Executive Interpreter

Extended the robot's program execution engine — the Python-based interpreter that translates high-level weld programs into real-time motion commands, process triggers, and state machine transitions. Added return-to-setup automation, live process parameter routing, trajectory inset corrections, gripper integration, and run state monitoring.

Built return-to-setup automation: the interpreter records the start position of the program's first step, executes the program, then auto-appends a synthetic move back to that position with inherited motion settings. Disabled for macro sub-programs where it would interfere with the parent's flow. This eliminates the manual 'jog back to start' step between cycles — the robot automatically returns to the load position.

Implemented the routing layer for live weld speed adjustments — translating operator UI input into segment-level velocity modifications in the active trajectory. The gateway identifies the currently-executing weld step in the program, routes to the correct job handler in multi-job configurations, and applies updates to specific trajectory segments without interrupting motion. This modifies actual velocity profiles while preserving the geometric path.

Diagnosed and fixed a geometry bug in approach/retract trajectory insets where directional handling could invert the move under certain conditions. Added a guard to prevent the invalid configuration. Also integrated the gripper API as a first-class program step alongside move and weld, with blocking execution until gripper confirmation or timeout.