From e3cab3bc2f681e2381e9e8c46f873549c85d5216 Mon Sep 17 00:00:00 2001
From: Nick Franczak <nicholasgfranczak@gmail.com>
Date: Wed, 3 Jun 2026 15:00:56 -0400
Subject: [PATCH 1/2] max tcp speed

---
 src/viam/sdk/tests/test_arm.cpp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/viam/sdk/tests/test_arm.cpp b/src/viam/sdk/tests/test_arm.cpp
index ebe5bc52b..5a7d0ccbf 100644
--- a/src/viam/sdk/tests/test_arm.cpp
+++ b/src/viam/sdk/tests/test_arm.cpp
@@ -142,6 +142,22 @@ BOOST_AUTO_TEST_CASE(thru_joint_positions_vel_scalar_acc_vector) {
     });
 }
 
+BOOST_AUTO_TEST_CASE(thru_joint_positions_max_tcp_speed) {
+    std::shared_ptr<MockArm> mock = MockArm::get_mock_arm();
+    client_to_mock_pipeline<Arm>(mock, [&](Arm& client) {
+        std::vector<std::vector<double>> positions{{1.0, 2.0}, {3.0}};
+        Arm::MoveOptions opts;
+        opts.max_vel_degs_per_sec = Arm::MoveLimit(1.0);
+        opts.max_acc_degs_per_sec2 = Arm::MoveLimit(2.0);
+        opts.max_tcp_speed = 42.0;
+        client.move_through_joint_positions(positions, opts, {});
+        BOOST_CHECK_EQUAL(mock->move_thru_positions, positions);
+
+        BOOST_REQUIRE(mock->move_opts.max_tcp_speed);
+        BOOST_CHECK_EQUAL(*mock->move_opts.max_tcp_speed, 42.0);
+    });
+}
+
 BOOST_AUTO_TEST_CASE(test_stop) {
     std::shared_ptr<MockArm> mock = MockArm::get_mock_arm();
     client_to_mock_pipeline<Arm>(mock, [&](Arm& client) {

From b12f578f3cbe3a6ae17f3f917c32383efdb3c12b Mon Sep 17 00:00:00 2001
From: Nick Franczak <nicholasgfranczak@gmail.com>
Date: Wed, 3 Jun 2026 15:02:01 -0400
Subject: [PATCH 2/2] max tcp speed components code

---
 src/viam/sdk/components/arm.hpp                | 1 +
 src/viam/sdk/components/private/arm_client.cpp | 4 ++++
 src/viam/sdk/components/private/arm_server.cpp | 4 ++++
 3 files changed, 9 insertions(+)

diff --git a/src/viam/sdk/components/arm.hpp b/src/viam/sdk/components/arm.hpp
index a8e89fcf5..e181dc4a9 100644
--- a/src/viam/sdk/components/arm.hpp
+++ b/src/viam/sdk/components/arm.hpp
@@ -46,6 +46,7 @@ class Arm : public Component, public Stoppable {
     struct MoveOptions {
         boost::optional<MoveLimit> max_vel_degs_per_sec;
         boost::optional<MoveLimit> max_acc_degs_per_sec2;
+        boost::optional<double> max_tcp_speed;
     };
 
     /// @brief Get the current position of the end of the arm.
diff --git a/src/viam/sdk/components/private/arm_client.cpp b/src/viam/sdk/components/private/arm_client.cpp
index a57cb59c1..9d98d679e 100644
--- a/src/viam/sdk/components/private/arm_client.cpp
+++ b/src/viam/sdk/components/private/arm_client.cpp
@@ -91,6 +91,10 @@ void ArmClient::move_through_joint_positions(const std::vector<std::vector<doubl
                                            *options.max_acc_degs_per_sec2);
                   }
 
+                  if (options.max_tcp_speed) {
+                      request.mutable_options()->set_max_tcp_speed(*options.max_tcp_speed);
+                  }
+
                   for (const auto& pos : positions) {
                       viam::component::arm::v1::JointPositions jpos;
                       jpos.mutable_values()->Add(pos.begin(), pos.end());
diff --git a/src/viam/sdk/components/private/arm_server.cpp b/src/viam/sdk/components/private/arm_server.cpp
index 13fbabee6..5530f157f 100644
--- a/src/viam/sdk/components/private/arm_server.cpp
+++ b/src/viam/sdk/components/private/arm_server.cpp
@@ -84,6 +84,10 @@ ::grpc::Status ArmServer::MoveThroughJointPositions(
                 opts.max_acc_degs_per_sec2 = request->options().max_acc_degs_per_sec2();
             }
 
+            if (request->options().has_max_tcp_speed()) {
+                opts.max_tcp_speed = request->options().max_tcp_speed();
+            }
+
             arm->move_through_joint_positions(positions, opts, helper.getExtra());
         });
 }