The specification of complex motion goals through temporal logics is increasingly favored in robotics to narrow the gap between task and motion planning. A major limiting factor of such logics, however, is their Boolean satisfaction condition. To relax this limitation, we introduce a method for quantify-ing the satisfaction of co-safe linear temporal logic specifica-tions, and propose a planner that uses this method to synthe-size robot trajectories with the optimal satisfaction value. The method assigns costs to violations of specifications from user-defined proposition costs. These violation costs define a dis-tance to satisfaction and can be computed algorithmically us-ing a weighted automaton. The planner utilizes this automa-ton and an abstraction of the robotic system to construct a product graph that captures all possible robot trajectories and their distances to satisfaction. Then, a plan with the minimum distance to satisfaction is generated by employing this graph as the high-level planner in a synergistic planning framework. The efficacy of the method is illustrated on a robot with un-satisfiable specifications in an office environment. 1