From c5f2159a5d379c15944c2d2cb59b98307e13056d Mon Sep 17 00:00:00 2001
From: JessamyT <75634662+JessamyT@users.noreply.github.com>
Date: Thu, 21 Nov 2024 10:04:11 -0800
Subject: [PATCH] DOCS-3130: Add MoveThroughJointPositions method to arm
 interface (#3692)

---
 .github/workflows/sdk_protos_map.csv | 1 +
 docs/appendix/changelog.md           | 4 ++++
 2 files changed, 5 insertions(+)

diff --git a/.github/workflows/sdk_protos_map.csv b/.github/workflows/sdk_protos_map.csv
index c8ca6530a7..8f8d9af49d 100644
--- a/.github/workflows/sdk_protos_map.csv
+++ b/.github/workflows/sdk_protos_map.csv
@@ -4,6 +4,7 @@
 arm,GetEndPosition,,get_end_position,EndPosition,endPosition
 arm,MoveToPosition,,move_to_position,MoveToPosition,moveToPosition
 arm,MoveToJointPositions,,move_to_joint_positions,MoveToJointPositions,moveToJointPositions
+arm,MoveThroughJointPositions,,,MoveThroughJointPositions,
 arm,GetJointPositions,,get_joint_positions,JointPositions,jointPositions
 arm,GetKinematics,,get_kinematics,,
 ## HACK:  proto for these (and/or inherited in Go SDK), manually mapping:
diff --git a/docs/appendix/changelog.md b/docs/appendix/changelog.md
index 43de5e091d..50acc90a32 100644
--- a/docs/appendix/changelog.md
+++ b/docs/appendix/changelog.md
@@ -86,6 +86,10 @@ The following models were removed:
 
 {{% /changelog %}}
 
+{{% changelog date="2024-11-05" color="added" title="MoveThroughJointPositions to arm interface" %}}
+The [arm interface](/appendix/apis/components/arm/) now includes a [MoveThroughJointPositions](https://pkg.go.dev/go.viam.com/rdk/components/arm#Arm) method that moves an arm through an ordered array of joint positions.
+{{% /changelog %}}
+
 {{% changelog date="2024-10-16" color="added" title="Set data retention policies" %}}
 
 You can now set how long data collected by a component should remain stored in the Viam Cloud in the component's data capture configuration.