Flowchart · compas_fab native backend
How plan_motion finds a path
How plan_motion finds a path
plan_motion turns the target into goal configurations, tries the straight motion, otherwise runs RRT-Connect and smooths the path, re-plans on inflated spheres if the exact meshes are touched, and times the result.
NO
YES
YES
NO
Target
configuration · frame · point-axis
Goal configurations
every IK solution, minus those touching meshes
Straight motion
free?
RRT-Connect
from the start and every goal
Shortcut + B-spline
Touches exact
meshes?
Inflate spheres
+5 … 30 mm, new seed
Time it
TOPP-RA, blended corners
Trajectory
LEGEND
start / end
step
decision