PlanMotion.plan_motion
- PlanMotion.plan_motion(robot, goal_constraints, start_configuration=None, group=None, options=None)[source]
Calculates a motion path.
- Parameters:
- robot
compas_fab.robots.Robot The robot instance for which the motion path is being calculated.
- goal_constraints: list of :class:`compas_fab.robots.Constraint`
The goal to be achieved, defined in a set of constraints. Constraints can be very specific, for example defining value domains for each joint, such that the goal configuration is included, or defining a volume in space, to which a specific robot link (e.g. the end-effector) is required to move to.
- start_configuration: :class:`compas_fab.robots.Configuration`, optional
The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position.
- group: str, optional
The name of the group to plan for.
- optionsdict, optional
Dictionary containing kwargs for arguments specific to the client being queried.
- robot
- Returns:
compas_fab.robots.JointTrajectoryThe calculated trajectory.