larvaworld.lib.model.modules.locomotor
======================================

.. py:module:: larvaworld.lib.model.modules.locomotor


Classes
-------

.. autoapisummary::

   larvaworld.lib.model.modules.locomotor.Locomotor


Module Contents
---------------

.. py:class:: Locomotor(conf: Any, dt: float = 0.1, **kwargs: Any)

   Bases: :py:obj:`larvaworld.lib.param.NestedConf`


   Locomotor module orchestrating agent movement control.

   Coordinates multiple behavioral modules (crawler, turner, feeder,
   intermitter) to produce realistic larva locomotion patterns with
   peristaltic crawling, turning, feeding, and run/pause transitions.

   Attributes:
       interference: Crawl-bend coupling module (attenuates turning during crawling)
       intermitter: Behavioral intermittency module (controls run/pause/feed states)
       feeder: Feeding behavior module (head-sweeping motions)
       turner: Body-bending module (directional changes)
       crawler: Peristaltic crawling module (forward locomotion)
       dt: Simulation time step (seconds)

   Args:
       conf: Locomotor configuration dict with module configs:
             - 'crawler': Crawler module config (or None)
             - 'turner': Turner module config (or None)
             - 'feeder': Feeder module config (or None)
             - 'intermitter': Intermitter module config (or None)
             - 'interference': Interference module config (or None)
       dt: Simulation time step in seconds (default: 0.1)
       **kwargs: Additional keyword arguments passed to parent class

   Returns:
       Tuple of (linear_velocity, angular_velocity, feed_flag) from step()

   Example:
       >>> locomotor = Locomotor(conf=loco_conf, dt=0.1)
       >>> lin_vel, ang_vel, feeding = locomotor.step(A_in=0.5, length=2.0, on_food=False)


   .. py:attribute:: interference


   .. py:attribute:: intermitter


   .. py:attribute:: feeder


   .. py:attribute:: turner


   .. py:attribute:: crawler


   .. py:attribute:: dt
      :type:  float
      :value: 0.1



   .. py:method:: on_new_pause() -> None


   .. py:method:: on_new_run() -> None


   .. py:method:: on_new_feed() -> None


   .. py:method:: step_intermitter(**kwargs: Any) -> None


   .. py:property:: stride_completed
      :type: bool



   .. py:property:: feed_motion
      :type: bool



   .. py:method:: step(A_in: float = 0, length: float = 1, on_food: bool = False) -> tuple[float, float, bool]