step.motion.path.executor

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

DISTANCE_TOL_M
ANGLE_TOL_RAD

Classes

PathExecutor

Runs a compiled plan against a robot.

Module Contents

step.motion.path.executor.DISTANCE_TOL_M = 0.002

step.motion.path.executor.ANGLE_TOL_RAD = 0.035

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

Bases: 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.

DEFAULT_HZ = 100

async run(robot: raccoon.robot.api.GenericRobot) → None