> ## Documentation Index
> Fetch the complete documentation index at: https://docs.phospho.ai/llms.txt
> Use this file to discover all available pages before exploring further.

# Move to Relative Position

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



## OpenAPI

````yaml post /move/relative
openapi: 3.1.0
info:
  title: FastAPI
  version: 0.1.0
servers: []
security: []
paths:
  /move/relative:
    post:
      tags:
        - control
      summary: Move to Relative Position
      description: >-
        Move the robot to a relative position based on received delta values (in
        centimeters and degrees).
      operationId: move_relative_move_relative_post
      parameters:
        - in: query
          name: robot_id
          required: false
          schema:
            default: 0
            title: Robot Id
            type: integer
      requestBody:
        content:
          application/json:
            schema:
              $ref: '#/components/schemas/RelativeEndEffectorPosition'
        required: true
      responses:
        '200':
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/StatusResponse'
          description: Successful Response
        '422':
          content:
            application/json:
              schema:
                $ref: '#/components/schemas/HTTPValidationError'
          description: Validation Error
components:
  schemas:
    RelativeEndEffectorPosition:
      description: |-
        Relative end effector position for a movement in relative frame.
        Useful for OpenVLA-like control.
      properties:
        open:
          anyOf:
            - type: number
            - type: 'null'
          description: 0 for closed, 1 for open. If None, use the last value.
          title: Open
        rx:
          anyOf:
            - type: number
            - type: 'null'
          description: Relative Pitch in degrees
          title: Rx
        ry:
          anyOf:
            - type: number
            - type: 'null'
          description: Relative Yaw in degrees
          title: Ry
        rz:
          anyOf:
            - type: number
            - type: 'null'
          description: Relative Roll in degrees
          title: Rz
        x:
          anyOf:
            - type: number
            - type: 'null'
          description: Delta X position in centimeters
          title: X
        'y':
          anyOf:
            - type: number
            - type: 'null'
          description: Delta Y position in centimeters
          title: 'Y'
        z:
          anyOf:
            - type: number
            - type: 'null'
          description: Delta Z position in centimeters
          title: Z
      title: RelativeEndEffectorPosition
      type: object
    StatusResponse:
      additionalProperties: true
      description: Default response. May contain other fields.
      properties:
        message:
          anyOf:
            - type: string
            - type: 'null'
          title: Message
        status:
          default: ok
          enum:
            - ok
            - error
          title: Status
          type: string
      title: StatusResponse
      type: object
    HTTPValidationError:
      properties:
        detail:
          items:
            $ref: '#/components/schemas/ValidationError'
          title: Detail
          type: array
      title: HTTPValidationError
      type: object
    ValidationError:
      properties:
        loc:
          items:
            anyOf:
              - type: string
              - type: integer
          title: Location
          type: array
        msg:
          title: Message
          type: string
        type:
          title: Error Type
          type: string
      required:
        - loc
        - msg
        - type
      title: ValidationError
      type: object

````