Merge branch 'feature_plan_c_motion_uses_waypoints' into remove_plann…

…er_call_magic
compas-dev · Jun 13, 2024 · c63a5f3 · c63a5f3
2 parents 93b7502 + ba32b90
commit c63a5f3
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
@@ -1415,9 +1415,7 @@ def plan_cartesian_motion(self, waypoints, start_configuration=None, group=None,
                 else:
                     cp.scale(1.0 / self.scale_factor)
                 path_constraints_WCF_scaled.append(cp)
-        else:
-            path_constraints_WCF_scaled = None
-        options["path_constraints"] = path_constraints_WCF_scaled
+            options["path_constraints"] = path_constraints_WCF_scaled
 
         # =====================
         # Attached CM and Tools

diff --git a/tests/backends/kinematics/test_inverse_kinematics.py b/tests/backends/kinematics/test_inverse_kinematics.py
@@ -150,4 +150,6 @@ def test_kinematics_cartesian_with_tool_coordinate_frame(frame_waypoints):
         # Assert that the trajectory is complete
         assert trajectory.fraction == 1.0
         # Assert that the trajectory has the correct number of points
+        # NOTE: At the moment the AnalyticalPyBulletClient does not perform any interpolation between frames
+        # NOTE: if future implementation fixes this, the following test will not be valid anymore
         assert len(trajectory.points) == len(frame_waypoints.target_frames)