diff --git a/helix_transmission_interfaces/CMakeLists.txt b/helix_transmission_interfaces/CMakeLists.txt
index f125439..9c714d2 100644
--- a/helix_transmission_interfaces/CMakeLists.txt
+++ b/helix_transmission_interfaces/CMakeLists.txt
@@ -6,10 +6,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetCurrent.srv"
+  "srv/GoToGripperPoseVector.srv"
+  "srv/GoToGripperPoseQuat.srv"
+  "srv/GoToGripperPoseEuler.srv"
+  DEPENDENCIES geometry_msgs
 )
 
 ament_package()
diff --git a/helix_transmission_interfaces/package.xml b/helix_transmission_interfaces/package.xml
index 18bb67d..e398663 100644
--- a/helix_transmission_interfaces/package.xml
+++ b/helix_transmission_interfaces/package.xml
@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>geometry_msgs</depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
diff --git a/helix_transmission_interfaces/srv/GoToGripperPoseEuler.srv b/helix_transmission_interfaces/srv/GoToGripperPoseEuler.srv
new file mode 100644
index 0000000..ed211c3
--- /dev/null
+++ b/helix_transmission_interfaces/srv/GoToGripperPoseEuler.srv
@@ -0,0 +1,9 @@
+string frame_id
+geometry_msgs/Point goal_point
+float64[3] goal_euler_angs
+string axes "sxyz"
+bool plan_linear
+bool ik_uses_prev
+---
+bool success
+string message
diff --git a/helix_transmission_interfaces/srv/GoToGripperPoseQuat.srv b/helix_transmission_interfaces/srv/GoToGripperPoseQuat.srv
new file mode 100644
index 0000000..e870e4d
--- /dev/null
+++ b/helix_transmission_interfaces/srv/GoToGripperPoseQuat.srv
@@ -0,0 +1,7 @@
+string frame_id
+geometry_msgs/Pose goal_pose
+bool plan_linear
+bool ik_uses_prev
+---
+bool success
+string message
diff --git a/helix_transmission_interfaces/srv/GoToGripperPoseVector.srv b/helix_transmission_interfaces/srv/GoToGripperPoseVector.srv
new file mode 100644
index 0000000..c8f45ea
--- /dev/null
+++ b/helix_transmission_interfaces/srv/GoToGripperPoseVector.srv
@@ -0,0 +1,8 @@
+string frame_id
+geometry_msgs/Point goal_point
+geometry_msgs/Vector3 goal_direction
+bool plan_linear
+bool ik_uses_prev
+---
+bool success
+string message