step.motion.path.executor
=========================

.. py:module:: step.motion.path.executor

.. autoapi-nested-parse::

   PathExecutor — runs a compiled plan with smooth segment transitions.

   Drives the unified control loop: cycle the active motion, watch for
   condition / distance / angle / opaque completion, then transition to the
   next segment with the appropriate warm-vs-cold start, executing any side
   actions in between.



Attributes
----------

.. autoapisummary::

   step.motion.path.executor.DISTANCE_TOL_M
   step.motion.path.executor.ANGLE_TOL_RAD


Classes
-------

.. autoapisummary::

   step.motion.path.executor.PathExecutor


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

.. py:data:: DISTANCE_TOL_M
   :value: 0.002


.. py:data:: ANGLE_TOL_RAD
   :value: 0.035


.. py:class:: PathExecutor(nodes: list[step.motion.path.ir.PathNode | None], deferred: list[tuple[int, step.logic.defer.Defer]], hz: int = DEFAULT_HZ)

   Bases: :py:obj:`raccoon.class_name_logger.ClassNameLogger`


   Runs a compiled plan against a robot.

   The executor owns the control loop, manages segment transitions
   (warm/cold start), and executes side actions at transition points.


   .. py:attribute:: DEFAULT_HZ
      :value: 100



   .. py:method:: run(robot: raccoon.robot.api.GenericRobot) -> None
      :async: