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

# Move to Relative Position

`POST /move/relative`

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.net/phospho/apis/fastapi.md) · [All operations](https://skmtc.net/phospho/apis/fastapi/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/phospho/fastapi/versions/93e83588fc02/schema)