PlanMotion.plan_motion
- PlanMotion.plan_motion(robot, target, 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.
- target: :class:`compas_fab.robots.Target`
The goal for the robot to achieve.
- 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.