Kinematics
==========

Kinematics wraps MoveIt for robot model inspection, live state, trajectory
planning/execution, and end-effector control.

.. tab-set::
   :sync-group: sdk-language

   .. tab-item:: Python
      :sync: python

      .. automodule:: olo.kinematics
         :no-members:

      **Client interfaces**

      .. autoclass:: olo.kinematics.Kinematics
         :members:

      .. autoclass:: olo.kinematics.KinematicsHandle
         :members:

      .. autoclass:: olo.kinematics.Gripper
         :members:

      **Types**

      .. autoclass:: olo.kinematics.RobotModel
         :members:

      .. autoclass:: olo.kinematics.PlanningGroup
         :members:

      .. autoclass:: olo.kinematics.GroupState
         :members:

      .. autoclass:: olo.kinematics.JointInfo
         :members:

      .. autoclass:: olo.kinematics.JointStates
         :members:

      .. autoclass:: olo.kinematics.JointTarget
         :members:

      .. autoclass:: olo.kinematics.Trajectory
         :members:

      .. autoclass:: olo.kinematics.TrajectoryPoint
         :members:

      .. autoclass:: olo.kinematics.PlanResult
         :members:

      .. autoclass:: olo.kinematics.GripperInfo
         :members:

      .. autoclass:: olo.kinematics.GripperResult
         :members:

      .. autoclass:: olo.kinematics.EndEffector
         :members:

      **Enums**

      .. autoclass:: olo.kinematics.JointType
         :members:

      .. autoclass:: olo.kinematics.EndEffectorType
         :members:

   .. tab-item:: TypeScript
      :sync: typescript

      Import from ``olo/kinematics``:

      The TypeScript surface mirrors the Python module: method names are
      camelCase and keyword arguments become an options object with
      millisecond timeouts (``timeoutMs``, ``planningTimeoutMs``,
      ``executionTimeoutMs``) and shared planning options such as
      ``speedScaling`` (default ``0.5``, range ``(0, 1]``).

      **Client interfaces**

      - :doc:`Kinematics </typescript/api/generated/olo/kinematics/classes/Kinematics>`
        — service wrapper for model/state reads, planning, execution, and
        end-effector commands.
      - :doc:`KinematicsHandle </typescript/api/generated/olo/kinematics/classes/KinematicsHandle>`
        — namespace-scoped robot handle with a lazily cached model (created via
        ``client.kinematics.handle()``).
      - :doc:`Gripper </typescript/api/generated/olo/kinematics/classes/Gripper>`
        — gripper end-effector handle
        (``await robot.kinematics.getEndEffector()``), with ``goal()``,
        ``open()``, and ``close()``.

      **Types**

      - :doc:`RobotModel </typescript/api/generated/olo/kinematics/classes/RobotModel>`
        — model metadata plus ``group()`` resolution.
      - :doc:`PlanningGroup </typescript/api/generated/olo/kinematics/interfaces/PlanningGroup>`
        — MoveIt planning group metadata and SRDF group states.
      - :doc:`GroupState </typescript/api/generated/olo/kinematics/interfaces/GroupState>`
        — named SRDF joint target for a planning group.
      - :doc:`groupState </typescript/api/generated/olo/kinematics/functions/groupState>`
        — resolve a named group state on a planning group.
      - :doc:`JointInfo </typescript/api/generated/olo/kinematics/interfaces/JointInfo>`
        — joint limits and type.
      - :doc:`JointStates </typescript/api/generated/olo/kinematics/classes/JointStates>`
        — sampled joint states plus ``positionByName``.
      - :doc:`JointTarget </typescript/api/generated/olo/kinematics/classes/JointTarget>`
        — parallel joint names and positions.
      - :doc:`Trajectory </typescript/api/generated/olo/kinematics/classes/Trajectory>`
        / :doc:`TrajectoryPoint </typescript/api/generated/olo/kinematics/classes/TrajectoryPoint>`
        — joint-space trajectory data (``timeFromStart`` and ``duration`` in
        seconds).
      - :doc:`PlanResult </typescript/api/generated/olo/kinematics/classes/PlanResult>`
        / :doc:`MoveResult </typescript/api/generated/olo/kinematics/type-aliases/MoveResult>`
        — plan outcome with ``planningTime`` and ``duration``.
      - :doc:`GripperInfo </typescript/api/generated/olo/kinematics/interfaces/GripperInfo>`
        / :doc:`GripperResult </typescript/api/generated/olo/kinematics/interfaces/GripperResult>`
        — gripper metadata and command outcome.
      - :doc:`EndEffector </typescript/api/generated/olo/kinematics/classes/EndEffector>`
        — end-effector metadata from the robot model.

      **Enums**

      - :doc:`JointType </typescript/api/generated/olo/kinematics/enumerations/JointType>`
      - :doc:`EndEffectorType </typescript/api/generated/olo/kinematics/enumerations/EndEffectorType>`