PlanMotion.plan_motion

PlanMotion.plan_motion(robot, target, start_configuration=None, group=None, options=None)

Calculates a motion path.

Parameters:

robotcompas_fab.robots.Robot

The robot instance for which the motion path is being calculated.

targetcompas_fab.robots.Target

The goal for the robot to achieve.

start_configurationcompas_robots.Configuration, optional

The robot’s full configuration, i.e. values for all configurable joints of the entire robot, at the starting position.

groupstr, optional

The name of the group to plan for.

optionsdict, optional

Dictionary containing kwargs for arguments specific to the client being queried.

Returns:

compas_fab.robots.JointTrajectory

The calculated trajectory.