Locomotion
==========

Obstacle-unaware local motion via odometry feedback and direct velocity
leases.

.. warning::
  Locomotion does not plan around obstacles. Use :doc:`navigation` for
  map-level motion and ensure the swept path is clear before commanding it.

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

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

      .. literalinclude:: ../examples/scripts/locomotion-motion.py
         :language: python

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

      .. literalinclude:: ../examples/scripts/locomotion-motion.ts
         :language: typescript

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

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

      .. automodule:: olo.locomotion
         :no-members:

      **Client interfaces**

      .. autoclass:: olo.locomotion.Locomotion
         :members:

      .. autoclass:: olo.locomotion.LocomotionHandle
         :members:

      **Types**

      .. autoclass:: olo.locomotion.LocomotionFeedback
         :members:

      .. autoclass:: olo.locomotion.LocomotionResult
         :members:

      .. autoclass:: olo.locomotion.PlanarMotion
         :members:

      .. autoclass:: olo.locomotion.AppliedVelocity
         :members:

      **Enums**

      .. autoclass:: olo.locomotion.LocomotionOutcome
         :members:

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

      Import from ``olo/locomotion``:

      **Client interfaces**

      - :doc:`Locomotion </typescript/api/generated/olo/locomotion/classes/Locomotion>`
        — ``move()``, ``sendVelocity()``, and ``stop()``.
      - :doc:`LocomotionHandle </typescript/api/generated/olo/locomotion/classes/LocomotionHandle>`
        — namespace-scoped handle from ``client.locomotion.handle()``.

      **Types**

      - :doc:`MoveOptions </typescript/api/generated/olo/locomotion/interfaces/MoveOptions>`
      - :doc:`SendVelocityOptions </typescript/api/generated/olo/locomotion/interfaces/SendVelocityOptions>`
      - :doc:`LocomotionFeedback </typescript/api/generated/olo/locomotion/interfaces/LocomotionFeedback>`
      - :doc:`LocomotionResult </typescript/api/generated/olo/locomotion/interfaces/LocomotionResult>`
      - :doc:`PlanarMotion </typescript/api/generated/olo/locomotion/interfaces/PlanarMotion>`
      - :doc:`AppliedVelocity </typescript/api/generated/olo/locomotion/interfaces/AppliedVelocity>`

      **Enums**

      - :doc:`LocomotionOutcome </typescript/api/generated/olo/locomotion/enumerations/LocomotionOutcome>`