diff --git a/docs/services/motion/_index.md b/docs/services/motion/_index.md
index a5d789ba80..aef77e50a3 100644
--- a/docs/services/motion/_index.md
+++ b/docs/services/motion/_index.md
@@ -439,6 +439,13 @@ Translation in obstacles is not supported by the [navigation service](/services/
 - `heading` [(Optional[float])](https://docs.python.org/library/typing.html#typing.Optional): The compass heading, in degrees, that the robot's movement sensor should report at the `destination` point. <ul><li> Range: `[0-360)` </li><li>Default: `None`</li></ul>
 - `linear_meters_per_sec` [(Optional[float])](https://docs.python.org/library/typing.html#typing.Optional): The linear velocity in meters per second to target when moving the component. <ul><li> Default: `0.3` </li></ul>
 - `angular_deg_per_sec` [(Optional[float])](https://docs.python.org/library/typing.html#typing.Optional): The [angular velocity](https://en.wikipedia.org/wiki/Angular_velocity) in degrees per second to target when turning the component. <ul><li> Default: `60` </li></ul>
+- `configuration` [(Optional[MotionConfiguration])](https://python.viam.dev/autoapi/viam/proto/service/motion/index.html#viam.proto.service.motion.MotionConfiguration): The configuration you want to set across this robot for this motion service. This parameter and each of its fields are optional.
+  - `vision_services` [([ResourceName])](https://python.viam.dev/autoapi/viam/gen/common/v1/common_pb2/index.html#viam.gen.common.v1.common_pb2.ResourceName): The name you configured for each vision service you want to use while moving this resource.
+  - `position_polling_frequency_hz` [(float)](https://docs.python.org/3/library/functions.html#float): The frequency in hz to poll the position of the robot.
+  - `obstacle_polling_frequency_hz` [(float)](https://docs.python.org/3/library/functions.html#float): The frequency in hz to poll the vision service for new obstacles.
+  - `plan_deviation_m` [(float)](https://docs.python.org/3/library/functions.html#float): The distance in meters that the machine can deviate from the motion plan.
+  - `linear_m_per_sec` [(float)](https://docs.python.org/3/library/functions.html#float): Linear velocity this machine should target when moving.
+  - `angular_degs_per_sec` [(float)](https://docs.python.org/3/library/functions.html#float): Angular velocity this machine should target when turning.
 - `extra` [(Optional\[Dict\[str, Any\]\])](https://docs.python.org/library/typing.html#typing.Optional): Extra options to pass to the underlying RPC call.
 - `timeout` [(Optional\[float\])](https://docs.python.org/library/typing.html#typing.Optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.
 
@@ -474,6 +481,13 @@ success = await motion.move_on_globe(component_name=my_base_resource_name, desti
 - `obstacles` [([]*spatialmath.GeoObstacle)](https://pkg.go.dev/go.viam.com/rdk/spatialmath#GeoObstacle): Obstacles to consider when planning the motion of the component, with each represented as a `GeoObstacle`. <ul><li> Default: `None` </li></ul>
 - `linear_meters_per_sec` [(float64)](https://pkg.go.dev/builtin#float64): The linear velocity in meters per second to target when moving the component. <ul><li> Default: `0.3` </li></ul>
 - `angular_deg_per_sec` [(float64)](https://pkg.go.dev/builtin#float64): The [angular velocity](https://en.wikipedia.org/wiki/Angular_velocity) in degrees per second to target when turning the component. <ul><li> Default: `60.0` </li></ul>
+- `motionConfig` [(*MotionConfiguration)](https://pkg.go.dev/go.viam.com/rdk/services/motion#MotionConfiguration): The configuration you want to set across this robot for this motion service. This parameter and each of its fields are optional.
+  - `VisionSvc` [([]resource.Name)](https://pkg.go.dev/go.viam.com/rdk/resource#Name): The name you configured for each vision service you want to use while moving this resource.
+  - `PositionPollingFreqHz` [(float64)](https://pkg.go.dev/builtin#float64): The frequency in hz to poll the position of the robot.
+  - `ObstaclePollingFreqHz` [(float64)](https://pkg.go.dev/builtin#float64): The frequency in hz to poll the vision service for new obstacles.
+  - `PlanDeviationM` [(float64)](https://pkg.go.dev/builtin#float64): The distance in meters that the machine can deviate from the motion plan.
+  - `LinearMPerSec` [(float64)](https://pkg.go.dev/builtin#float64): Linear velocity this machine should target when moving.
+  - `AngularDegsPerSec` [(float64)](https://pkg.go.dev/builtin#float64): Angular velocity this machine should target when turning.
 - `extra` [(map\[string\]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call.
 
 **Returns:**