diff --git a/.github/workflows/linkcheck.yml b/.github/workflows/linkcheck.yml
new file mode 100644
index 00000000000..b203a4b6ef8
--- /dev/null
+++ b/.github/workflows/linkcheck.yml
@@ -0,0 +1,40 @@
+# .github/workflows/run-htmltest.yml
+# (c) 2021 Robb Romans
+#
+# Run htmltest link checker on generated HTML output in dist/
+# https://github.com/wjdp/htmltest
+#
+name: run-htmltest-external
+concurrency:
+  group: pullrequest-untrusted-htmltest-${{ github.event.number }}
+  cancel-in-progress: true
+on: pull_request
+jobs:
+  htmltest:
+    runs-on: ubuntu-large
+    container:
+       image: ghcr.io/cirruslabs/flutter:latest
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+
+      - name: Setup Flutter
+        run: flutter pub get
+
+      - name: Generate docs
+        run: dart doc
+
+      - name: Test HTML
+        # https://github.com/wjdp/htmltest-action/
+        # Don't fail the build on broken links
+        continue-on-error: false
+        uses: wjdp/htmltest-action@master
+        with:
+          config: .htmltest.yml
+      - name: Archive htmltest results
+        uses: actions/upload-artifact@v3
+        # Note: Set ACTIONS_RUNTIME_TOKEN env variable to test with nektos/act
+        with:
+          name: htmltest-report
+          path: tmp/.htmltest/htmltest.log
+          retention-days: 7 # Default is 90 days
diff --git a/.htmltest.yml b/.htmltest.yml
new file mode 100644
index 00000000000..16c6fb4e75f
--- /dev/null
+++ b/.htmltest.yml
@@ -0,0 +1,14 @@
+DirectoryPath: "doc/api"
+EnforceHTTPS: true
+IgnoreEmptyHref: true
+IgnoreInternalEmptyHash: true
+IgnoreDirectoryMissingTrailingSlash: false
+IgnoreURLs:
+  - "app.viam.com"
+  - "fonts.gstatic.com"
+IgnoreDirs:
+  - "lib"
+CacheExpires: "6h"
+# IgnoreDirs: - if we need to ever ignore files
+CheckInternal: false
+CheckDoctype: false
\ No newline at end of file
diff --git a/lib/src/gen/app/v1/robot.pb.dart b/lib/src/gen/app/v1/robot.pb.dart
index c18864b8aa5..ce869b9be7b 100644
--- a/lib/src/gen/app/v1/robot.pb.dart
+++ b/lib/src/gen/app/v1/robot.pb.dart
@@ -1993,7 +1993,7 @@ class Orientation_EulerAngles extends $pb.GeneratedMessage {
   void clearYaw() => clearField(3);
 }
 
-/// See here for a thorough explanation: https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation
+/// See here for a thorough explanation: https://en.wikipedia.org/wiki/Axis-angle_representation
 /// Basic explanation: Imagine a 3d cartesian grid centered at 0,0,0, and a sphere of radius 1 centered at
 /// that same point. An orientation can be expressed by first specifying an axis, i.e. a line from the origin
 /// to a point on that sphere, represented by (rx, ry, rz), and a rotation around that axis, theta.