Source code for embodichain.lab.sim.motion.workspace.cfg

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"""Runtime workspace configuration."""

from __future__ import annotations

from dataclasses import MISSING
from typing import Literal

from embodichain.utils import configclass

__all__ = ["RobotWorkspaceCfg"]




@configclass
class RobotWorkspaceCfg:
    """Runtime configuration for a control-part workspace cache."""

    cache_path: str = MISSING
    """Path to a workspace cache entry directory or ``results.npz`` file."""

    strategy: Literal["point_uniform", "voxel_uniform"] = "voxel_uniform"
    """Default runtime sampling strategy."""

    voxel_size: float = 0.03
    """Cartesian voxel edge length in meters for voxel-uniform sampling."""

    min_score: float | None = None
    """Optional minimum cached reachability score accepted for sampling."""