diff --git a/include/controller.hpp b/include/controller.hpp
index 9562e2c..c80bf4b 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -57,6 +57,9 @@ public:
     // Obstacle 
     bool SwitchSet(bool enable);
     bool SwitchGet(bool& enable);
+    bool UseRemoteCommandFromApi(bool isRemoteCommandsFromApi);
+    bool MoveToAbsolutePosition(float x, float y, float yaw);
+    bool MoveToIncrementPosition(float x, float y, float yaw);
     
     // MotionSwitcher
     bool CheckMode(std::string& form, std::string& name);
diff --git a/src/controller.cpp b/src/controller.cpp
index 90c8982..d7cbb43 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -314,6 +314,24 @@ bool Controller::SwitchGet(bool& enable) {
     });
 }
 
+bool Controller::UseRemoteCommandFromApi(bool isRemoteCommandsFromApi) {
+    return ExecuteObstacleCmd([isRemoteCommandsFromApi](auto* oac) {
+        return oac->UseRemoteCommandFromApi(isRemoteCommandsFromApi);
+    });
+}
+
+bool Controller::MoveToAbsolutePosition(float x, float y, float yaw) {
+    return ExecuteObstacleCmd([x, y, yaw](auto* oac) {
+        return oac->MoveToAbsolutePosition(x, y, yaw);
+    });
+}
+
+bool Controller::MoveToIncrementPosition(float x, float y, float yaw) {
+    return ExecuteObstacleCmd([x, y, yaw](auto* oac) {
+        return oac->MoveToIncrementPosition(x, y, yaw);
+    });
+}
+
 bool Controller::CheckMode(std::string& form, std::string& name) {
     return ExecuteMotionSwitchCmd([&](auto* msc) {
         return msc->CheckMode(form, name);