# 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](https://docs.viam.com/motion-planning/how-planning-works/); for task-based guidance, start from the [section landing](https://docs.viam.com/motion-planning/).

**Configuration and API**: where most readers start.

[Motion service  
Configure the motion service for planning and executing component movements.](https://docs.viam.com/motion-planning/reference/motion-service/)

[API  
The motion service API for planning and executing component movements.](https://docs.viam.com/motion-planning/reference/api/)

[CLI commands  
Reference for the Viam CLI commands that inspect the frame system and test motion from the command line.](https://docs.viam.com/motion-planning/reference/cli-commands/)

**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.](https://docs.viam.com/motion-planning/reference/frame-system-api/)

[Kinematics  
Set up the kinematic model that describes how your arm's joints and links create motion.](https://docs.viam.com/motion-planning/reference/kinematics/)

[Orientation vectors  
Reference for specifying component orientation using orientation vectors and other rotation formats.](https://docs.viam.com/motion-planning/reference/orientation-vectors/)

[Motion planning algorithms  
The two-stage planning strategy the built-in motion service uses and the tuning surfaces exposed to callers.](https://docs.viam.com/motion-planning/reference/algorithms/)