diff --git a/Makefile b/Makefile
index ac73a6232..180b96d0c 100644
--- a/Makefile
+++ b/Makefile
@@ -9,7 +9,7 @@ lint:
 .PHONY: format
 format:
 	ruff format ./src ./tests
-	ruff check --select I --fix ./src ./tests
+	ruff check --extend-select I --fix ./src ./tests
 
 .PHONY: buf
 buf: clean
diff --git a/src/viam/services/motion/motion.py b/src/viam/services/motion/motion.py
index c6b6138c4..694e03ea8 100644
--- a/src/viam/services/motion/motion.py
+++ b/src/viam/services/motion/motion.py
@@ -75,7 +75,15 @@ async def move(
             world_state (viam.proto.common.WorldState): When supplied, the motion service will create a plan that obeys any constraints
                 expressed in the WorldState message.
             constraints (viam.proto.service.motion.Constraints): When supplied, the motion service will create a plan that obeys any
-                specified constraints.
+                specified constraints. These can include:
+                - LinearConstraint: Specifies that the component being moved should move linearly relative to its goal.
+                - OrientationConstraint: Specifies that the component being moved will not deviate its orientation beyond some threshold
+                  relative to the goal.
+                - CollisionSpecification: Used to selectively apply obstacle avoidance to specific parts of the robot.
+                - PseudolinearConstraint: Specifies that the component being moved should not deviate from the straight-line path to their
+                  goal by more than a factor proportional to the distance from start to goal. For example, if a component is moving 100mm,
+                  then a LineToleranceFactor of 1.0 means that the component will remain within a 100mm radius of the straight-line
+                  start-goal path.
 
         Returns:
             bool: Whether the move was successful.