName = $derived(
+		// eslint-disable-next-line unicorn/no-nested-ternary
+		isPasteSuccessful === null ? 'content-paste' : isPasteSuccessful ? 'check' : 'close'
+	)
+</script>
+
+<Tooltip>
+	<IconButton
+		onclick={handlePasteClick}
+		aria-label={ariaLabel}
+		class="text-gray-6 hover:border-medium hover:bg-medium active:bg-gray-2 justify-items-end p-0.5"
+		icon={iconName}
+		label="Paste from clipboard"
+	/>
+	<span slot="description">{ariaLabel}</span>
+</Tooltip>
diff --git a/src/lib/components/widgets/arm/move-to-joint-positions.svelte b/src/lib/components/widgets/arm/move-to-joint-positions.svelte
index 384ca01..4241d24 100644
--- a/src/lib/components/widgets/arm/move-to-joint-positions.svelte
+++ b/src/lib/components/widgets/arm/move-to-joint-positions.svelte
@@ -4,6 +4,7 @@
 	import AngleUnitToggle from '$lib/components/angle-unit-toggle.svelte'
 	import CopyButton from '$lib/components/copy-button.svelte'
 	import ErrorDisplay from '$lib/components/error.svelte'
+	import PasteButton from '$lib/components/paste-button.svelte'
 	import Table from '$lib/components/table.svelte'
 	import { numberValueFromEvent } from '$lib/event-handlers'
 	import { degreesToRadians, formatNumeric, radiansToDegrees } from '$lib/format'
@@ -37,6 +38,14 @@
 		desiredPositions[index] = useRadians ? radiansToDegrees(inputValue) : inputValue
 	}
 
+	const handlePaste = (data: string): boolean => {
+		try {
+			desiredPositions = JSON.parse(data) as number[]
+		} catch {
+			return false
+		}
+		return true
+	}
 	const degreesToDisplayAngle = (degrees: number) => {
 		return useRadians ? degreesToRadians(degrees) : degrees
 	}
@@ -89,6 +98,7 @@
 				}}
 			/>
 			<CopyButton data={copyData} />
+			<PasteButton onPaste={handlePaste} />
 		</div>
 	</div>
 
diff --git a/src/lib/components/widgets/arm/move-to-position.svelte b/src/lib/components/widgets/arm/move-to-position.svelte
index 9447723..175d721 100644
--- a/src/lib/components/widgets/arm/move-to-position.svelte
+++ b/src/lib/components/widgets/arm/move-to-position.svelte
@@ -6,6 +6,7 @@
 	import AngleUnitToggle from '$lib/components/angle-unit-toggle.svelte'
 	import CopyButton from '$lib/components/copy-button.svelte'
 	import ErrorDisplay from '$lib/components/error.svelte'
+	import PasteButton from '$lib/components/paste-button.svelte'
 	import Table from '$lib/components/table.svelte'
 	import { numberValueFromEvent } from '$lib/event-handlers'
 	import { degreesToRadians, formatNumeric, radiansToDegrees } from '$lib/format'
@@ -48,9 +49,15 @@
 		theta: useRadians ? degreesToRadians(desiredPosition.theta) : desiredPosition.theta,
 	})
 
-	const copyData = $derived(
-		`{x: ${displayPosition.x}, y: ${displayPosition.y}, z: ${displayPosition.z}, o_x: ${displayPosition.oX}, o_y: ${displayPosition.oY}, o_z: ${displayPosition.oZ}, theta: ${displayPosition.theta}}`
-	)
+	const copyData = $derived(JSON.stringify(displayPosition))
+	const handlePaste = (data: string): boolean => {
+		try {
+			desiredPosition = JSON.parse(data) as Pose
+		} catch {
+			return false
+		}
+		return true
+	}
 
 	const handleAngleInputChange = (key: keyof Pose, inputValue: number) => {
 		if (key === 'theta') {
@@ -84,6 +91,7 @@
 				}}
 			/>
 			<CopyButton data={copyData} />
+			<PasteButton onPaste={handlePaste} />
 		</div>
 	</div>