PlanCartesianMotion.plan_cartesian_motion(robot, frames_WCF, start_configuration=None, group=None, options=None)[source]

Calculates a cartesian motion path (linear in tool space).

  • robot (compas_fab.robots.Robot) – The robot instance for which the cartesian motion path is being calculated.

  • frames_WCF (list of compas.geometry.Frame) – The frames through which the path is defined.

  • start_configuration (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 planning group used for calculation.

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


compas_fab.robots.JointTrajectory – The calculated trajectory.