diff --git a/Documentation/API Backend/openrpc/README.md b/Documentation/API Backend/openrpc/README.md
new file mode 100644
index 0000000..1cb9335
--- /dev/null
+++ b/Documentation/API Backend/openrpc/README.md	
@@ -0,0 +1,16 @@
+# OpenRPC Document
+
+The API is documented here using the OpenRPC 1.2.4 standard. Note that there are later published versions of the standard, but the available tooling is implemented for the v1.2.4 spec.
+
+The full api is defined in openrpc.json, however, this means reading and updating a single file would become unwieldy and merge conflicts would arise. To mitigate this, [open-rpc-compiler](https://www.npmjs.com/package/open-rpc-compiler?activeTab=readme) is used to break each method and schema into its own file organized in this directory's subdirectories, named for the elements they comprise in the openrpc.json doc.
+
+
+## Install
+```
+npm install open-rpc-compiler --no-save
+```
+
+To compile the elements into the openrpc.json file run the following command from this directory.
+```
+open-rpc-compile > openrpc.json
+```
diff --git a/Documentation/API Backend/openrpc/components/schemas/jointPosition.json b/Documentation/API Backend/openrpc/components/schemas/jointPosition.json
new file mode 100644
index 0000000..52a4f40
--- /dev/null
+++ b/Documentation/API Backend/openrpc/components/schemas/jointPosition.json	
@@ -0,0 +1,11 @@
+{
+    "type": "object",
+    "properties": {
+        "jointIndex": {
+            "type": "integer"
+        },
+        "position": {
+            "type": "integer"
+        }
+    }
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/components/schemas/jointPositions.json b/Documentation/API Backend/openrpc/components/schemas/jointPositions.json
new file mode 100644
index 0000000..2818af0
--- /dev/null
+++ b/Documentation/API Backend/openrpc/components/schemas/jointPositions.json	
@@ -0,0 +1,6 @@
+{
+    "type": "array",
+    "items": {
+        "$ref": "#/components/schemas/jointPosition"
+    }
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/components/schemas/state.json b/Documentation/API Backend/openrpc/components/schemas/state.json
new file mode 100644
index 0000000..e916310
--- /dev/null
+++ b/Documentation/API Backend/openrpc/components/schemas/state.json	
@@ -0,0 +1,11 @@
+{
+    "type": "object",
+    "properties": {
+        "robotOnline": {
+            "type": "boolean"
+        },
+        "jointPositions": {
+            "$ref": "#/components/schemas/jointPositions"
+        }
+    }
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/info.json b/Documentation/API Backend/openrpc/info.json
new file mode 100644
index 0000000..daa7ffd
--- /dev/null
+++ b/Documentation/API Backend/openrpc/info.json	
@@ -0,0 +1,4 @@
+{
+    "version": "0.1.0",
+    "title": "Motion Controller API"
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/methods/getActiveSubscriptions.json b/Documentation/API Backend/openrpc/methods/getActiveSubscriptions.json
new file mode 100644
index 0000000..ff858c3
--- /dev/null
+++ b/Documentation/API Backend/openrpc/methods/getActiveSubscriptions.json	
@@ -0,0 +1,15 @@
+{
+    "name": "getActiveSubscriptions",
+    "description": "Get a list of state keys for which the client is currently subscribed to value changes",
+    "params": [],
+    "result": {
+        "name": "activeStateKeySubscriptions",
+        "description": "the state keys to which the client is currently subsribed",
+        "schema": {
+            "type": "array",
+            "items": {
+                "type": "string"
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/methods/getState.json b/Documentation/API Backend/openrpc/methods/getState.json
new file mode 100644
index 0000000..b386e0b
--- /dev/null
+++ b/Documentation/API Backend/openrpc/methods/getState.json	
@@ -0,0 +1,43 @@
+{
+    "name": "getState",
+    "description": "Get the current state and optionally subscribe to changes",
+    "params": [
+        {
+            "name": "include",
+            "description": "state keys that should be included in the response. If undefined, all keys except any specifially excluded are included.",
+            "required": false,
+            "schema": {
+                "type": "array",
+                "items": {
+                    "type": "string"
+                }
+            }
+        },
+        {
+            "name": "exclude",
+            "description": "state keys that should not be included in the response.",
+            "required": false,
+            "schema": {
+                "type": "array",
+                "items": {
+                    "type": "string"
+                }
+            }
+        },
+        {
+            "name": "subscribeToChanges",
+            "required": false,
+            "description": "Subscribe to changes in the keys included in the request",
+            "schema": {
+                "type": "boolean"
+            }
+        }
+    ],
+    "result": {
+        "name": "state",
+        "description": "the current state. For subscription updates, only keys for changed values will be included.",
+        "schema": {
+            "$ref": "#/components/schemas/state"
+        }
+    }
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/methods/tags/motion/getPosition.json b/Documentation/API Backend/openrpc/methods/tags/motion/getPosition.json
new file mode 100644
index 0000000..0058dc1
--- /dev/null
+++ b/Documentation/API Backend/openrpc/methods/tags/motion/getPosition.json	
@@ -0,0 +1,34 @@
+{
+    "name": "getPosition",
+    "description": "Get current joint positions",
+    "params": [],
+    "result": {
+        "name": "jointPositions",
+        "description": "updated joint positions",
+        "schema": {
+            "type": "array",
+            "items": {
+                "$ref": "#/components/schemas/jointPosition"
+            }
+        }
+    },
+    "examples": [
+        {
+            "name": "getPosition",
+            "params": [],
+            "result": {
+                "name": "jointPositions",
+                "value": [
+                    {
+                        "jointIndex": 1,
+                        "position": 393
+                    },
+                    {
+                        "jointIndex": 5,
+                        "position": 1829
+                    }
+                ]
+            }
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/methods/tags/motion/jogJoint.json b/Documentation/API Backend/openrpc/methods/tags/motion/jogJoint.json
new file mode 100644
index 0000000..238a800
--- /dev/null
+++ b/Documentation/API Backend/openrpc/methods/tags/motion/jogJoint.json	
@@ -0,0 +1,56 @@
+{
+    "name": "jogJoint",
+    "description": "Jog an joint with a specified velocity",
+    "params": [
+        {
+            "name": "jointIndex",
+            "description": "The index of the joint to jog",
+            "schema": {
+                "type": "integer"
+            }
+        },
+        {
+            "name": "direction",
+            "description": "Direction to jog the joint.",
+            "schema": {
+                "type": "integer"
+            }
+        },
+        {
+            "name": "speed",
+            "description": "The speed at which to jog.",
+            "schema": {
+                "type": "integer"
+            }
+        }
+    ],
+    "result": {
+        "name": "noResult",
+        "schema": {
+            "type": "null"
+        }
+    },
+    "examples": [
+        {
+            "name": "jogJoint",
+            "params": [
+                {
+                    "name": "jointIndex",
+                    "value": 3
+                },
+                {
+                    "name": "direction",
+                    "value": 1
+                },
+                {
+                    "name": "speed",
+                    "value": 88
+                }
+            ],
+            "result": {
+                "name": "noResult",
+                "value": null
+            }
+        }
+    ]
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/methods/unsubscribeState.json b/Documentation/API Backend/openrpc/methods/unsubscribeState.json
new file mode 100644
index 0000000..c6da8ad
--- /dev/null
+++ b/Documentation/API Backend/openrpc/methods/unsubscribeState.json	
@@ -0,0 +1,34 @@
+{
+    "name": "unsubscribeState",
+    "description": "Unsubscribe from changes to state",
+    "params": [
+        {
+            "name": "include",
+            "description": "state keys that should be unsubscribed from. If undefined, all keys except any specifially excluded are included.",
+            "required": false,
+            "schema": {
+                "type": "array",
+                "items": {
+                    "type": "string"
+                }
+            }
+        },
+        {
+            "name": "exclude",
+            "description": "state keys that should not be unsubscribed from",
+            "required": false,
+            "schema": {
+                "type": "array",
+                "items": {
+                    "type": "string"
+                }
+            }
+        }
+    ],
+    "result": {
+        "name": "noResult",
+        "schema": {
+            "type": "null"
+        }
+    }
+}
\ No newline at end of file
diff --git a/Documentation/API Backend/openrpc/openrpc.json b/Documentation/API Backend/openrpc/openrpc.json
new file mode 100644
index 0000000..1c02b16
--- /dev/null
+++ b/Documentation/API Backend/openrpc/openrpc.json	
@@ -0,0 +1,233 @@
+{
+  "openrpc": "1.2.4",
+  "info": {
+    "version": "0.1.0",
+    "title": "Motion Controller API"
+  },
+  "methods": [
+    {
+      "name": "getActiveSubscriptions",
+      "description": "Get a list of state keys for which the client is currently subscribed to value changes",
+      "params": [],
+      "result": {
+        "name": "activeStateKeySubscriptions",
+        "description": "the state keys to which the client is currently subsribed",
+        "schema": {
+          "type": "array",
+          "items": {
+            "type": "string"
+          }
+        }
+      }
+    },
+    {
+      "name": "getState",
+      "description": "Get the current state and optionally subscribe to changes",
+      "params": [
+        {
+          "name": "include",
+          "description": "state keys that should be included in the response. If undefined, all keys except any specifially excluded are included.",
+          "required": false,
+          "schema": {
+            "type": "array",
+            "items": {
+              "type": "string"
+            }
+          }
+        },
+        {
+          "name": "exclude",
+          "description": "state keys that should not be included in the response.",
+          "required": false,
+          "schema": {
+            "type": "array",
+            "items": {
+              "type": "string"
+            }
+          }
+        },
+        {
+          "name": "subscribeToChanges",
+          "required": false,
+          "description": "Subscribe to changes in the keys included in the request",
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "state",
+        "description": "the current state. For subscription updates, only keys for changed values will be included.",
+        "schema": {
+          "$ref": "#/components/schemas/state"
+        }
+      }
+    },
+    {
+      "name": "getPosition",
+      "description": "Get current joint positions",
+      "params": [],
+      "result": {
+        "name": "jointPositions",
+        "description": "updated joint positions",
+        "schema": {
+          "type": "array",
+          "items": {
+            "$ref": "#/components/schemas/jointPosition"
+          }
+        }
+      },
+      "examples": [
+        {
+          "name": "getPosition",
+          "params": [],
+          "result": {
+            "name": "jointPositions",
+            "value": [
+              {
+                "jointIndex": 1,
+                "position": 393
+              },
+              {
+                "jointIndex": 5,
+                "position": 1829
+              }
+            ]
+          }
+        }
+      ],
+      "tags": [
+        {
+          "name": "motion"
+        }
+      ]
+    },
+    {
+      "name": "jogJoint",
+      "description": "Jog an joint with a specified velocity",
+      "params": [
+        {
+          "name": "jointIndex",
+          "description": "The index of the joint to jog",
+          "schema": {
+            "type": "integer"
+          }
+        },
+        {
+          "name": "direction",
+          "description": "Direction to jog the joint.",
+          "schema": {
+            "type": "integer"
+          }
+        },
+        {
+          "name": "speed",
+          "description": "The speed at which to jog.",
+          "schema": {
+            "type": "integer"
+          }
+        }
+      ],
+      "result": {
+        "name": "noResult",
+        "schema": {
+          "type": "null"
+        }
+      },
+      "examples": [
+        {
+          "name": "jogJoint",
+          "params": [
+            {
+              "name": "jointIndex",
+              "value": 3
+            },
+            {
+              "name": "direction",
+              "value": 1
+            },
+            {
+              "name": "speed",
+              "value": 88
+            }
+          ],
+          "result": {
+            "name": "noResult",
+            "value": null
+          }
+        }
+      ],
+      "tags": [
+        {
+          "name": "motion"
+        }
+      ]
+    },
+    {
+      "name": "unsubscribeState",
+      "description": "Unsubscribe from changes to state",
+      "params": [
+        {
+          "name": "include",
+          "description": "state keys that should be unsubscribed from. If undefined, all keys except any specifially excluded are included.",
+          "required": false,
+          "schema": {
+            "type": "array",
+            "items": {
+              "type": "string"
+            }
+          }
+        },
+        {
+          "name": "exclude",
+          "description": "state keys that should not be unsubscribed from",
+          "required": false,
+          "schema": {
+            "type": "array",
+            "items": {
+              "type": "string"
+            }
+          }
+        }
+      ],
+      "result": {
+        "name": "noResult",
+        "schema": {
+          "type": "null"
+        }
+      }
+    }
+  ],
+  "components": {
+    "schemas": {
+      "jointPosition": {
+        "type": "object",
+        "properties": {
+          "jointIndex": {
+            "type": "integer"
+          },
+          "position": {
+            "type": "integer"
+          }
+        }
+      },
+      "jointPositions": {
+        "type": "array",
+        "items": {
+          "$ref": "#/components/schemas/jointPosition"
+        }
+      },
+      "state": {
+        "type": "object",
+        "properties": {
+          "robotOnline": {
+            "type": "boolean"
+          },
+          "jointPositions": {
+            "$ref": "#/components/schemas/jointPositions"
+          }
+        }
+      }
+    }
+  }
+}