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From the video I was expecting something like Turtle graphics except the pen can't be raised, but the site says it just takes an SVG preferably containing a single path.You can also program patterns although it isn't straightforward.
It probably is turtle graphics underneath; I think the original design is pushing 15 years old now and most of his programming has been polar interpolations. Prior to commercializing the tables he commercialized the eggbot so polar hijinks are kind of his thing. I mean, how much room would a RaspPi utility to turn an SVG into polar coordinates really take up?