An apparatus, a system and a method for motion compensation use wired drill pipe to transmit downhole measurements from downhole tools to the surface. The wired drill pipe may transmit control signals from a terminal located at the surface to the downhole tools. In response to the control signals, a motion compensation component may enable the drill string to compensate for motion, such as, for example, heave. The motion compensation component may change a length of the drill string. A downhole tool having arms may be connected to the drill string and the wired drill pipe. The control signals may direct the downhole tool to move between an extended position and a retracted position.