---
title: "Move to Relative Position"
method: POST
path: "/move/relative"
tags: ["control"]
---

# Move to Relative Position

`POST /move/relative`

## Request

- The document declares no server URL.
- Auth: none required

Move the robot to a relative position based on received delta values (in centimeters and degrees).

## Query parameters

- `robot_id` integer

## Request body

- RelativeEndEffectorPosition: Relative end effector position for a movement in relative frame. Useful for OpenVLA-like control.
  - `open` number, nullable: 0 for closed, 1 for open. If None, use the last value.
  - `rx` number, nullable: Relative Pitch in degrees
  - `ry` number, nullable: Relative Yaw in degrees
  - `rz` number, nullable: Relative Roll in degrees
  - `x` number, nullable: Delta X position in centimeters
  - `y` number, nullable: Delta Y position in centimeters
  - `z` number, nullable: Delta Z position in centimeters

## Response `200`

Successful Response

- StatusResponse: Default response. May contain other fields.
  - `message` string, nullable
  - `status` 'ok' | 'error'

## Other responses

- `422`: Validation Error

---

[API](https://skmtc.dev/phospho/apis/phospho-api.md) - [All operations](https://skmtc.dev/phospho/apis/phospho-api/llms.txt) - [OpenAPI document](https://skmtc.dev/phospho/apis/phospho-api/revisions/93e83588fc02?raw)