Motion planning reference

Configure the motion service for planning and executing component movements.

The motion service API for planning and executing component movements.

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

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

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

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

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

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

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