diff --git a/src/components/panels/ArmControlPanel.tsx b/src/components/panels/ArmControlPanel.tsx
new file mode 100644
index 0000000..bfc7894
--- /dev/null
+++ b/src/components/panels/ArmControlPanel.tsx
@@ -0,0 +1,200 @@
+'use client';
+
+import React, { useEffect, useState } from 'react';
+import ROSLIB from 'roslib';
+import { useROS } from '@/ros/ROSContext';
+
+const ArmControlPanel: React.FC = () => {
+  const { ros } = useROS();
+
+  const [poseNames, setPoseNames] = useState<string[]>([]);
+  const [selectedPose, setSelectedPose] = useState('');
+  const [response, setResponse] = useState<{ success: boolean; message: string } | null>(null);
+
+  const refreshPoseNames = () => {
+    if (!ros) return;
+
+    const service = new ROSLIB.Service({
+      ros,
+      name: '/get_names_poses',
+      serviceType: 'interfaces/srv/GetPoses',
+    });
+
+    const request = new ROSLIB.ServiceRequest({});
+
+    service.callService(request, (result: any) => {
+      const names = result.pose_names ?? [];
+      setPoseNames(names);
+
+      if (names.length > 0 && !selectedPose) {
+        setSelectedPose(names[0]);
+      }
+    });
+  };
+
+  useEffect(() => {
+    refreshPoseNames();
+  }, [ros]);
+
+  const handleGo = () => {
+    if (!ros) {
+      alert('ROS is not connected');
+      return;
+    }
+
+    if (!selectedPose) {
+      setResponse({ success: false, message: 'No pose selected' });
+      return;
+    }
+
+    const service = new ROSLIB.Service({
+      ros,
+      name: '/go_to_pose',
+      serviceType: 'interfaces/srv/GoToPose',
+    });
+
+    const request = new ROSLIB.ServiceRequest({
+      name: selectedPose,
+    });
+
+    service.callService(request, (result: any) => {
+      setResponse({
+        success: result.success,
+        message: result.message,
+      });
+    });
+  };
+
+  const handleStop = () => {
+    if (!ros) {
+      alert('ROS is not connected');
+      return;
+    }
+
+    const service = new ROSLIB.Service({
+      ros,
+      name: '/stop_motion',
+      serviceType: 'std_srvs/srv/Trigger',
+    });
+
+    const request = new ROSLIB.ServiceRequest({});
+
+    service.callService(request, (result: any) => {
+      setResponse({
+        success: result.success,
+        message: result.message,
+      });
+    });
+  };
+
+  return (
+    <div className="arm-panel">
+      <div className="input-group">
+        <label>Named State:</label>
+        <select
+          value={selectedPose}
+          onChange={(e) => setSelectedPose(e.target.value)}
+          disabled={poseNames.length === 0}
+        >
+          {poseNames.length === 0 ? (
+            <option value="">No named states found</option>
+          ) : (
+            poseNames.map((name) => (
+              <option key={name} value={name}>
+                {name}
+              </option>
+            ))
+          )}
+        </select>
+      </div>
+
+      <button onClick={handleGo} disabled={!selectedPose}>
+        Go
+      </button>
+
+      <button className="stop-button" onClick={handleStop}>
+        Stop
+      </button>
+
+      {response && (
+        <div className={`response ${response.success ? 'success' : 'failure'}`}>
+          {response.message}
+        </div>
+      )}
+
+      <style jsx>{`
+        .arm-panel {
+          background: #1e1e1e;
+          color: #f1f1f1;
+          padding: 1rem;
+          border-radius: 8px;
+          height: 100%;
+          display: flex;
+          flex-direction: column;
+          font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
+        }
+
+        .input-group {
+          display: flex;
+          flex-direction: column;
+          margin-bottom: 0.75rem;
+        }
+
+        label {
+          margin-bottom: 0.25rem;
+        }
+
+        select {
+          padding: 0.5rem;
+          border: 1px solid #333;
+          border-radius: 4px;
+          background: #2b2b2b;
+          color: #f1f1f1;
+        }
+
+        button {
+          background: #0070f3;
+          color: #f1f1f1;
+          padding: 0.5rem;
+          border: none;
+          border-radius: 4px;
+          cursor: pointer;
+          margin-top: 0.5rem;
+        }
+
+        button:hover {
+          background: #005fcc;
+        }
+
+        button:disabled {
+          background: #555;
+          cursor: not-allowed;
+        }
+
+        .stop-button {
+          background: #dc3545;
+        }
+
+        .stop-button:hover {
+          background: #b02a37;
+        }
+
+        .response {
+          margin-top: 1rem;
+          padding: 0.5rem;
+          border-radius: 4px;
+        }
+
+        .success {
+          background: #28a745;
+        }
+
+        .failure {
+          background: #dc3545;
+        }
+      `}</style>
+    </div>
+  );
+};
+
+export default ArmControlPanel;
\ No newline at end of file
diff --git a/src/components/panels/MosaicDashboard.tsx b/src/components/panels/MosaicDashboard.tsx
index 692a5cf..996bf75 100644
--- a/src/components/panels/MosaicDashboard.tsx
+++ b/src/components/panels/MosaicDashboard.tsx
@@ -21,6 +21,7 @@ import MotorStatusPanel from './MotorStatusPanel';
 import AntennaControlPanel from './AntennaControlPanel';
 import ScienceControlPanel from './ScienceControlPanel';
 import { CO2Graph, MethaneGraph } from './ScienceGraphPanels';
+import ArmControlPanel from './ArmControlPanel';
 
 type TileType =
   | 'mapView'
@@ -35,7 +36,8 @@ type TileType =
   | 'antennaControlPanel'
   | 'scienceControlPanel'
   | 'co2Graph'
-  | 'methaneGraph';
+  | 'methaneGraph'
+  | 'armControlPanel';
 
 type TileId = `${TileType}:${number}`;
 
@@ -53,6 +55,7 @@ const TILE_DISPLAY_NAMES: Record<TileType, string> = {
   scienceControlPanel: 'Science Motor Control',
   co2Graph: 'CO2 Graph',
   methaneGraph: 'Methane Graph',
+  armControlPanel: 'Arm Control',
 };
 
 const ALL_TILE_TYPES: TileType[] = [
@@ -68,7 +71,8 @@ const ALL_TILE_TYPES: TileType[] = [
   'antennaControlPanel',
   'scienceControlPanel',
   'co2Graph',
-  'methaneGraph'
+  'methaneGraph',
+  'armControlPanel',
 ];
 
 function tileTypeOf(id: TileId): TileType {
@@ -118,10 +122,15 @@ function buildDefaultLayout(makeTileId: (type: TileType) => TileId): MosaicNode<
         direction: 'row',
         first: {
           direction: 'row',
-          first: makeTileId('rosMonitor'),
+          first: {
+            direction: 'column',
+            first: makeTileId('antennaControlPanel'),
+            second: makeTileId('MotorStatusPanel'),
+            splitPercentage: 35,
+          },
           second: makeTileId('networkHealthMonitor'),
         },
-        second: makeTileId('orientationDisplay'),
+        second: makeTileId('rosMonitor'),
         splitPercentage: 55,
       },
       splitPercentage: 55,
@@ -139,7 +148,7 @@ function buildDefaultLayout(makeTileId: (type: TileType) => TileId): MosaicNode<
         },
         splitPercentage: 50,
       },
-      splitPercentage: 50,
+      splitPercentage: 60,
     },
     splitPercentage: 60,
   };
@@ -398,6 +407,12 @@ const MosaicDashboard: React.FC = () => {
             <MethaneGraph />
           </MosaicWindow>
         )
+      case 'armControlPanel':
+        return(
+          <MosaicWindow {...windowProps}>
+            <ArmControlPanel />
+          </MosaicWindow>
+        )
 
       default:
         return <div>Unknown tile</div>;