diff --git a/component/arm/v1/arm.pb.go b/component/arm/v1/arm.pb.go
index 1093480d7..fbcb3a489 100644
--- a/component/arm/v1/arm.pb.go
+++ b/component/arm/v1/arm.pb.go
@@ -833,10 +833,16 @@ type MoveOptions struct {
 	sizeCache     protoimpl.SizeCache
 	unknownFields protoimpl.UnknownFields
 
-	// Maximum allowable velocity of an arm joint, in degrees per second
+	// Maximum allowable velocity of an arm joint, in degrees per second.
+	// Ignored when max_vel_degs_per_sec_joints is set.
 	MaxVelDegsPerSec *float64 `protobuf:"fixed64,1,opt,name=max_vel_degs_per_sec,json=maxVelDegsPerSec,proto3,oneof" json:"max_vel_degs_per_sec,omitempty"`
-	// Maximum allowable acceleration of an arm joint, in degrees per second squared
+	// Maximum allowable acceleration of an arm joint, in degrees per second squared.
+	// ignored when max_acc_degs_per_sec2_joints is set.
 	MaxAccDegsPerSec2 *float64 `protobuf:"fixed64,2,opt,name=max_acc_degs_per_sec2,json=maxAccDegsPerSec2,proto3,oneof" json:"max_acc_degs_per_sec2,omitempty"`
+	// Per-joint maximum velocity in degrees per second.
+	MaxVelDegsPerSecJoints []float64 `protobuf:"fixed64,3,rep,packed,name=max_vel_degs_per_sec_joints,json=maxVelDegsPerSecJoints,proto3" json:"max_vel_degs_per_sec_joints,omitempty"`
+	// Per-joint maximum acceleration in degrees per second squared.
+	MaxAccDegsPerSec2Joints []float64 `protobuf:"fixed64,4,rep,packed,name=max_acc_degs_per_sec2_joints,json=maxAccDegsPerSec2Joints,proto3" json:"max_acc_degs_per_sec2_joints,omitempty"`
 }
 
 func (x *MoveOptions) Reset() {
@@ -883,6 +889,20 @@ func (x *MoveOptions) GetMaxAccDegsPerSec2() float64 {
 	return 0
 }
 
+func (x *MoveOptions) GetMaxVelDegsPerSecJoints() []float64 {
+	if x != nil {
+		return x.MaxVelDegsPerSecJoints
+	}
+	return nil
+}
+
+func (x *MoveOptions) GetMaxAccDegsPerSec2Joints() []float64 {
+	if x != nil {
+		return x.MaxAccDegsPerSec2Joints
+	}
+	return nil
+}
+
 var File_component_arm_v1_arm_proto protoreflect.FileDescriptor
 
 var file_component_arm_v1_arm_proto_rawDesc = []byte{
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+	0x06, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x33,
 }
 
 var (
diff --git a/gen/js/component/arm/v1/arm_pb.d.ts b/gen/js/component/arm/v1/arm_pb.d.ts
index 785b4b989..a4e71d3d2 100644
--- a/gen/js/component/arm/v1/arm_pb.d.ts
+++ b/gen/js/component/arm/v1/arm_pb.d.ts
@@ -399,6 +399,16 @@ export class MoveOptions extends jspb.Message {
   getMaxAccDegsPerSec2(): number;
   setMaxAccDegsPerSec2(value: number): void;
 
+  clearMaxVelDegsPerSecJointsList(): void;
+  getMaxVelDegsPerSecJointsList(): Array<number>;
+  setMaxVelDegsPerSecJointsList(value: Array<number>): void;
+  addMaxVelDegsPerSecJoints(value: number, index?: number): number;
+
+  clearMaxAccDegsPerSec2JointsList(): void;
+  getMaxAccDegsPerSec2JointsList(): Array<number>;
+  setMaxAccDegsPerSec2JointsList(value: Array<number>): void;
+  addMaxAccDegsPerSec2Joints(value: number, index?: number): number;
+
   serializeBinary(): Uint8Array;
   toObject(includeInstance?: boolean): MoveOptions.AsObject;
   static toObject(includeInstance: boolean, msg: MoveOptions): MoveOptions.AsObject;
@@ -413,6 +423,8 @@ export namespace MoveOptions {
   export type AsObject = {
     maxVelDegsPerSec: number,
     maxAccDegsPerSec2: number,
+    maxVelDegsPerSecJointsList: Array<number>,
+    maxAccDegsPerSec2JointsList: Array<number>,
   }
 }
 
diff --git a/gen/js/component/arm/v1/arm_pb.js b/gen/js/component/arm/v1/arm_pb.js
index f77f25db9..52d4b6341 100644
--- a/gen/js/component/arm/v1/arm_pb.js
+++ b/gen/js/component/arm/v1/arm_pb.js
@@ -385,7 +385,7 @@ if (goog.DEBUG && !COMPILED) {
  * @constructor
  */
 proto.viam.component.arm.v1.MoveOptions = function(opt_data) {
-  jspb.Message.initialize(this, opt_data, 0, -1, null, null);
+  jspb.Message.initialize(this, opt_data, 0, -1, proto.viam.component.arm.v1.MoveOptions.repeatedFields_, null);
 };
 goog.inherits(proto.viam.component.arm.v1.MoveOptions, jspb.Message);
 if (goog.DEBUG && !COMPILED) {
@@ -3051,6 +3051,13 @@ proto.viam.component.arm.v1.IsMovingResponse.prototype.setIsMoving = function(va
 
 
 
+/**
+ * List of repeated fields within this message type.
+ * @private {!Array<number>}
+ * @const
+ */
+proto.viam.component.arm.v1.MoveOptions.repeatedFields_ = [3,4];
+
 
 
 if (jspb.Message.GENERATE_TO_OBJECT) {
@@ -3083,7 +3090,9 @@ proto.viam.component.arm.v1.MoveOptions.prototype.toObject = function(opt_includ
 proto.viam.component.arm.v1.MoveOptions.toObject = function(includeInstance, msg) {
   var f, obj = {
     maxVelDegsPerSec: jspb.Message.getFloatingPointFieldWithDefault(msg, 1, 0.0),
-    maxAccDegsPerSec2: jspb.Message.getFloatingPointFieldWithDefault(msg, 2, 0.0)
+    maxAccDegsPerSec2: jspb.Message.getFloatingPointFieldWithDefault(msg, 2, 0.0),
+    maxVelDegsPerSecJointsList: (f = jspb.Message.getRepeatedFloatingPointField(msg, 3)) == null ? undefined : f,
+    maxAccDegsPerSec2JointsList: (f = jspb.Message.getRepeatedFloatingPointField(msg, 4)) == null ? undefined : f
   };
 
   if (includeInstance) {
@@ -3128,6 +3137,18 @@ proto.viam.component.arm.v1.MoveOptions.deserializeBinaryFromReader = function(m
       var value = /** @type {number} */ (reader.readDouble());
       msg.setMaxAccDegsPerSec2(value);
       break;
+    case 3:
+      var values = /** @type {!Array<number>} */ (reader.isDelimited() ? reader.readPackedDouble() : [reader.readDouble()]);
+      for (var i = 0; i < values.length; i++) {
+        msg.addMaxVelDegsPerSecJoints(values[i]);
+      }
+      break;
+    case 4:
+      var values = /** @type {!Array<number>} */ (reader.isDelimited() ? reader.readPackedDouble() : [reader.readDouble()]);
+      for (var i = 0; i < values.length; i++) {
+        msg.addMaxAccDegsPerSec2Joints(values[i]);
+      }
+      break;
     default:
       reader.skipField();
       break;
@@ -3171,6 +3192,20 @@ proto.viam.component.arm.v1.MoveOptions.serializeBinaryToWriter = function(messa
       f
     );
   }
+  f = message.getMaxVelDegsPerSecJointsList();
+  if (f.length > 0) {
+    writer.writePackedDouble(
+      3,
+      f
+    );
+  }
+  f = message.getMaxAccDegsPerSec2JointsList();
+  if (f.length > 0) {
+    writer.writePackedDouble(
+      4,
+      f
+    );
+  }
 };
 
 
@@ -3246,4 +3281,78 @@ proto.viam.component.arm.v1.MoveOptions.prototype.hasMaxAccDegsPerSec2 = functio
 };
 
 
+/**
+ * repeated double max_vel_degs_per_sec_joints = 3;
+ * @return {!Array<number>}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.getMaxVelDegsPerSecJointsList = function() {
+  return /** @type {!Array<number>} */ (jspb.Message.getRepeatedFloatingPointField(this, 3));
+};
+
+
+/**
+ * @param {!Array<number>} value
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.setMaxVelDegsPerSecJointsList = function(value) {
+  return jspb.Message.setField(this, 3, value || []);
+};
+
+
+/**
+ * @param {number} value
+ * @param {number=} opt_index
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.addMaxVelDegsPerSecJoints = function(value, opt_index) {
+  return jspb.Message.addToRepeatedField(this, 3, value, opt_index);
+};
+
+
+/**
+ * Clears the list making it empty but non-null.
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.clearMaxVelDegsPerSecJointsList = function() {
+  return this.setMaxVelDegsPerSecJointsList([]);
+};
+
+
+/**
+ * repeated double max_acc_degs_per_sec2_joints = 4;
+ * @return {!Array<number>}
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.getMaxAccDegsPerSec2JointsList = function() {
+  return /** @type {!Array<number>} */ (jspb.Message.getRepeatedFloatingPointField(this, 4));
+};
+
+
+/**
+ * @param {!Array<number>} value
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.setMaxAccDegsPerSec2JointsList = function(value) {
+  return jspb.Message.setField(this, 4, value || []);
+};
+
+
+/**
+ * @param {number} value
+ * @param {number=} opt_index
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.addMaxAccDegsPerSec2Joints = function(value, opt_index) {
+  return jspb.Message.addToRepeatedField(this, 4, value, opt_index);
+};
+
+
+/**
+ * Clears the list making it empty but non-null.
+ * @return {!proto.viam.component.arm.v1.MoveOptions} returns this
+ */
+proto.viam.component.arm.v1.MoveOptions.prototype.clearMaxAccDegsPerSec2JointsList = function() {
+  return this.setMaxAccDegsPerSec2JointsList([]);
+};
+
+
 goog.object.extend(exports, proto.viam.component.arm.v1);
diff --git a/proto/viam/component/arm/v1/arm.proto b/proto/viam/component/arm/v1/arm.proto
index bf9304098..e6939b114 100644
--- a/proto/viam/component/arm/v1/arm.proto
+++ b/proto/viam/component/arm/v1/arm.proto
@@ -168,8 +168,14 @@ message IsMovingResponse {
 }
 
 message MoveOptions {
-  // Maximum allowable velocity of an arm joint, in degrees per second
+  // Maximum allowable velocity of an arm joint, in degrees per second.
+  // Ignored when max_vel_degs_per_sec_joints is set.
   optional double max_vel_degs_per_sec = 1;
-  // Maximum allowable acceleration of an arm joint, in degrees per second squared
+  // Maximum allowable acceleration of an arm joint, in degrees per second squared.
+  // ignored when max_acc_degs_per_sec2_joints is set.
   optional double max_acc_degs_per_sec2 = 2;
+  // Per-joint maximum velocity in degrees per second.
+  repeated double max_vel_degs_per_sec_joints = 3;
+  // Per-joint maximum acceleration in degrees per second squared.
+  repeated double max_acc_degs_per_sec2_joints = 4;
 }