A method implemented by one or more processors, the method comprising: while a robot (102, 202), that includes an adjustable appendage, is navigating through an environment: capturing instances of first vision data using a fixed vision component that has a fixed pose relative to a robot frame of the robot and a first field of view, wherein the fixed vision component and an adjustable vision component are operatively coupled to the robot; adjusting, while capturing the instances of first vision data, the adjustable vision component through various poses of the adjustable vision component relative to the robot frame; wherein the adjustable vision component has a second field of view that is more constrained than the first field of view of the fixed vision component; wherein adjusting the adjustable vision component through the various poses includes: determining a particular pose, of the various poses, to which to adjust the adjustable vision component; determining whether the adjustable appendage will, if unaltered, block at least a threshold amount of the second field of view of the adjustable vision component when the adjustable vision component is adjusted to the particular pose; and when it is determined that the adjustable appendage will, if unaltered, block at least the threshold amount of the second field of view when the adjustable vision component is adjusted to the particular pose: controlling the adjustable appendage to maneuver the adjustable appendage into an alternate pose before and/or during adjustment of the adjustable vision component into the particular pose; capturing instances of second vision data using the adjustable vision component, wherein the instances of second vision data are captured when the adjustable vision component is positioned into multiple different poses of the various poses of the adjustable vision component; and controlling navigation of the robot based on both: the instances of the first vision data and the instances of the second vision data. capturing instances of first vision data using a fixed vision component that has a fixed pose relative to a robot frame of the robot and a first field of view, wherein the fixed vision component and an adjustable vision component are operatively coupled to the robot; adjusting, while capturing the instances of first vision data, the adjustable vision component through various poses of the adjustable vision component relative to the robot frame; wherein the adjustable vision component has a second field of view that is more constrained than the first field of view of the fixed vision component; wherein adjusting the adjustable vision component through the various poses includes: determining a particular pose, of the various poses, to which to adjust the adjustable vision component; determining whether the adjustable appendage will, if unaltered, block at least a threshold amount of the second field of view of the adjustable vision component when the adjustable vision component is adjusted to the particular pose; and when it is determined that the adjustable appendage will, if unaltered, block at least the threshold amount of the second field of view when the adjustable vision component is adjusted to the particular pose: controlling the adjustable appendage to maneuver the adjustable appendage into an alternate pose before and/or during adjustment of the adjustable vision component into the particular pose; wherein the adjustable vision component has a second field of view that is more constrained than the first field of view of the fixed vision component; wherein adjusting the adjustable vision component through the various poses includes: determining a particular pose, of the various poses, to which to adjust the adjustable vision component; determining whether the adjustable appendage will, if unaltered, block at least a threshold amount of the second field of view of the adjustable vision component when the adjustable vision component is adjusted to the particular pose; and when it is determined that the adjustable appendage will, if unaltered, block at least the threshold amount of the second field of view when the adjustable vision component is adjusted to the particular pose: controlling the adjustable appendage to maneuver the adjustable appendage into an alternate pose before and/or during adjustment of the adjustable vision component into the particular pose; determining a particular pose, of the various poses, to which to adjust the adjustable vision component; determining whether the adjustable appendage will, if unaltered, block at least a threshold amount of the second field of view of the adjustable vision component when the adjustable vision component is adjusted to the particular pose; and when it is determined that the adjustable appendage will, if unaltered, block at least the threshold amount of the second field of view when the adjustable vision component is adjusted to the particular pose: controlling the adjustable appendage to maneuver the adjustable appendage into an alternate pose before and/or during adjustment of the adjustable vision component into the particular pose; capturing instances of second vision data using the adjustable vision component, wherein the instances of second vision data are captured when the adjustable vision component is positioned into multiple different poses of the various poses of the adjustable vision component; and controlling navigation of the robot based on both: the instances of the first vision data and the instances of the second vision data.