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 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 (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.
options (dict, optional) – Dictionary containing kwargs for arguments specific to the client being queried.

Returns