0 2 2 1 0 8 6c7d22d1-5273-4a15-863e-8d59e40e327b Shaded 1 100;150;0;0 100;0;150;0 639173308455188100 false 02_inverse_kinematics.ghx 0 -549 230 0.8627578 0 0 2 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.32.26160.13002 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.32.26160.13002 12 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Visualize Robot Cell true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABsElEQVRIDbVVzU7DMAxOV56CI9DRjis3eAJOE4ynAGlXhpAQEgKuk+ApGGgn3oAb4kjLChx5i9HlM3WVBHddN2Ypc+Kfz7G9xkotmTwTP8uyjj5304+vnfF4bOlMO2nv+34WbKw9a13f87wB2xQgGvwqeU97rFiEh5vBtQ5yCowV/ODmAL9Lv9WtXiYdB6vqSC+JSu2V6mnMV2TSyB274C64BFolMzAIk0o0Sj9/UPPo6YX8473tKhxRb/qjJ81gvUEZ1G2oiO4IGZN64OjE41ucqPuHodpqhaoV/S7R0BFaAdBQiS4ubxQCgJgfHrRVZ79tmUv+1IM4GWWWpXEYPA7p5hCdn51QAGQCQiaQlVEUNj0rA8mQwaBDJgBl4mz4LHH+m0o6S4aSgADKe8ug5DBzALPe5r4EtxBXBuCSoBdMKBWIdSyXeGWT4WQ2mkEAjlJNC/KnyXhbQO7bwyVBw6cBS/5WBuanzjetw11/ZFDZgzoBJFsKgIdJUi4iY0z60DCJ9DzYZUBOFee684Ax8ummuER9BmODebnxHhEmNRlgyxqZRYA8yL8P/XkrMbPfBNULvFi5msP0AAAAAElFTkSuQmCC e3ecf34e-b507-4e7a-b64b-25f7eb105fc0 true false true COMPAS FAB: Visualize Robot Cell COMPAS FAB: Visualize Robot Cell 3 false false false false 2003 144 203 104 2090 196 true 5 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 4 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa true The RobotCell to draw. 8b0bc1eb-9409-451a-b2a6-fcc5421efdce robot_cell robot_cell true 0 2 true ad7bb8d7-9db3-48ac-ba2e-1752e41e142d 1 The RobotCell to draw. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2005 146 70 20 2041.5 156 true System.Private.CoreLib System.Object true Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used. a1e82ddd-b31d-4d37-983a-6aace3e7fff1 cell_state cell_state true 0 2 true 0ed7f4c0-b2b4-47f9-8fc3-782fb3272d5b 1 Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2005 166 70 20 2041.5 176 true System.Private.CoreLib System.Object true Draw visual meshes. Defaults to True. 498e4f80-5588-4914-ab07-978b2f0b02eb draw_visual draw_visual true 0 2 true 0 Draw visual meshes. Defaults to True. d60527f5-b5af-4ef6-8970-5f96fe412559 2005 186 70 20 2041.5 196 true System.Private.CoreLib System.Boolean true Draw collision meshes. Defaults to False. 261295c0-67b7-428f-aaa4-cc8af1b3e119 draw_collision draw_collision true 0 2 true 0 Draw collision meshes. Defaults to False. d60527f5-b5af-4ef6-8970-5f96fe412559 2005 206 70 20 2041.5 216 true System.Private.CoreLib System.Boolean true Scale factor for the drawn geometry: meter_value / native_scale = native_value. Use 0.001 for a millimeter document. Defaults to 1.0. e09a4c2c-f2ea-4cb1-a16c-29e869f46e6d native_scale native_scale true 0 2 true 0 Scale factor for the drawn geometry: meter_value / native_scale = native_value. Use 0.001 for a millimeter document. Defaults to 1.0. 9d51e32e-c038-4352-9554-f4137ca91b9a 2005 226 70 20 2041.5 236 true System.Private.CoreLib System.Double false Rhino meshes of the robot model. 89b6240d-ee33-4e83-a428-2ae362d387a8 robot_meshes robot_meshes false 0 2 true 0 Rhino meshes of the robot model. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2105 146 99 25 2154.5 158.5 true System.Private.CoreLib System.Object false Rhino meshes of all tool models in the cell. b40f08a0-c123-4bb3-aebe-a042e4b1d33a tool_meshes tool_meshes false 0 2 true 0 Rhino meshes of all tool models in the cell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2105 171 99 25 2154.5 183.5 true System.Private.CoreLib System.Object false Rhino meshes of all rigid bodies in the cell. 09e59373-7a61-47c0-b5b1-3f8c516a8bf5 rigid_body_meshes rigid_body_meshes false 0 2 true 0 Rhino meshes of all rigid bodies in the cell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2105 196 99 25 2154.5 208.5 true System.Private.CoreLib System.Object false Rhino plane at the robot's base frame. bb02faf8-6561-4933-a1f6-4e22aefb1c22 base_plane base_plane false 0 2 true 0 Rhino plane at the robot's base frame. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2105 221 99 25 2154.5 233.5 true System.Private.CoreLib System.Object true false true 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COMPAS FAB: Visualize Robot Cell *.*.python 3.* 566 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Analytical Kinematics Planner true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACXElEQVRIDbVVz0tUcRCffe1hH+2G1iHoWutqp4qQIAWxTp2kXIIuXQUFPVYE3uqaYOApECSQtfQfKILqkIfqULrrFqFEUGEGarvha1/zmd35+n3Pd1DfOrD7ne/8+MzMd77vO0QHTAkb3/f9ft4PL5U/X6zVagGdbRfFO47jt2VPvmbdWCKRmFEbA8Lg94ql8m1VxFnbc9n7HOQOMCQAMmfwQhzQsC8HyaMSp6EYDhs0YS+YUkFp6RMfef3MNzY26fF0gd6+e7+nGOfOnqEb1/OUTh8WP/Qk13bKkQoUHBqAP3v+gsjnzR5+8IGvkmImVaArMm9tbaGJ8Qcq2tU6MDgSWbX2gBYWizTzdI6q1Wo98wjYh+VvdPNNKUJD5Hme+ALDJlNB4cmcBIFya8uzbQw/zgFA87/WqfNoxsjBVDgxBAHOx4Uijd69JXpTAQT5a33kuilyU6mAMzbIXsnmVZZJp8UXGPgpmQAQ9F/toxSDJ5OmMLUjZD+UPUGdx4KZGwNm4AuM0x3tRhwIYKQhZvTDskimln/Qplej+dV1ml75GbKK3poAgSaHbN1DdbPLx1uo44gr2tmvqwEr71+MJk9++S7HM8hHBFr581eqsCNUKvtsMm4MSMHDvCj5L5PZZ5NxHScv5BRHVsgWr5wPyLCJavKO64I3BZ/9wNBI4IN7ZMOZR35buLb2my719mwLGpwEwMOkbwceLJA8dhFADb8dC8DVF0pgYhUIngcveR50QdAs4nnwiudBt17TsWYBWziCKQEweTDmLGUstjEyZS4HTvkghn6sTHfj/B/RXwWUJQ405QAAAABJRU5ErkJggg== 437b5bd6-da2a-464e-9bec-b8311f38cc2f true false true COMPAS FAB: Analytical Kinematics Planner COMPAS FAB: Analytical Kinematics Planner 3 false false false false 1438 67 127 64 1506 99 3 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 1 08908df5-fa14-4982-9ab2-1aa0927566aa true Name of the analytical solver: 'ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'staubli_tx260l', or 'abb_irb4600_40_255'. 3088f3e9-a821-4df1-9afd-a3710ff7c900 solver solver true 0 2 true d0e7c625-2652-4f3e-8df3-66d0425afdcf 1 Name of the analytical solver: 'ur3', 'ur3e', 'ur5', 'ur5e', 'ur10', 'ur10e', 'staubli_tx260l', or 'abb_irb4600_40_255'. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 1440 69 51 20 1467 79 System.Private.CoreLib System.String true Optional RobotCell to assign to the planner (planner.set_robot_cell). Recommended so FK/IK/Cartesian-motion components can resolve TargetMode.TOOL / TargetMode.WORKPIECE. 6595c68a-d8da-484e-a439-425a102a38c0 robot_cell robot_cell true 0 2 true ad7bb8d7-9db3-48ac-ba2e-1752e41e142d 1 Optional RobotCell to assign to the planner (planner.set_robot_cell). Recommended so FK/IK/Cartesian-motion components can resolve TargetMode.TOOL / TargetMode.WORKPIECE. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1440 89 51 20 1467 99 System.Private.CoreLib System.Object true Print solver diagnostics. Defaults to False. 734cdeda-d776-4bf2-9732-55d5adf32eb9 verbose verbose true 0 2 true 0 Print solver diagnostics. Defaults to False. d60527f5-b5af-4ef6-8970-5f96fe412559 1440 109 51 20 1467 119 System.Private.CoreLib System.Boolean false Configured AnalyticalKinematicsPlanner. 096686e1-fad9-4cf1-99bf-7f653ec7516b planner planner false 0 2 true 0 Configured AnalyticalKinematicsPlanner. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1521 69 42 60 1542 99 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Analytical Kinematics Planner *.*.python 3.* 538 199 550 650 b6236720-8d88-4289-93c3-ac4c99f9b97b Relay 2 A wire relay object d0e7c625-2652-4f3e-8df3-66d0425afdcf Relay false 50dbf3a2-d6ee-40fe-bdee-5d7f05132135 1 896 71 40 16 916 79 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Inverse Kinematics true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABv0lEQVRIDWNgoDFgRDb/////IUB+/q3bd63//fuHIoesDhubiYnpv5qq8lGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5IPoNes2gDG6YjL5YDPBPrh56w4wyP8xhkcngM1auXQBmKaEAMWJupoKE9gH6BHa2NJBsU9gZsKCCMWx167fQOHj4+x+8Z4BhHEBrBaAFK9eu4EBFGSgeMEFQAbnnbsLxrgsQbEgNDgAl1kExbc/f4dVDTiSr9+49R+rLBZBUPBpaWrAZdY+fsPQdeMxw6fffxmmmagwOIoJwOU0NdQYUXwAl8HBABkOSgAgDIunYFkRhg59RbCOiov3GdYALUQGRPkAFA+gOEEH9TUVcN8Unr/HsAMaTJOMlBlcJQQZSPYBugXIQeUlKYguDeYT5QOYTlgQgQwGJQhkC0BqYCkJ5HoQAPmAJAtAmtAjGSSGC5AVROiuxmU4TJykVATTRAoNtgBUMJGiiRi1MDPBFkBrImL0Ea0GZiYsiCYSrZN4hWAzwRaAah5QNUe8XvwqoVUmuF4GJ1OYclpU+jCzaUYDALUcqb2TIfgBAAAAAElFTkSuQmCC 08fba69e-6e56-4d64-b53e-bdf9e7e5b6e7 true false true COMPAS FAB: Inverse Kinematics COMPAS FAB: Inverse Kinematics 3 false false false false 1704 248 180 104 1797 300 5 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 3 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa true A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner). 753b5f66-c368-4f0b-a25b-c77be87b10dd planner planner true 0 2 true 096686e1-fad9-4cf1-99bf-7f653ec7516b 1 A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1706 250 76 20 1745.5 260 System.Private.CoreLib System.Object true Target to reach (FrameTarget, PointAxisTarget, etc.). 4cab1794-6537-47b1-aaba-d1aedc1ac80a target target true 0 2 true 0956e306-792b-44ba-a20d-d844534dc659 1 Target to reach (FrameTarget, PointAxisTarget, etc.). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1706 270 76 20 1745.5 280 System.Private.CoreLib System.Object true Starting RobotCellState. The robot's configuration in this state is used as the IK seed. bb15151d-dd81-4018-87c7-50ed84870fad start_state start_state true 0 2 true 33893448-638e-4a0d-8a62-54ca34e90297 1 Starting RobotCellState. The robot's configuration in this state is used as the IK seed. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1706 290 76 20 1745.5 300 System.Private.CoreLib System.Object true Optional planning group name. Defaults to the cell's main planning group. cbb6ad7e-f795-4d1c-a6bf-b4e3a0a7ec35 group group true 0 2 true 0 Optional planning group name. Defaults to the cell's main planning group. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 1706 310 76 20 1745.5 320 System.Private.CoreLib System.String true When True, only collision-free IK solutions are returned; when False, in-collision solutions are accepted. Unwired keeps the backend default (True: collision-free). 36d2d92f-d718-46a7-b6b1-94137bf0991c check_collision check_collision true 0 2 true 0 When True, only collision-free IK solutions are returned; when False, in-collision solutions are accepted. Unwired keeps the backend default (True: collision-free). d60527f5-b5af-4ef6-8970-5f96fe412559 1706 330 76 20 1745.5 340 System.Private.CoreLib System.Boolean false Resulting Configuration, or None if no solution was found. 64fe483f-c29b-4481-b701-e25dbf5fefea configuration configuration false 0 2 true 0 Resulting Configuration, or None if no solution was found. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1812 250 70 33 1847 266.66666 System.Private.CoreLib System.Object false A copy of the start_state with `robot_configuration` set to the IK result. Wire straight into VisualizeRobotCell / ForwardKinematics / next planner step- no SetRobotConfiguration needed. 0ed7f4c0-b2b4-47f9-8fc3-782fb3272d5b cell_state cell_state false 0 2 true 0 A copy of the start_state with `robot_configuration` set to the IK result. Wire straight into VisualizeRobotCell / ForwardKinematics / next planner step- no SetRobotConfiguration needed. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1812 283 70 33 1847 300 System.Private.CoreLib System.Object false The warnings / errors raised by this run (including a collision diagnostic on failure), as a single string. Wire a panel to read them; empty on a clean solve. 18bddb7a-0854-4f03-9a4e-f387fa77d071 debug_info debug_info false 0 2 true 0 The warnings / errors raised by this run (including a collision diagnostic on failure), as a single string. Wire a panel to read them; empty on a clean solve. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1812 316 70 34 1847 333.3333 System.Private.CoreLib System.Object true false true # r: compas_fab>=2
"""
Compute inverse kinematics for a target using a stateless planner.

`target` accepts either a proper Target object (`FrameTarget`,
`PointAxisTarget`, `ConfigurationTarget`, ...) or a bare `compas.geometry.Frame`
or Rhino `Plane`. In the latter two cases the component auto-wraps the input
as a `FrameTarget(target_mode=ROBOT)` with default tolerances and emits a
warning. Wire a dedicated Target component for non-default settings.

The starting RobotCellState provides the robot's seed configuration and any
attached tools/workpieces (which affect what 'TOOL'/'WORKPIECE' target modes
resolve to). The component returns both the resulting Configuration and a
copy of the start_state with that Configuration applied (`cell_state`), so
the next stage (Visualize / FK / next planner step) can wire directly
without an intermediate SetRobotConfiguration. The input state is not
mutated.

If `start_state` is left unwired, a zero-configuration default state is
derived from the planner's robot_cell and used as the seed; a warning is
surfaced on the component so the user knows attachments aren't being
considered. Wire an explicit `start_state` to pose the robot mid-process
or to use a state with attached tools / workpieces.

If no IK solution is found, the component is flagged with an error message and
returns nothing. When the planner supports collision checking, the start state is
additionally checked: a concise hint (the colliding pairs, or "collision-free /
likely unreachable") is appended to explain the failure. Every warning/error is
also mirrored to the `debug_info` output so it can be read in a wired panel.

COMPAS FAB v2.0.0
"""

from copy import deepcopy

import Grasshopper
import Rhino
import System
from compas.geometry import Frame
from compas_ghpython import error
from compas_ghpython import warning
from compas_rhino.conversions import plane_to_compas_frame

from compas_fab.backends.exceptions import BackendTargetNotSupportedError
from compas_fab.backends.exceptions import InverseKinematicsError
from compas_fab.ghpython import collision_diagnostic
from compas_fab.robots import FrameTarget
from compas_fab.robots import RobotCellState
from compas_fab.robots import Target
from compas_fab.robots import TargetMode


class InverseKinematicsComponent(Grasshopper.Kernel.GH_ScriptInstance):
    def RunScript(self,
            planner,
            target,
            start_state,
            group: str,
            check_collision: bool):
        # `debug_info` mirrors every warning/error the component raises, so the
        # messages can be read in a wired panel instead of only the balloon.
        debug = []

        def _warn(message):
            warning(ghenv.Component, message)  # noqa: F821
            debug.append(message)

        def _err(message):
            error(ghenv.Component, message)  # noqa: F821
            debug.append(message)

        def _result(configuration, cell_state):
            return (configuration, cell_state, "\n".join(debug))

        if planner is None or target is None:
            # Warn only when the input *is* wired but the upstream returned
            # None (i.e. upstream silently failed). If nothing is wired, the
            # user is still building the canvas: staying quiet keeps it clean.
            for name, value in (("planner", planner), ("target", target)):
                if value is None:
                    param = next(p for p in ghenv.Component.Params.Input if p.Name == name)  # noqa: F821
                    if param.SourceCount > 0:
                        _warn("{} input is wired but received None; check the upstream component for errors.".format(name))
            return _result(None, None)

        if not isinstance(target, Target):
            wrap_msg = "Wrapped a {} as FrameTarget(target_mode=ROBOT) with default tolerances. Wire a Target component for non-default settings."
            if isinstance(target, Frame):
                target = FrameTarget(target_frame=target, target_mode=TargetMode.ROBOT)
                _warn(wrap_msg.format("bare COMPAS Frame"))
            else:
                # Anything else (Rhino Plane, GH_Plane wrapper, ...): try the
                # plane-to-frame conversion. If it isn't plane-shaped, surface
                # a clean error.
                try:
                    frame = plane_to_compas_frame(target)
                except Exception:
                    _err("target must be a Target, a COMPAS Frame or a Rhino Plane; got {}.".format(type(target).__name__))
                    return _result(None, None)
                target = FrameTarget(target_frame=frame, target_mode=TargetMode.ROBOT)
                _warn(wrap_msg.format("Rhino Plane"))

        if start_state is None:
            if planner.robot_cell is None:
                _err("No start_state wired and the planner has no robot_cell to derive one from.")
                return _result(None, None)
            start_state = planner.robot_cell_state or RobotCellState.from_robot_cell(planner.robot_cell)
            _warn(
                "No start_state wired; using zero-configuration default from planner.robot_cell. "
                "Wire a state explicitly to seed from a different configuration or to keep tool/workpiece attachments."
            )

        options = None
        if check_collision is not None:
            options = {"check_collision": bool(check_collision)}

        try:
            configuration = planner.inverse_kinematics(
                target=target,
                robot_cell_state=start_state,
                group=group or None,
                options=options,
            )
        except BackendTargetNotSupportedError:
            # The exception is raised with no payload: surface something
            # actionable: name the target type and the planner that rejected it.
            _err(
                "Planner '{}' does not support target type '{}'. "
                "Use a target type supported by this backend (typically `FrameTarget` "
                "for the Analytical planner) or switch backends.".format(type(planner).__name__, type(target).__name__)
            )
            return _result(None, None)
        except InverseKinematicsError as e:
            msg = str(e)
            hint = collision_diagnostic(planner, start_state, group or None)
            if hint:
                msg += "\n" + hint
            _err(msg)
            return _result(None, None)

        if configuration is None:
            return _result(None, None)

        new_state = deepcopy(start_state)
        new_state.robot_configuration = configuration
        return _result(configuration, new_state)
 COMPAS FAB: Inverse Kinematics *.*.python 3.* 577 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Frame Target true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACCElEQVRIDbVV3ytDcRQ/95qRH5skpHlhP5UkHggJb54W27O8Sau9ovbKs1ry5g8wUl5kSWJ44MXDbDORJGkPSBJ2r+859p1t7uwOO3Xv93vPj8/5fs75dg9AgUVIxZdl2cG+3ZGz8x5JktJsqX5Ke1EUZbOpOcBs84Ig+LhPEoSBz4bCZ9Pc8JfVajHNsSQziEEJ8OQMfPkvoJmxLIkTmYgJgzvT4R++CZMYhCNRVvL8ap7rANgTi9koEoNc4L7VNcAnH+GYGjVByyuf4I4Ruxr3NB/egzTlf34UPIGqEsW1pb8mRbfoNBSRlRC27+7BG7mB4OMzmVt0ZeAyN8BAbZWS+zedzWoWspYIwSePogRecXsN+GAi1KFNrWRNgCdH8XYYwXC4BY37ftqTLmEjhxwvxR48vL3TabtrdNCqL4eQfYxgvB4PVHQNQRAM4BifgKLXlyS8c9QOStc4KwMeGZe/2iPIElerXhUZ6Is1gA09iD0Sk53BNljf2ARfdR081RugSSuCb2lRVZKsDPC2oLiOozB1cgGBBhNc9g+TTvKvQ/A0RPtcL2KAPyb+7+ABeBUXOo10TZEJCrJqj11BvLIEWmxW7qq4IiYa+DzYZfOgV9GTKbHpKFg6tcLmwR6bB328RPM/BSJwPuAJLMKkBDh5cMz9lCQfW2Jk0lymEvHgQgx9jl2w9QOYn7dbu7ZRPAAAAABJRU5ErkJggg== 2daad94e-cced-4d4a-8811-bf6652f839d9 true false true COMPAS FAB: Frame Target COMPAS FAB: Frame Target 3 false false false false 1392 228 173 104 1514 280 5 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 1 08908df5-fa14-4982-9ab2-1aa0927566aa true Rhino plane or COMPAS Frame describing the target pose (in WCF). 81132fc4-77ab-476b-a988-4fc5e179b2bf plane plane true 0 2 true ccc18fc0-0f1b-4702-a01e-82a56aaa63e7 1 Rhino plane or COMPAS Frame describing the target pose (in WCF). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1394 230 105 20 1448 240 System.Private.CoreLib System.Object true Which frame on the robot to match. One of 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece). ae62838f-c772-4503-9982-e316a26dfaf7 target_mode target_mode true 0 2 true 465c5ef1-2f5e-4146-a8df-4f847cfdcc90 1 Which frame on the robot to match. One of 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece). 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 1394 250 105 20 1448 260 System.Private.CoreLib System.String true Position tolerance in meters (not affected by native_scale). If unset, the planner default is used. ac3ec90b-bc37-492c-8500-78e4f7bba87e tolerance_position tolerance_position true 0 2 true 0 Position tolerance in meters (not affected by native_scale). If unset, the planner default is used. 9d51e32e-c038-4352-9554-f4137ca91b9a 1394 270 105 20 1448 280 System.Private.CoreLib System.Double true Orientation tolerance in radians. If unset, the planner default is used. 94e35494-c7e5-42e2-ab16-6df5ff976114 tolerance_orientation tolerance_orientation true 0 2 true 0 Orientation tolerance in radians. If unset, the planner default is used. 9d51e32e-c038-4352-9554-f4137ca91b9a 1394 290 105 20 1448 300 System.Private.CoreLib System.Double true Scale factor: user_value * native_scale = meters. Use 0.001 if modeling in millimeters. Defaults to 1.0. aa5e5d60-eb98-4455-afa5-e9fd85d365c6 native_scale native_scale true 0 2 true 0 Scale factor: user_value * native_scale = meters. Use 0.001 if modeling in millimeters. Defaults to 1.0. 9d51e32e-c038-4352-9554-f4137ca91b9a 1394 310 105 20 1448 320 System.Private.CoreLib System.Double false FrameTarget. 0956e306-792b-44ba-a20d-d844534dc659 target target false 0 2 true 0 FrameTarget. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1529 230 34 100 1546 280 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Frame Target *.*.python 3.* 492 199 550 650 00027467-0d24-4fa7-b178-8dc0ac5f42ec Value List Provides a list of preset values to choose from 465c5ef1-2f5e-4146-a8df-4f847cfdcc90 3 1 Value List target_mode false 0 "ROBOT" ROBOT true "TOOL" TOOL false "WORKPIECE" WORKPIECE false 1156 249 164 22 1228 249 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 Plane Contains a collection of three-dimensional axis-systems ccc18fc0-0f1b-4702-a01e-82a56aaa63e7 Plane Plane false 0 1272 228 50 24 1297.6864 240.66876 1 1 {0} 1.608542946599921 -0.17424275238613784 0.8909854785601136 0.7285771800365285 -0.0894260895553427 -0.6791010729168815 -0.08594055949597212 -0.9955407943733817 0.038894048027114506 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Load Robot Cell From Library true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACO0lEQVRIDbVVPU8bQRDdOxAFKCBBlxb8CRUKKFLgP1jBFkUK0huJlkSREBJKUmIJ+qRIEfEh06ZNkIwLqPBnKKHCNC6QouDLvD3Pebxn3zmFRzrv7czb92Z29rxKDdksye84TprmW7X6zatWq9UVk7he77ZtO9HI7DnFcpZlHTPGIyHyj5Vq/R0H5FgqV9TRSV7NJ+MqmXAfGTff47HIJxJ5D78WQOZEfmQCMT8+zWtyGcuspVT6dUq6fO8kkkElLPCTBFYkClnv7n32XDsfthVXws4gIRL4RQKrWqBa+01b3r3n62/eah5sCYgwwkzh79++wO0z9CQWnbNHETHJJZoJIQJDLwYx5rTDwJIY5KgE2zWohQqgmXIbQM7bNYhIqABOkWm9fCaG57rJ5UrNYQePvY4nYsgefYEFnSLEE/Go1VcAAFgvIYjIk+Ui/b8Q0KfIH+p4+IO6LnWy/p8e9K2g+NDUKsvTzzpq4i0sDqivgsP6nTqgx7TNyHPV+PNXLUyNq7Pbhio2XHGJAyZLj2neFiEjJl+ecbNG9vCxnxfLONZBEJglWmdW7AnwYjMTzurFjys1Zltqf3G2iyRLC/tVDk6fAAuZ48SI+8mYGZo4c64F8MdEAd1wXfJF1cOZhIgj4zBrc7oV4CYq3F/qv2uzgTzH9sA2Ch3xIJH27eZtUY4yXfn6MqbXyKw5W240Goy+SAyqgkkfTXPwuWnRS9CVCWCt+aieHEclJscxDTTflcnoYVz6zD208R9Sfv3UuEKitQAAAABJRU5ErkJggg== 17a19208-b966-4839-8eff-7362056dba89 true false true COMPAS FAB: Load Robot Cell From Library COMPAS FAB: Load Robot Cell From Library 3 false false false false 812 129 193 104 904 181 5 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 2 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa true Name of the RobotCellLibrary classmethod to call. A dropdown is auto-created on first use with every available cell (e.g. 'ur5', 'ur10e', 'abb_irb4600_40_255', 'panda', 'rfl', 'ur5_cone_tool', 'abb_irb4600_40_255_printing_tool'). 3be14982-42e3-4359-882e-b7f6d315789d name name true 0 2 true 50dbf3a2-d6ee-40fe-bdee-5d7f05132135 1 Name of the RobotCellLibrary classmethod to call. A dropdown is auto-created on first use with every available cell (e.g. 'ur5', 'ur10e', 'abb_irb4600_40_255', 'panda', 'rfl', 'ur5_cone_tool', 'abb_irb4600_40_255_printing_tool'). 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 814 131 75 20 853 141 System.Private.CoreLib System.String true Whether to load the robot's mesh geometry. Required for visualization. Defaults to True when unwired. A Boolean Toggle is auto-created on this input when nothing is wired. 946da0b1-b052-4bf5-aeae-c613a1870370 load_geometry load_geometry true 0 2 true a10a5b48-30fb-448b-9a73-2c064dc4d37c 1 Whether to load the robot's mesh geometry. Required for visualization. Defaults to True when unwired. A Boolean Toggle is auto-created on this input when nothing is wired. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 814 151 75 20 853 161 System.Private.CoreLib System.Object true Force a reload (bypass cache). Defaults to False. 2f6456ec-4a79-44f3-97e5-924f0b260572 reload reload true 0 2 true 0 Force a reload (bypass cache). Defaults to False. d60527f5-b5af-4ef6-8970-5f96fe412559 814 171 75 20 853 181 System.Private.CoreLib System.Boolean 1 true Optional list of ToolModels to register into the cell. Each is keyed by its `.name`. fe047fdd-ecf5-4046-b62b-bc1d7df12822 tools tools true 1 2 true 0 Optional list of ToolModels to register into the cell. Each is keyed by its `.name`. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 814 191 75 20 853 201 System.Private.CoreLib System.Object 1 true Optional list of RigidBodies to register into the cell. Each is keyed by its `.name` (set it on the Rigid Body From… component). 640d0da1-ab32-4243-b95a-7183a565db81 rigid_bodies rigid_bodies true 1 2 true 0 Optional list of RigidBodies to register into the cell. Each is keyed by its `.name` (set it on the Rigid Body From… component). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 814 211 75 20 853 221 System.Private.CoreLib System.Object false The loaded RobotCell. ad7bb8d7-9db3-48ac-ba2e-1752e41e142d robot_cell robot_cell false 0 2 true 0 The loaded RobotCell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 919 131 84 50 961 156 System.Private.CoreLib System.Object false The default RobotCellState matching the cell. f5037d0a-97d3-4f99-91ed-073c4069611b robot_cell_state robot_cell_state false 0 2 true 0 The default RobotCellState matching the cell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 919 181 84 50 961 206 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Load Robot Cell From Library *.*.python 3.* 387 199 550 650 00027467-0d24-4fa7-b178-8dc0ac5f42ec Value List Provides a list of preset values to choose from 50dbf3a2-d6ee-40fe-bdee-5d7f05132135 11 1 Value List name false 0 "abb_irb120_3_58" abb_irb120_3_58 false "abb_irb4600_40_255" abb_irb4600_40_255 true "abb_irb4600_40_255_gripper_one_beam" abb_irb4600_40_255_gripper_one_beam false "abb_irb4600_40_255_printing_tool" abb_irb4600_40_255_printing_tool false "panda" panda false "rfl" rfl false "ur10e" ur10e false "ur10e_gripper_one_beam" ur10e_gripper_one_beam false "ur5" ur5 false "ur5_cone_tool" ur5_cone_tool false "ur5_gripper_one_beam" ur5_gripper_one_beam false 449 130 270 22 486 130 2e78987b-9dfb-42a2-8b76-3923ac8bd91a Boolean Toggle Boolean (true/false) toggle a10a5b48-30fb-448b-9a73-2c064dc4d37c Boolean Toggle load_geometry false 0 true 579 150 139 22 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects 17a19208-b966-4839-8eff-7362056dba89 50dbf3a2-d6ee-40fe-bdee-5d7f05132135 a10a5b48-30fb-448b-9a73-2c064dc4d37c 3 d2405647-3dc5-476f-aa91-4e29cb3ee4e2 Group b6236720-8d88-4289-93c3-ac4c99f9b97b Relay 2 A wire relay object 33893448-638e-4a0d-8a62-54ca34e90297 Relay false f5037d0a-97d3-4f99-91ed-073c4069611b 1 1442 440 40 16 1462 448 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