0 2 2 1 0 8 6c7d22d1-5273-4a15-863e-8d59e40e327b Shaded Selection 1 100;150;0;0 100;0;150;0 639173308455188100 false 03_build_robot_cell.ghx 0 -149 279 0.502582 0 0 2 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.33.26188.13002 Robert McNeel & Associates 00000000-0000-0000-0000-000000000000 Grasshopper 8.33.26188.13002 24 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Visualize Robot Cell true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABsUlEQVRIDbVVzU7DMAx2pz4FN2CFbly5wRNwmmA8BUi7MoSEkBBwnQRPwUA78QbcEEda6IAbT1FR8oW6SoK7rhuzlDnxz+fYXmOiBZNn4mdZ1lXn3vj9cytNU0tn2kl73/ez5uryo9INPM8bsk0BosAv4tekz4p5eLgeXKogx8Dw8YObA/wm+aJrtUw6DJboQC2JSu2J+grzGZk0csceuAsugVbJDAyNqUuUjD++UfPWw5P2j3Y2q3BEvemPngTNlYbOoG5DRXRHyJi6B45OPL5EMd3ejWijHVK79btEQ0doBUBDJTo7vyIEADHf3+tQd7djmUv+ugdR/JZZlsZheD/SN4fo9ORIB0AmIGQCWRm1wjXPykAyZDDokAlAmTgbPkuc/6aSzpKhJCCA8t4yKDlMHcCst7kvwS3ElQG4JOgFE0oFYh3LJV7ZZDiZjWYQgKNUk4L8aTLeFpD79nBJ0PBJwJK/lYH5qfNN63DXHxlU9qBOAMlWB8DDJCnnkTGm/tAwidQ82GZAThXnuvOAMfLpRlyiAYOxwazceI80pm4ywBY1MosAeZB/H/qzVmJqvx+vzbxSXiOWzgAAAABJRU5ErkJggg== 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 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 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 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 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 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 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 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 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 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 System.Private.CoreLib System.Object true false true 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COMPAS FAB: Visualize Robot Cell *.*.python 3.* 794 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Analytical Kinematics Planner true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACW0lEQVRIDbVVzUtUURQ/48xiHs6E1iJoWU1qq4qQQIOoVq2kHII2bQUFXVYE7mqboNBKEEKQ0fIfKIJqkYtqUTo2faBEUGEGajPhG1/nd5xzvff5FuobD8zcc8/H75xzz333EO0zJWz8IAi6ed9f+vSlo1qtOjrbLopPJpNB7vjRV6wbSiQSk2pjQBj8XnG+dFsVcdbWltx9DnIHGBIAmTN4IQ5o2JeD5FFJQ03RHzaow14wpYKPpc8beuarq2s0PlGgN2/f7SrGmdOn6Mb1PGUyjeKHnpzIHWuQChQcGoA/ffacKODNLn7wga+SYqZUoCsyb25uoofDD1S0o7WndyCyau0Bzc4VafLxNFUqlc3MI2BHSt/p5uv5CA2R7/viCwybTAWFqWkJAuX6um/bGH6YA4Bmfq9Q+8GskYMpc2IIApwPs0UavHtL9KYCCPLXusjz0uSl044zNsheyeZVls1kxBcY+CmZABB0X+2iNIOnUqYwtSNk35c7Qu2H3MyNATPwBcbJtlYjdgIYaYgZfL8gkkcLP2nN36CZpRWaWPwVsoremgBOk0O2XnLT7PLhJmo74In2ybclx8qvxmjy2Ncfcjy9fESgxb//pAo7Qrm8xybjxoAUPMyLkv+y2T02Gddx7FyL4sgK2dyVs44Mm6gmb7sueFPw2ff0DTgf3KgNZx75LeHy8h+6dPHClqDGSQA8TPp24MECyWMXAVTz27YAXH2hBCZWgeB58ILnQScE9SKeBy95HpzXazpUL2ALRzAlACYPxpyljMXWRqbMZeeU92Pox8p0J87/Aa+rBZGCER/uAAAAAElFTkSuQmCC 437b5bd6-da2a-464e-9bec-b8311f38cc2f true false true COMPAS FAB: Analytical Kinematics Planner COMPAS FAB: Analytical Kinematics Planner 3 false false false false 1465 67 127 64 1533 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 1467 69 51 20 1494 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 1467 89 51 20 1494 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 1467 109 51 20 1494 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 1548 69 42 60 1569 99 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Analytical Kinematics Planner *.*.python 3.* 611 199 550 650 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/VeXAAABvklEQVRIDWNgoDFgRDb/////IUB+/u0796z//v2LIoesDhubmZn5v6qK0lGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5IPoNes2gDG6YjL5YDPBPrh1++4/UJiHRyeAzVq5dAGYpoQAxYmaqjIT2AfoEdrY0kGxT2BmwoIIxbHXrt9A4ePj7H7xngGEcQGsFoAUr167gQEUZKB4wQVABueduwvGuCxBsSA0OACXWQTFtz9/h1UNOJKv37j1H6ssFkFQ8GlpasBl1j5+w9B14zHDp99/GaaZqDA4ignA5TQ11BhRfACXwcEAGQ5KACAMi6dgWRGGDn1FsI6Ki/cZ1gAtRAZE+QAUD6A4QQf1NRVw3xSev8ewAxpMk4yUGVwlBBlI9gG6BchB5SUpiC4N5hPlA5hOWBCBDAYlCGQLQGpgKQnkehAA+YAkC0Ca0CMZJIYLkBVE6K7GZThMnKRUBNNECg22AFQwkaKJGLUwM8EWQGsiYvQRrQZmJiyIJhKtk3iFYDPBFoBqHlA1R7xe/CqhVSa4XgYnU5hyWlT6MLNpRgMAj96pt4FfdZEAAAAASUVORK5CYII= 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 a7e90d86-852e-47d8-93e9-94fb6bec550c 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.* 545 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Frame Target true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACCElEQVRIDWNgoDFgRDb/////IUB+/u0796z//v2LIoesDhubmZn5v6qK0lGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5KMroAIfbCbYB7du3/1HapgTcgAoTtRUlZnAPiBk+Jp1GxhAmBQAM5OFGE2r10IMDwkKIEY5ihpYHKAIUpNDcwuICqK/bBxkewqciq7fuPUfmwn7X31gmHLrGcO1T9/A0lp8XAw5alIMjmIC2JRjiGlqqDHiDCKQ4Vln7oAN53nxhAGEQRaBxEByxAKcFoBcDgJTjFUYZE7sZZA9thvMBotB5cAKCBBY4+Dj7z9g11qK8DHo8nMz3AiIBxszpbaWgcfCmeEagwxDSGIGA/OvH3DjQ4MDGLAlY5w+gOn8+x8RPYz//8GEiaax+oCflYUBFKHH33wC++Sgkz7D5h27GNYIiTN8kZBhUGJjYlgzfwZRluD0ASi1gEDO2TsMFZfuMxyVUmV4YO8FFvu3ezPDtes3wGxCBNgHoIIJVnbANICS4jQTFXAyBfkEBEC+MnzziOEvLzuDlqYGTClWGmQmSAJWHxwG1gc2WFUCBUGRDgKgoCMWAOuDI8D6wBYWRBPxaQQZTIrhULPAZoItANU8oGoOnyWkyEGrTHC9DA4imGZaVPows2lGAwB267dY+cyKeAAAAABJRU5ErkJggg== 2daad94e-cced-4d4a-8811-bf6652f839d9 true false true COMPAS FAB: Frame Target COMPAS FAB: Frame Target 3 false false false false 1419 228 173 104 1541 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 1421 230 105 20 1475 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 1421 250 105 20 1475 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 1421 270 105 20 1475 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 1421 290 105 20 1475 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 1421 310 105 20 1475 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 1556 230 34 100 1573 280 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Frame Target *.*.python 3.* 573 199 550 650 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 false "TOOL" TOOL true "WORKPIECE" WORKPIECE false 1195 249 164 22 1267 249 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 Plane Contains a collection of three-dimensional axis-systems ccc18fc0-0f1b-4702-a01e-82a56aaa63e7 Plane Plane false 0 1311 228 50 24 1336.1581 240.66876 1 1 {0} 0.888986952577791 -0.12888778253979533 0.4619655423040324 0.9962946504374557 -0.086005636499639 0 -0.08594055949597212 -0.9955407943733817 0.0388940480271145 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Load Robot Cell From Library true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACPUlEQVRIDbVVPU8bQRDdsyMKUIgEXcoQ4w+oIkCRYv4DCiCKFKEHiZZEkRASCpRYIn1SpIhwImhpAfFRQBVsbKBLGmQaF5GimGPenuc8nrPvnMIjnfd25u17Mzt7XmO6bI7kd113huZL5aubV7VarSkmca3e4/G4m3j+7JBiOcdx8ozxSYj8Y/Gy/I4DcrwoFM329x0zkkmZTNp7ZFy/p5KJdRJ5D78VQOZEvq2BmOd/7FhyGZudnjIzr6ekK/BOIrOohAX2SSArUch6dW3Dd618WDZcCTvDhEjggAQmrUCpfH2v93zuzbzlwZaACCNMC3/7+hnugKEnw4mh2CNENLlEMyFEYOhFJ8acsSiwJAY5KsF2dWqRAmim3AaQ83Z1IhIpgFOkrZVPY3hum1wollx28NjqeCKG7NEXWNgpQjydGnbaCgAAayUEEXmyPGTwFwL2FAVDDQ9/UD8vGln/Tw/aVnB6V7UqEwOPG2riLSoOaKCCT+XfZosebYuJp6by958ZfdJrdn9VzGnFE5c4YBbo0eZvETJi8olBL2tkDx/7ebGMYx0EgRmndbpiX4AX60w4q7G9c9MTc8zmi6EmkgVa2K5ycAYEWEiPfXHvk9EZapyeWwH8MVHANtyWfHLp4zQh4sg4yuqcXgW4iY5uz+zftW4gz7E9sLfHDfEwkfrt5m9RjjLNfnmZtGtk1pwtNxoNRl8kBlXBpI+mOfi8tOgl7MoEsFT9Y2qua9L9vZiGWuDKZHQ3Ln3m7tr4ACmJ/cyE62ybAAAAAElFTkSuQmCC 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 0bd56e73-ac52-4472-8e49-534eb360ae0a 1 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 85461711-1540-483e-ac5f-92aae1d653aa 1 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.* 605 199 550 650 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 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Rigid Body From Library true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACC0lEQVRIDbVVO0sDQRCey0kExUe0iAgqqCEKVqIimH8gEoKP1lZIILb6A7RNIIKtjYgGJIiNvagptDVGBBVFkahgIYjh3NncnHt7t0kEb+CyO6/vm9m5ywJ4LJqIbxjGHNOTxeubqXK5bPOJcW57XdeN0GD/MfOlNU3LUowFwsDXLgvFFXLgupvdh6fnZ9Fk7ft6eyA6M23p4mYoHFpnJKto4wRYOQPfE4NyB4ewvWMziW6+n41FYWEu5rCjgZHMYycNpjcpR93d3XPTZiYlu7i+lFhWdmcmIGaFAM/cFcU0BgLtNvfb27tNd1MI04fOvw7UDVC2ESYnkJ3/qXtOQEOuWnQ9Z64CUBIEg0Geg2+LSvBbqCVKAny/Gxv9cGu+rjJQFytA9aGJsUoCDKoHQARz2yuHnH/9AHxUUstPebYONoqPkGGPLIlQN5S+vmGkrQlyDyXIl5zEGBNnjywWAVZE4BOdLTxuoqOF28hOyaKfd8IIMWac5WGOKBYBGeVKqKqxowvw+zRIjQ7YQOIsUdU5YjoIiEhem/XKuOQK5ThZ5wR4WTAH/+vmLZ8VrDgZEP1YcS0xMSsd4E108nIewSR5gKTj8aAsnv6Sc4Pix7zdrCNKs0ojW5NhHi5WTdXSoHHAOBcxBrtCEW1MTaOt6pWJASRXH59QNgwYbm0ik3J1XJkU6cWlT9ierT/70sOwbr1lsQAAAABJRU5ErkJggg== bc8a002f-cbef-4901-a35d-a64883a911b7 true false true COMPAS FAB: Rigid Body From Library COMPAS FAB: Rigid Body From Library 3 false false false false 490 438 159 64 575 470 3 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 RigidBodyLibrary classmethod to call (e.g. 'target_marker'). 69e8b979-a3d3-45c3-986a-0132949e40e7 name name true 0 2 true 245c4e10-a266-4e08-b1bd-b551c91e988b 1 Name of the RigidBodyLibrary classmethod to call (e.g. 'target_marker'). 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 492 440 68 20 527.5 450 System.Private.CoreLib System.String true Optional id for the body. Used as its key when wired into a Load Robot Cell component's `rigid_bodies` input. Defaults to the library entry name. 0d0884cc-36e1-400a-9890-732bfc9b0538 rigid_body_id rigid_body_id true 0 2 true 0 Optional id for the body. Used as its key when wired into a Load Robot Cell component's `rigid_bodies` input. Defaults to the library entry name. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 492 460 68 20 527.5 470 System.Private.CoreLib System.String true Scaling parameter passed to the library factory. Defaults to 1.0. d9571ff8-6cfa-4385-bf86-09180c959360 size size true 0 2 true 43254ba9-ba56-4c1d-ad78-ac278e9f8a03 1 Scaling parameter passed to the library factory. Defaults to 1.0. 9d51e32e-c038-4352-9554-f4137ca91b9a 492 480 68 20 527.5 490 System.Private.CoreLib System.Double false RigidBody. 85461711-1540-483e-ac5f-92aae1d653aa rigid_body rigid_body false 0 2 true 0 RigidBody. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 590 440 57 30 618.5 455 System.Private.CoreLib System.Object false The body's visual meshes as Rhino geometry, drawn in the body's own base frame. For preview only. 18069faf-93e2-4e8f-bd08-8915178aab19 meshes meshes false 0 2 true 0 The body's visual meshes as Rhino geometry, drawn in the body's own base frame. For preview only. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 590 470 57 30 618.5 485 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Rigid Body From Library *.*.python 3.* 337 199 550 650 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values 245c4e10-a266-4e08-b1bd-b551c91e988b Panel false 0 0 floor 243 440 50 24 0 0 0 243.75174 440.60577 255;255;250;90 true true true false false true c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Attach Tool To Robot true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACJklEQVRIDbWVz0tbQRDHJ6a3XDyoLx5UUFPjr4ooIaL+CxLSBK+liCAWFA9Si9Kb3kRBEUS8a1TEf0FF8WgSjaYWqhfTeNBDjjHd7yT72Mi+6LNkYXdnZ2Y/37c78JaozM2h8nO5XEisJ5K/fvdns9mimJqns51OZ87T3HgsYssOh2NH5pgQAZ9PXCVnZOB/Zm+LZ0GI/ACDBfDlAh55CT05PaPzaIzd3d1d5OvteZliuRYiYZxEChwKgQE1e2//gLYie6qLhsNBCgaGinxWCyFwJAQGWeA6efOs3nkmk6Gvo+PkNgyamvzGjMWlFbpPpWhzfZVcLpcV1/SjJh89TRUV8KhwrFN/05ioo72VGurruMNGkzFelBgk84Mux6ipZncsfkl/bu9MG4aMsfMNg1YAV4D7Rg2mZ+ZMDHxvuR5zgzC0AkhAMWvdblpb3+D8sdER6vP72LYzcA2sNgD41PKJHr1d74KDa3kCBLdv03Td6YdJO3cPFKqrYtvOoBW4uEwQevwxQ0b6iXnR+yuiSheFggE7fP0JIrv7LACSUcAlxIwev0jQz9nvBe/rk7YG7W1ec2f4c4DQ21rzPjVmJpUwtFckYZjllUR2vzBGrkswi0KWAoDLWmBGw0nsNu0VqTDUAx3N7tdjDwvgx4SF2nACeQr47X69ZLJA4SVS+WzbhaoAyZQ1WBbBovcAyTiBFHnH9YCZf9FglPXJhABaOR79PLmM4z9TZ8Fh8nXMxwAAAABJRU5ErkJggg== 7b338da0-dca2-40c1-a9fe-ef6c978d06b2 true false true COMPAS FAB: Attach Tool To Robot COMPAS FAB: Attach Tool To Robot 3 false false false false 1416 385 176 124 1523 447 6 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 08908df5-fa14-4982-9ab2-1aa0927566aa 1 08908df5-fa14-4982-9ab2-1aa0927566aa true Optional RobotCell — validates `tool_id`, derives the default `cell_state` when unwired, and resolves the main planning group when `group` is empty. 633a4d57-a0bf-4573-a4f1-822e39aff2eb robot_cell robot_cell true 0 2 true ad7bb8d7-9db3-48ac-ba2e-1752e41e142d 1 Optional RobotCell — validates `tool_id`, derives the default `cell_state` when unwired, and resolves the main planning group when `group` is empty. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1418 387 90 20 1464.5 397 System.Private.CoreLib System.Object true The RobotCellState to modify. If left unwired, the default state is derived from `robot_cell`. b27a6c99-1947-4339-9947-2bc6f9ccc983 cell_state cell_state true 0 2 true 0 The RobotCellState to modify. If left unwired, the default state is derived from `robot_cell`. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1418 407 90 20 1464.5 417 System.Private.CoreLib System.Object true Id of the tool inside the RobotCell. 35ba7349-a41e-4f0c-8983-70fd8e4c59de tool_id tool_id true 0 2 true bd3574e6-ac70-4498-a162-455689191862 1 Id of the tool inside the RobotCell. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 1418 427 90 20 1464.5 437 System.Private.CoreLib System.String true Planning group to attach the tool to. If empty, the main planning group is taken from `robot_cell`. 4a569b14-ec94-44cc-9e43-c96c85baba0c group group true 0 2 true 0 Planning group to attach the tool to. If empty, the main planning group is taken from `robot_cell`. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 1418 447 90 20 1464.5 457 System.Private.CoreLib System.String true Optional Rhino Plane or COMPAS Frame describing the tool's frame relative to the end-effector link. Defaults to World XY (coincident with the end link). eda4b028-9612-4733-bada-03011fc920d5 attachment_plane attachment_plane true 0 2 true 0 Optional Rhino Plane or COMPAS Frame describing the tool's frame relative to the end-effector link. Defaults to World XY (coincident with the end link). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1418 467 90 20 1464.5 477 System.Private.CoreLib System.Object 1 true Optional list of robot link names allowed to collide with the tool. a0ea8ce7-62bd-465d-85eb-0f2d2dec4a75 touch_links touch_links true 1 2 true 0 Optional list of robot link names allowed to collide with the tool. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 1418 487 90 20 1464.5 497 System.Private.CoreLib System.String false New RobotCellState with the tool attached. a7e90d86-852e-47d8-93e9-94fb6bec550c cell_state cell_state false 0 2 true 0 New RobotCellState with the tool attached. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1538 387 52 120 1564 447 System.Private.CoreLib System.Object true false true 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dGFjaG1lbnRfcGxhbmUgaWYgaXNpbnN0YW5jZShhdHRhY2htZW50X3BsYW5lLCBGcmFtZSkgZWxzZSBwbGFuZV90b19jb21wYXNfZnJhbWUoYXR0YWNobWVudF9wbGFuZSkKCiAgICAgICAgdG91Y2hfbGlua3NfbGlzdCA9IGxpc3QodG91Y2hfbGlua3MpIGlmIHRvdWNoX2xpbmtzIGVsc2UgTm9uZQoKICAgICAgICBpZiB0b3VjaF9saW5rc19saXN0IGlzIE5vbmUgYW5kIHJvYm90X2NlbGwgaXMgbm90IE5vbmU6CiAgICAgICAgICAgIHRvdWNoX2xpbmtzX2xpc3QgPSByb2JvdF9jZWxsLmRlZmF1bHRfdG91Y2hfbGlua3MoZ3JvdXApCiAgICAgICAgICAgIHJlbWFyayhnaGVudi5Db21wb25lbnQsICJ0b3VjaF9saW5rcyB1bndpcmVkOyBkZWZhdWx0ZWQgdG8ge30gKGxpbmtzIHRoZSB0b29sIGluZXZpdGFibHkgb3ZlcmxhcHMpLiBXaXJlIHlvdXIgb3duIGxpc3QgdG8gb3ZlcnJpZGUuIi5mb3JtYXQodG91Y2hfbGlua3NfbGlzdCkpICAjIG5vcWE6IEY4MjEKCiAgICAgICAgaWYgcm9ib3RfY2VsbCBpcyBub3QgTm9uZToKICAgICAgICAgICAgZWVfbGluayA9IHJvYm90X2NlbGwuZ2V0X2VuZF9lZmZlY3Rvcl9saW5rX25hbWUoZ3JvdXApCiAgICAgICAgICAgIHJlbWFyayggICMgbm9xYTogRjgyMQogICAgICAgICAgICAgICAgZ2hlbnYuQ29tcG9uZW50LCAgIyBub3FhOiBGODIxCiAgICAgICAgICAgICAgICAiYXR0YWNoaW5nICd7fScgYXQgbGluayAne30nIChncm91cCAne30nIGVuZC1lZmZlY3RvcikuIFRoZSB0b29sJ3MgYHRvb2wwYCBmcmFtZSBpcyBhdCB0aGlzIGxpbms7ICIKICAgICAgICAgICAgICAgICJ1c2UgYGF0dGFjaG1lbnRfcGxhbmVgIHRvIHJvdGF0ZS9vZmZzZXQgdGhlIHRvb2wgcmVsYXRpdmUgdG8gaXQuIi5mb3JtYXQodG9vbF9pZCwgZWVfbGluaywgZ3JvdXApLAogICAgICAgICAgICApCgogICAgICAgIG5ld19zdGF0ZSA9IGRlZXBjb3B5KGNlbGxfc3RhdGUpCiAgICAgICAgbmV3X3N0YXRlLnNldF90b29sX2F0dGFjaGVkX3RvX2dyb3VwKAogICAgICAgICAgICB0b29sX2lkPXRvb2xfaWQsCiAgICAgICAgICAgIGdyb3VwPWdyb3VwLAogICAgICAgICAgICBhdHRhY2htZW50X2ZyYW1lPWF0dGFjaG1lbnRfZnJhbWUsCiAgICAgICAgICAgIHRvdWNoX2xpbmtzPXRvdWNoX2xpbmtzX2xpc3QsCiAgICAgICAgKQogICAgICAgIHJldHVybiBuZXdfc3RhdGUK COMPAS FAB: Attach Tool To Robot *.*.python 3.* 570 199 550 650 00027467-0d24-4fa7-b178-8dc0ac5f42ec Value List Provides a list of preset values to choose from bd3574e6-ac70-4498-a162-455689191862 1 1 Value List tool_id false 0 "gripper" gripper true 1264 426 111 22 1308 426 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 43254ba9-ba56-4c1d-ad78-ac278e9f8a03 Number Slider Number Slider false 0 244 482 198 20 244.43536 482.9662 2 1 0 5 1 0 2.64 1e936df3-0eea-4246-8549-514cb8862b7a Mesh Contains a collection of polygon meshes 548b96ae-d6b1-4cfa-a8f2-865e9d100241 Mesh Mesh false 0 244 322 50 24 269.2792 334.7948 1 1 {0} rFZ5OJvpFo+IhBA7sYVYaifEFmtsDVNrUFFLtHa1RGMJVbtiprV2Rau4tNpqtWNqaUlaimEQLW1plVKljMG1hVoy0tY8nd557j/3/p7nnPMu53vPec/v/b7vBbABAADmHliWBR7gniK4hIRGkqxIERGkSHWkeyA5OpQUaYrR1NHRROtrYzCa2jpaWmh1pFVseEwsOdA0MjA2hnwsXB3pHOsXHupvF5jgRgoLjDTV00OjMdqBhgb+Bnp6ejpaHKwoQp8X17QJJEUExpATNB0Co0NAe+OQuC9xoMfI/iGhcYE6ARFcpKjAyMhYsl80KOBYzDGWEycnJ5CVIr8SAGCyZ6GXMwu42PcafCxlxA0AAD+lAAGa3F+2s8UEAoS/bm1q6JWjzeygAO0DgD+DTW5Jo1nSe3tvfh36ZR5zdE9ZAr7HEvZ/6wMAOvScVpZ8bZuyJPRMnBkAkIr9RmjfyN/GWFVjA6QCzC9+XVBkf2W270PtQcNK6vdJfYnvshAz/wfXvyHbeuaQGKHh83OsCgPa15S989s6sF9ii34TklVq0L4bAOzDfW9+1iBqfxa0p8AgdnZOMAcHlBMCgUG5uPhgPDwCfLy8QgL8/CJCgoJwEWFhcbioqKS4mBhCUkJCBiElJSsjLS0ni0SygVBAMKeGJgisiYLC1LnV+AQEYHxq6pxQbg0BVTU1VQEhISERFVW4uJKyCFxZRVESgZCRVThwACEjIy6pqIQ4oKgoryArp4V20tbRdXBE6zg66RnY69thDA0NMHb2unr6DoaH7OwOGRoZGRn/cMjE1MbW2MT2B5wZFmtuYX3wINbc3NQMZ4M9iMNZWVtYeh7x8PDyJBAIvl5eBE8PD4K7q6v7YTc3by8fHy9fItGXgMc7++Lxbq7u7q4ueDzBFY/3Ivr4pO6V6PrA6eXP5bvwlar41314Uzt2C/5WF6CcsrJ1ZoGb379UrAP0cRzGERE8OZ7WIJg1iCab6/f4eY+lHKd+HLRN0xKo0j+JGUhBko/eRoY8Tio1Flvob+vPyOh6k7ASNObhvqXm3kjePFl5MdZoqPMQ5a6LatDP/fdP7ooJid4WD+/9jdqH+lGin4bSD1hZlW1rDPJaXorQbGu/ERw7BzQ5tbx2LmaY2+x1fpvnRgiNk0/mD/jEpUfoYbvMhNWX0sL13KF8P42c/gXSMS9XND4zq5U/9qtaULIlUXtFaBnIfKMx/1xpJD8wYxEOTS9z+UOyOu9p38cCkCOPm3UwU4+NPm9fIiMmNZaK54ZpnSy/NFuX2M4e/3bMtT3s7uqW8vbjd0vgs83piA3E7e6k2K052yXKB64HrcYRc3eJJeSnxlrDa/3H08oWa2JBpvF3hAbYw66mjjEE775K5KoNy+1kCA5sEEGwpfhjXDuwTu+BjR0R3eQUDod7dqNEE5kySfq5md6VGcoEY5IyxfhguLK96bNxJaVvGzu1zR6acWvCUGRgkcVUd+Zc2GemuID7TL0ocLB1wwt32RTEpGcicXecBxm6WH5tt6h/39UqOGPRgfLkNCqf9bMurXTSVXiSI/peEQipmvXhcnt6GqO6mndAIefgg4K2tdR3bR2p1rpzm1ic2EL7ulnT0vvRFebVlchTmxW1jLEbA+/F5ZPBlIfdt9CPEFcu1SApTUNPSht3YqoVj9/kudaizdxN4TGga7lllQZzXpiYFuclfix+usubld+6L1k9SwfzNOdU27MNXMTNWgp7liZy3XhPRTx3GsdekGTOS9TFLQ5LmS3/lEKpDylKaDjhEU7tawiOgK2eeTonmUh/OE1OY8fBKOu0KBT6KOZdOiSy1/wtoz5bmsP9TlV21OOaCd55cu6z1p/9/2jDOV8nbzValEgzw3MVXk9d2vY6L3m7enuHmNBdH6RnIlM5d9q9uzUOvHOz15B904lDttswbbtOkNa5ZyqG9ZsJ6uCg4KJ6ELpjF67IgAbc0rnrdzGtd+iKF7kuz/45SVaoNbmZP1F28LUv6j4cPQ7Jsl+jKapSYqI8I2U4MhKzGCTcsX5XvqSWl3J5M8khPoc5Lu4mWteiXh6nz13PfXcOMmmlLPd+Vg94o4JeXZH1aP5ZTRYx4FRdu6JUVKz6HeEnueJUj0vThsP3HnZBQseZLv6QCfVg3E/O7W/72iktb2YNcDOFToDKkiel4jAqivW5G1ZHmXw+HY/+eo81CrC2pXjhjlhVDnm5IU1LO7SyRoikV04Rw+wHpLLuURtIWPlwhTu3n1RVgbAQvv4Cr0Muv7oYpKLcrtMD6rJlMyro4Baj0iQGr0+iRi8k/pYfPW7KeEuZ7Gh0PGe4OdgV8DK66knTTewWrdwZUuHrpB8Wwn/S2NQWZmnwQWgIOSNWOfbwWjBC2Lf706GhD+s6x52nm+Ly7JKUXk+bZ8ynrBZIZJbdYrhkrMIRxwt2Z+QnDc4z/CYNqmjLxO2LQaSuBdSVJCUpCZE4XCYheYIOaUNptC0/2MZu2gy3yqob6cMJI5uqkne0Ft38r2bixpBkcCFqy75s3oqKk3dqRhX+6vTJWzDhfiQZWMi36KDZYpCQg1JkTDPXEV1UK2mifVHiCH6573jmKmyrmr4tUxvKN0K4GU0vniORw2vMF0zwcSmEtNtKKhegtaUlhBTGh9WZlcsLNRq/d1w9S32jc52k+DJG9V31DImOWqsoGSxFfTqs3FyJPVAG5tsijsy3nGSEKcePNNdN51ndeqZXPrqKPRw/y9eWX0a6cCJp0R8T/6LkGSMl88Vzd0cnukyNFznC8l0McG7yv/4FwQCAwtWbUp+5Xv2La58iY1vLE8KdKAs86JkwCCYogrG2gqVlrKcqc1ZmASvC80NUKiGYTN015BW5JpBpVjmS03MZx8eeAUWct6wz7e05w2+ZNpCxwljCzixWYmnR/QyfHV2HQTWwxg0csXkE3tPQ3pDYg1nUKMZGFSUEDJn654JfFOIpiMNEPOLIdPdbzBHpJ+j8o1cMXt+Sj5Eu3jgoQlNeiYabatGA50y4Djilz10nrtvGBiTQNorH4Wcfjm2sWMYGzDLXenY47JhFlAXUZRNfXAKVh0H3Gr22wsyuXd6KXtc84t2YErWj3rc2IfyKdq2JenFqPi+a+OMJak7ULlQ1gR26yN1Qn5yoZiPXwrTsSpb3v1Z4n7Zc9vFGS/aOiNH6uXmbkeSKlCliOnrdrv+Mmax/yhT145lR+A4yWZx6rVGYWbtscjZCJ1o0sP7BZsbP2qKOrutDsTeGW9uY+bXjiwojpzLkHUce6Er6r3wgCej7PkC4LYMvSxOx/KOnE2cKEsmyPKO+0bBmAwRlyUybY7Fh8A5/79X509xbM+o2tbti8QmImD7SeFpLddK9xU/hyz+O/46uWuVdGM4Ci8qO4yCj2p1vH2kx3nBReh9rnCI1rG7UYKkmGglNt185PkZomEGpQVu/NNXPZXvjSOvDmxD6+UslFuXq6Sz+q7658vzTTUtRhixLMf/1Df/Lqf+4832P/7ffFyxhWXn1Rw8Us31N0Hxa/D7tG7sPVh/7jQVEPOvHFrvU05kpwNR9J+4/AQAA//8DAA== 6 00000000-0000-0000-0000-000000000000 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values 005fbb2a-8d9c-47ba-a343-2c44624eec15 Panel false 0 0 gripper 241 304 53 20 0 0 0 241.09781 304.7948 255;255;250;90 true true true false false true 4f8984c4-7c7a-4d69-b0a2-183cbb330d20 Plane Contains a collection of three-dimensional axis-systems 54d29d93-0a34-4b7d-aa5d-ecd9d4daa196 Plane Plane false 0 244 363 50 24 269.66293 375.1797 1 1 {0} 0 0 0.24076616764068604 1 0 0 0 1 0 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects bc8a002f-cbef-4901-a35d-a64883a911b7 245c4e10-a266-4e08-b1bd-b551c91e988b 43254ba9-ba56-4c1d-ad78-ac278e9f8a03 548b96ae-d6b1-4cfa-a8f2-865e9d100241 83b96250-454d-4bd9-88a1-ea599d5391b2 005fbb2a-8d9c-47ba-a343-2c44624eec15 54d29d93-0a34-4b7d-aa5d-ecd9d4daa196 0c0a7bb9-2c36-4b1a-bc0b-e1e73bf41a91 8 9cd90d33-8de2-48af-837c-caa019d3cb24 Group 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 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects 7b338da0-dca2-40c1-a9fe-ef6c978d06b2 bd3574e6-ac70-4498-a162-455689191862 2 fe507704-d214-4c0b-98d0-479cf12e7b42 Group c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects 2daad94e-cced-4d4a-8811-bf6652f839d9 465c5ef1-2f5e-4146-a8df-4f847cfdcc90 ccc18fc0-0f1b-4702-a01e-82a56aaa63e7 3 332cc1ae-4e0b-4c97-9394-0cfd5b2194c3 Group c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects 08fba69e-6e56-4d64-b53e-bdf9e7e5b6e7 1 45050b05-b9c1-4cca-b8ee-8ce1e646b456 Group c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Tool From Mesh Construct a ToolModel from a Rhino mesh and a TCP plane, both expressed in the coordinates the mesh was modelled in. Wire `base_plane` to say where the robot's flange takes hold of the geometry, so the tool can be modelled wherever is convenient. The same mesh is used for collision checking unless a separate `collision_mesh` is provided. Output feeds directly into a Load Robot Cell component's `tools` input. true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABq0lEQVRIDbVVsU7DMBB1Ch+A1ArWDoUWZjaKBH+AoF35BLoCQkJICJiQ+gcsDKgB8Q/AxgwtdGNgAxYkWBruHZxlEjtx1PaG+Ox7996drdhKjdkCkz+KogbNW72n/hL5/2ImzuYHQRBV5yp3FGuTHwpGkxDhUbf3vCOBYcZadfaYRHbBwQKonMg7w5DGc0mkiU4Kf4FWHDCCOXNyB1T9IO+eZxWAM6EuCpMAxskPDk/Uw2M3i0PH9/e21cJ8Tc/hCKdskQ6COA+5TnQ4CQFUEq8GuaiyubGWoMGaDS/AhAACNiJsW+fyWvK8R6uA2YWtOllDIY31ZFemulUAALOLi/MzLLHBlzPKIkeCU0C6iB96ePW7TWYBrOz4OAWAFxJz78X3qR4cqQJmFwCLibDM08ZUASTayHyrRz7/yXBchi4gcvr6qSa+v9RWueiCWtczBZBVrK+o9/s+E5QWK1Yi1yIL4GKSu8MGXJ2eUpvlGfXy9qHg+xg4gZP34IZu1LpPoi+GbtJbElmWQ277JubAMScLkFKIZy5HcioUXOAESL/JmNA5jPzRB+9Y7Qe0HI6ecIyijwAAAABJRU5ErkJggg== 0c0a7bb9-2c36-4b1a-bc0b-e1e73bf41a91 true false true COMPAS FAB: Tool From Mesh COMPAS FAB: Tool From Mesh 3 false false false false 482 302 167 104 573 354 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 Tool identifier (used as the tool id when added to a cell). Defaults to `attached_tool`. 436381bd-6eae-4f6f-bcab-332e39fe96a2 name name true 0 2 true 005fbb2a-8d9c-47ba-a343-2c44624eec15 1 Tool identifier (used as the tool id when added to a cell). Defaults to `attached_tool`. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 484 304 74 20 522.5 314 System.Private.CoreLib System.String true Rhino mesh for visualization (and collision checking if no separate collision mesh is provided). fa9dcc6c-a042-46a4-9395-f47f47434dda visual_mesh visual_mesh true 0 2 true 548b96ae-d6b1-4cfa-a8f2-865e9d100241 1 Rhino mesh for visualization (and collision checking if no separate collision mesh is provided). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 484 324 74 20 522.5 334 System.Private.CoreLib System.Object true Optional Rhino mesh used only for collision checking. Defaults to `visual_mesh`. 798e918d-e018-46bb-bbf6-e7682f1700af collision_mesh collision_mesh true 0 2 true 548b96ae-d6b1-4cfa-a8f2-865e9d100241 1 Optional Rhino mesh used only for collision checking. Defaults to `visual_mesh`. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 484 344 74 20 522.5 354 System.Private.CoreLib System.Object true Tool Coordinate Frame, as a Rhino Plane or COMPAS Frame, expressed in the coordinates the mesh was modelled in. 54709955-a89f-4bdc-9fd8-7077f4f8292b tcp_plane tcp_plane true 0 2 true 54d29d93-0a34-4b7d-aa5d-ecd9d4daa196 1 Tool Coordinate Frame, as a Rhino Plane or COMPAS Frame, expressed in the coordinates the mesh was modelled in. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 484 364 74 20 522.5 374 System.Private.CoreLib System.Object true Optional plane, in the coordinates the mesh was modelled in, at which the robot's flange takes hold of the tool. Its Z axis points away from the robot: a tool drawn reaching along world Z needs none. For a tool drawn reaching along world X, wire the plane with Z = world X. Defaults to the world XY plane, i.e. the modelling coordinates are the tool's base frame. ae622948-3a93-45db-812f-723f350cff21 base_plane base_plane true 0 2 true 0 Optional plane, in the coordinates the mesh was modelled in, at which the robot's flange takes hold of the tool. Its Z axis points away from the robot: a tool drawn reaching along world Z needs none. For a tool drawn reaching along world X, wire the plane with Z = world X. Defaults to the world XY plane, i.e. the modelling coordinates are the tool's base frame. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 484 384 74 20 522.5 394 System.Private.CoreLib System.Object false ToolModel. 0bd56e73-ac52-4472-8e49-534eb360ae0a tool_model tool_model false 0 2 true 0 ToolModel. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 588 304 59 100 617.5 354 System.Private.CoreLib System.Object true false true 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OgogICAgICAgICAgICBnaF93YXJuaW5nKGdoZW52LkNvbXBvbmVudCwgIk5vIGNvbGxpc2lvbiBtZXNoIHByb3ZpZGVkOiB0aGUgdG9vbCB3aWxsIGJlIHZpc3VhbGl6ZWQgYnV0IGlnbm9yZWQgZm9yIGNvbGxpc2lvbiBjaGVja2luZy4iKSAgIyBub3FhOiBGODIxCgogICAgICAgICMgYGJhc2VfZnJhbWVgIGlzIG9ubHkgcGFzc2VkIHdoZW4gd2lyZWQsIHNvIGFuIG9sZGVyIGNvbXBhc19yb2JvdHMga2VlcHMKICAgICAgICAjIHdvcmtpbmcgZm9yIGRlZmluaXRpb25zIHRoYXQgZG9uJ3QgdXNlIGl0LgogICAgICAgIGt3YXJncyA9IHsiYmFzZV9mcmFtZSI6IGJhc2VfZnJhbWV9IGlmIGJhc2VfZnJhbWUgZWxzZSB7fQogICAgICAgIHRvb2wgPSBUb29sTW9kZWwoCiAgICAgICAgICAgIHZpc3VhbD1jX3Zpc3VhbCwKICAgICAgICAgICAgZnJhbWVfaW5fdG9vbDBfZnJhbWU9ZnJhbWUsCiAgICAgICAgICAgIGNvbGxpc2lvbj1jX2NvbGxpc2lvbiwKICAgICAgICAgICAgbmFtZT0obmFtZSBvciAiYXR0YWNoZWRfdG9vbCIpLnN0cmlwKCksCiAgICAgICAgICAgICoqa3dhcmdzLAogICAgICAgICkKCiAgICAgICAgbWVzc2FnZSA9IF9vZmZfYXhpc19yZW1hcmsodG9vbCkKICAgICAgICBpZiBtZXNzYWdlOgogICAgICAgICAgICByZW1hcmsoZ2hlbnYuQ29tcG9uZW50LCBtZXNzYWdlKSAgIyBub3FhOiBGODIxCgogICAgICAgIHJldHVybiB0b29sCg== COMPAS FAB: Tool From Mesh *.*.python 3.* 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3Erbex0C9Url3XsOsR0LgPwK2C4k9lIP4PAVCoVJmUWx439p1q7YredILCRz69BL1pd6R4Nz8HBy0vpMkEkxwdLIfEuGvzPZojoWPQvGUi0scAK295KEqw844RocH5/LonFTSFUz+3lKQDftIN+HxHr3bkt6U6eq3nTeFVCGtdVVjldoRttzO0qRJLVaw6wBlUo2PdN0LJVdn7FWrFPeQYljn7NcXrzRARQ3hshKZUoODFako2CxzmWSsxdOcOLooR2QpZ25uRmxVI9vWLk4cr50mpBYL16sCWCYaq2SvWk923i1KgBwdLQnZKkba6O5ul2RgxO6tFQVwDho1vpjD5XZLe+gxKMDJ1v7BfRh+MNSYeWwzp0C6cCRoPc8Yr2r1QdS1riJHxZ8XB1DYu3v74lD3j5laycaygfSY9lRt+d67GwFcDovJroFkYf04+OsY9kjv8MIWNI6Qyw+cfNBrKR5XJwH5T4k1s57OcH58pn0LjskoaAGCIUfdXJyFnz4sPt56GLv71wsEJvXEMvmc/O4Mohnb6tUaq3PaNrf8zUpSZRYw45JSKzpyoL4A65z7qoGaXDSS7IBOycWZ1zumbEcyVB4GstiIY0Dc+Sj9+oQ4JYyHPdOj+tTYTocJz3pmEmCPXQZv5wksrNKS+2lna/lt3wfTYP3K1gXBUlnyZEUAH5gMFyLfYrJ+Tm+EtY5rs72b5CsNY+fhzImJsbE7Rg+nPSXTqHFsntPcZS/q7JYLG2q4bryd0i27vEVKJeTncy1iMSXP6gIhsQa1sbOFthOSy/3UYM4Hfw+yk1PZv/pXHpleUkjhIAn1gg1dpaqemJlifYIleWJNUKNnaWqnlhZoj1CZXlijVBjZ6mqJ1aWaI9QWZ5YI9TYWarqiZUl2iNUlifWCDV2lqp6YmWJ9giV5Yk1Qo2dpaqeWFmiPUJleWKNUGNnqaonVpZoj1BZnlgj1NhZquqJlSXaI1SWJ9YINXaWqnpiZYn2CJXliTVCjZ2lqp5YWaI9QmV5Yo1QY2epKr8zMj9YzbJQX9bvGwF+yGyI9ftW02v3JRD4Pyz/hJppP2kcAAAAAElFTkSuQmCC