Motion planning reference

The motion service turns a high-level “move to this pose” request into a collision-free joint trajectory. This reference documents what you configure, what the API exposes, and the formats and algorithms it uses under the hood. For conceptual background, see How motion planning works; for task-based guidance, start from the section landing.

Configuration and API: where most readers start.

Motion service

Configure the motion service for planning and executing component movements.

MotionConfiguration

Per-call motion parameters passed to MoveOnGlobe and MoveOnMap: speed, deviation, polling, and obstacle detectors.

API

The motion service API for planning and executing component movements.

CLI commands

Reference for the Viam CLI commands that inspect the frame system and test motion from the command line.

Plan monitoring

Reference for the motion service methods, types, and states used to track long-running motion plans.

Formats and machinery: the underlying schemas the service operates on.

Frame system API

The RPCs for querying and transforming frame system poses live on the robot service, not a standalone frame system service.

Kinematics

Set up the kinematic model that describes how your arm's joints and links create motion.

Orientation vectors

Reference for specifying component orientation using orientation vectors and other rotation formats.

Motion planning algorithms

The planning algorithm used by the built-in motion service and the tuning surfaces exposed to callers.