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6 00000000-0000-0000-0000-000000000000 17b7152b-d30d-4d50-b9ef-c9fe25576fc2 XY Plane World XY plane. 6860469b-1ab2-47f3-bec3-4208fd3c143e XY Plane XY Plane 528 174 98 28 577 188 Origin of plane 6ae31de8-d765-4a89-87df-f3cbfbeb1ca1 Origin Origin false 0 530 176 32 24 547.5 188 1 1 {0} 0 0 0.1531965583562851 World XY plane 3e07e26f-7364-466c-bf58-2608d206128a Plane Plane false 0 592 176 32 24 608 188 00027467-0d24-4fa7-b178-8dc0ac5f42ec Value List Provides a list of preset values to choose from a194c46d-2cff-4b97-9fc2-c1b5762db47b 1 1 Value List tool_id false 0 "cone_tool" cone_tool true 2308 165 124 22 2352 165 c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects bb96cbba-cd1a-4a1d-8d29-f33e87060490 bd283dd9-2601-4cf5-add2-2c13a9078dd1 3bb206ec-987c-41a6-b91b-3406f1d07132 3a28f47f-535b-4043-a196-2fbaf9526bb8 25d42e3e-5cbb-41a3-96d4-9a53e7a7c9c6 5623c51b-29d5-4b44-aa5b-1e2ab4b17df4 de7ea5f7-f04b-48c8-80ca-659046e21818 6860469b-1ab2-47f3-bec3-4208fd3c143e de0704f0-5ec3-40bf-adc3-2239b5c2da84 b1d6bdbb-bbbc-482e-9851-581e5580f4a9 f0f0be53-9841-44b2-a915-f4a56dde8fb4 10f862f3-efb8-4976-b10e-5c43cb8ca998 c0997184-9dc2-4663-aefb-9a6befa63cb3 312d889e-4565-4c1a-af9a-a2cc8894301f d5a3b4a1-d5fc-4f1e-a596-cfca7bd99841 964cd6b7-1f68-43b6-b588-ded9eda4ea5e 44371d07-4b13-4312-a14a-3aaba840403e a7741223-6442-4812-a1a2-9b13932ee360 034319d0-dd5d-40ec-a71d-a787020e6ebd 684ec963-c070-47bc-80e8-545a05b20d70 163547fe-e970-4859-ba36-aadaf67d1a77 620097d3-6b24-41be-8d9c-99b385c0f608 c7ee355a-bcb0-4a4d-be99-a509fbfd0e52 0855e543-9f77-4823-8f21-2b134bc4fca3 9c92c74a-5e86-436d-874f-a0030c6dab03 14762c92-f1ae-4fe4-98ab-802dc2b518e2 1f179f42-a302-4b46-a703-cf43ac8ec09f 27 1ca67453-7fdd-4978-814c-31ac691a83ba Group Prepare robot cell elements 59e0b89a-e487-49f8-bab8-b5bab16be14c Panel A panel for custom notes and text values b1d6bdbb-bbbc-482e-9851-581e5580f4a9 Panel false 0 0 cone_tool 528 120 63 20 0 0 0 528.33765 120.39553 255;255;250;90 true true true false false true c552a431-af5b-46a9-a8a4-0fcbc27ef596 Group 1 198;217;216;237 A group of Grasshopper objects c4c3df53-0a94-4574-afc8-9e68cb15bc46 c741113a-f740-46e4-b41e-744b58b6d380 1d7fb04a-0186-4b68-87cc-8aadeeba134f 63d8a71e-c34e-4324-9c2b-22d672de2c59 b461d57d-dac0-4f84-b5ef-082020035112 bf7eb098-2ad8-45eb-b57a-5c1d796484b3 7cefd0d7-8374-4206-8f2d-dab21b45ed04 c1dfa616-fc89-4c42-a97c-8c82fdb5f911 e83426f4-392d-4717-86e6-7be25f865d8e c135cdec-b7ff-47dd-98d1-a41462740720 43a0073c-917a-4937-86ea-54f4ad23b8a1 87305c06-5ffb-4141-bf79-9b80eba6baf9 b0c46599-8aa5-4790-b1b1-dee6d9936a4a d5388eda-d7c6-43ca-bf8f-ae66b45ad77d 0cabc0f6-4d03-4b38-b590-65731ca3020c e2af8c60-3712-4b66-b358-7292539022f9 a8abae57-e5f5-463f-8566-8443a0edd81c 4393a904-1d39-422c-be8d-f07a18284b2f 18 26f03a9f-f8d4-4703-8075-3aff4442604d Group MoveIt Planner 00027467-0d24-4fa7-b178-8dc0ac5f42ec Value List Provides a list of preset values to choose from 7f84f5b4-4206-4870-9cc2-3f06eea92a96 3 1 Value List target_mode false 0 "ROBOT" ROBOT false "TOOL" TOOL true "WORKPIECE" WORKPIECE false 2048 644 164 22 2120 644 8ec86459-bf01-4409-baee-174d0d2b13d0 Data Contains a collection of generic data 1 4faef0a9-d25c-40bb-862f-6f5183f66019 Data robot_cell false c4c3df53-0a94-4574-afc8-9e68cb15bc46 1 2 1981 90 58 20 2010.3065 100.92692 2e78987b-9dfb-42a2-8b76-3923ac8bd91a Boolean Toggle Boolean (true/false) toggle cabb38ef-411b-4279-aa2d-497d7c31c5c7 Boolean Toggle connect false 0 true 118 112 106 22 2e78987b-9dfb-42a2-8b76-3923ac8bd91a Boolean Toggle Boolean (true/false) toggle a8abae57-e5f5-463f-8566-8443a0edd81c Boolean Toggle load_geometry false 0 true 979 135 139 22 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Visualize Robot Cell true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABtElEQVRIDbVVzU7CQBCeEm99AxRvaMGrN30CT0TxKTThKsbEmBj1SqJPIRpOvoE349FWuYnyBr1S91s7ze46pRRkkmV25+ebnRm6Q7Rk8kz8JEna6twZfY134ji2dKadtPd9P6mtVZ+Vrud5Xp9tMhAFfhW9D7usWIQHm/VrFeQUGCv4wc0Bfjcc061aJh3Xq3SklkS59kRdhfmKTCqpYwfcBZdAi2QGhsbUJfocfU9Q88bTi/YP97aLcES96Y+erNdWKzqDsg0V0R0hY+oeODrx+BZGdP8woK1mQM3G7xINHaEVAA2V6OLyhhAAxPzwoEXt/ZZlLvnrHoTRR2JZGof+40DfHKLzsxMdAJmAkAlkedQINjwrA8mQwaBDJgBl4mz4LHH+m0o6S4aSgADKe8sg5zBzALPe5j4HNxMXBuCSoBdMKBWIdSyXeGGT4WQ2mkEAjlJNC/KnyXhbQO7bwyVBw6cBS/5WBuanzjctw11/ZFDYgzIBJFsdAA+TpFxExpj6Q8MkUvNglwE5VZzLzgPGSKcbcYl6DMYG83LjPdKYuskAW9bIzAKkQf596M9biZn9fgCrDLwo6wgHKQAAAABJRU5ErkJggg== 879f838f-40fa-475b-a82f-c6514e3d7044 true false true COMPAS FAB: Visualize Robot Cell Visualize (PM) 3 false false false false 3462 684 203 104 3549 736 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. 8bf66d0d-9f70-4a00-bd86-becb441dd188 robot_cell robot_cell true 0 2 true 53164f03-75b0-4ed9-9b64-afb81bc02549 1 The RobotCell to draw. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3464 686 70 20 3500.5 696 true System.Private.CoreLib System.Object true Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used. 74f40d2e-8031-4c6f-bbc3-b62a865f7122 cell_state cell_state true 0 2 true af9a7b55-e4fb-40bc-ad01-d382fd8f40c5 1 Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3464 706 70 20 3500.5 716 true System.Private.CoreLib System.Object true Draw visual meshes. Defaults to True. 6a182150-fbd1-4411-b760-cb93727d537d draw_visual draw_visual true 0 2 true 0 Draw visual meshes. Defaults to True. d60527f5-b5af-4ef6-8970-5f96fe412559 3464 726 70 20 3500.5 736 true System.Private.CoreLib System.Boolean true Draw collision meshes. Defaults to False. d30ff663-b999-4345-87c0-209712e5d708 draw_collision draw_collision true 0 2 true 0 Draw collision meshes. Defaults to False. d60527f5-b5af-4ef6-8970-5f96fe412559 3464 746 70 20 3500.5 756 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. edea9d04-1d1c-4230-9b20-c05dcbc47162 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 3464 766 70 20 3500.5 776 true System.Private.CoreLib System.Double false Rhino meshes of the robot model. 470376a4-2598-4787-b293-cebfdf66144c robot_meshes robot_meshes false 0 2 true 0 Rhino meshes of the robot model. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3564 686 99 25 3613.5 698.5 true System.Private.CoreLib System.Object false Rhino meshes of all tool models in the cell. 291cd0f2-85f3-4d4b-93f0-b86a046d6b31 tool_meshes tool_meshes false 0 2 true 0 Rhino meshes of all tool models in the cell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3564 711 99 25 3613.5 723.5 true System.Private.CoreLib System.Object false Rhino meshes of all rigid bodies in the cell. 5f288f05-f05a-4381-aa6c-c61bcda372c7 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 3564 736 99 25 3613.5 748.5 true System.Private.CoreLib System.Object false Rhino plane at the robot's base frame. 2569c82c-9342-47f5-810b-58bbaeca87ba base_plane base_plane false 0 2 true 0 Rhino plane at the robot's base frame. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3564 761 99 25 3613.5 773.5 true System.Private.CoreLib System.Object true false true 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Visualize (PM) *.*.python 3.* 623 149 550 700 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Deconstruct Trajectory true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABvElEQVRIDb1VvU4CQRDeI3a8AYqxAQ58BH0CK6LQmdCaaIKNCf4kxsQfEisTfQrQ8BImSmki3EEnSqeNofXcb7whu8dePEDcZnZmvvm+2fvZEWLGy1L5Pc8rSL/ce+2vDAYDLafiTPt4PO4lFxL3MndlWVadMUMSSX7uuN19Tkxj7UzqQoocgIME0Lkkr01DGqyVIkWcJOYnykHAH/jESSd46b19jfvMuYFW26FtLmtziCzeyWJyPjYHL4w8rJiZ6ncNUbttsCuKG3lRWM+Tz5x0grbT8YYouQExClkAObVYzaPz5ZytCR0fVQTiWTttaQLBjkzFiLGwKoomUP/ccgQEsDQBFJ2cVikBEhTD8lLFTXnGqVYTQAIiKqkK5n0UDGNHBDgxrr3p9qlkO5XQSiFAX5EWNThhBAy9DhFAnn80xhotCJgEgObHpxFnChoFfiMoPbii9Oia+EZiRoEoBM33aKcwCqCNqAQjLQcCoQIB3MQufUW4mM6ql5bjdn6I1jbJbu3sTuTbmbQ4rOzR9UMC/iRa5TaXuk+8JTuujyKf858GDiYPxpzW9hSOPzJpLtNtylyzGPrMPTP7DXFn1tne6IQrAAAAAElFTkSuQmCC 282367d0-3f19-41d2-8c3e-903cdb22e13b true false true COMPAS FAB: Deconstruct Trajectory Deconstruct (CM) 3 false false false false 3101 522 158 104 3167 574 1 08908df5-fa14-4982-9ab2-1aa0927566aa 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 true A JointTrajectory (typically the output of PlanMotion or PlanCartesianMotion). The per-point `cell_states` are derived from `trajectory.start_state`, which the planner sets automatically. 0021b828-7891-434a-8fef-5457f37246bc trajectory trajectory true 0 2 true f73d3ab2-8697-4ff9-b443-87d7b13dafeb 1 A JointTrajectory (typically the output of PlanMotion or PlanCartesianMotion). The per-point `cell_states` are derived from `trajectory.start_state`, which the planner sets automatically. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3103 524 49 100 3129 574 System.Private.CoreLib System.Object false One Configuration per trajectory point, in order. cefd3817-5232-4207-9d7b-cc0cfc7935b2 configurations configurations false 0 2 true 0 One Configuration per trajectory point, in order. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3182 524 75 20 3219.5 534 System.Private.CoreLib System.Object false One RobotCellState per trajectory point: a copy of `trajectory.start_state` with `robot_configuration` set to the corresponding point. Empty when the trajectory has no `start_state`. b1cb558b-1ad2-4e87-80da-64024efcda02 cell_states cell_states false 0 2 true 0 One RobotCellState per trajectory point: a copy of `trajectory.start_state` with `robot_configuration` set to the corresponding point. Empty when the trajectory has no `start_state`. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3182 544 75 20 3219.5 554 System.Private.CoreLib System.Object false DataTree of joint velocities — one branch per trajectory point, each branch ordered to match the trajectory's `joint_names`. Zeros when the backend didn't populate this field. da169e63-c1e2-4385-b59b-bde97e8cc362 velocities velocities false 0 2 true 0 DataTree of joint velocities — one branch per trajectory point, each branch ordered to match the trajectory's `joint_names`. Zeros when the backend didn't populate this field. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3182 564 75 20 3219.5 574 System.Private.CoreLib System.Object false DataTree of joint accelerations — one branch per trajectory point, ordered to match `joint_names`. Zeros when the backend didn't populate this field. 6957416d-e3d1-4f31-ae0b-d63d30676e68 accelerations accelerations false 0 2 true 0 DataTree of joint accelerations — one branch per trajectory point, ordered to match `joint_names`. Zeros when the backend didn't populate this field. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3182 584 75 20 3219.5 594 System.Private.CoreLib System.Object false DataTree of joint efforts — one branch per trajectory point, ordered to match `joint_names`. Zeros when the backend didn't populate this field. 018c7493-1e20-44b2-b676-25b943c095ec efforts efforts false 0 2 true 0 DataTree of joint efforts — one branch per trajectory point, ordered to match `joint_names`. Zeros when the backend didn't populate this field. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 3182 604 75 20 3219.5 614 System.Private.CoreLib System.Object true false true 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Deconstruct (CM) *.*.python 3.* 511 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Rigid Body From Library true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACEklEQVRIDdVVyytEYRQ/d3A1Y2YyZMEIG8ba+5UkO4lEyV9goWTJH8BSio1SbDwikSxJwgLJzmMWHhlEeYzJEHV95+Pc7p37fXTFwqmZc77zO+f3++53Hwfgj00x8mua1sLWXeehy8pIJGLCjHWi2O12a5n+9A2GDSqKMks1Ogkj7zs4DPYQgH57ZxfC4bAxpcculwvKy0r0tTHID+T2M5FezMXjH+48lnxiagYWFpcQltrxySm0t7VacORinLt4JVyAVXTFVq2tb4DPlwwtzU2xEF/Pzs0D1ogEPhuQ80MAz1zIwpJ1tTVCCAW+MuJ0YJHdG/oVMWHEyQUo+Rf+/wvQUyQ9neWVVdCk6PeAVKC6qpK/ByOjY1KWxoZ6KUaAVACf75zsLIhGo1Rr8l6vF4qLCkw50UIqgMUV5aWiHls5ocBw8MIWCRYXp3qgJMVj6bMIbN0+wtAPBDoh43uB/fAT7N1F+C7yPE44evw4/+6A37IzSlw9v8Lk6TUtLd50BR07QbhmDWhEjvHAYQid0HyqicJSw1EcFvTtSEtMANXhgFD0BfzORH62fqdqaqQhMn12AwpbjJcFLMeDnNjEBXASsW94FbHcv77xEP3mzQOldR/74olu7ud0A/oWDWJ3oc8DuDuVbUt1KJAUR7DOzQOsoR/2SIxzYh030cgkzK43jkxdAElwdDL3q0Pf7uZs178Dt0yrp/1lc7YAAAAASUVORK5CYII= 9c92c74a-5e86-436d-874f-a0030c6dab03 true false true COMPAS FAB: Rigid Body From Library Rigid Body From Library 3 false false false false 675 237 159 64 760 269 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'). c5445575-204f-40f4-8d6b-07462605a1b3 name name true 0 2 true 3a28f47f-535b-4043-a196-2fbaf9526bb8 1 Name of the RigidBodyLibrary classmethod to call (e.g. 'target_marker'). 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 677 239 68 20 712.5 249 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. 0c5969c9-efef-42ac-beeb-dc18837a8c6a 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 677 259 68 20 712.5 269 System.Private.CoreLib System.String true Scaling parameter passed to the library factory. Defaults to 1.0. 057aba6b-3ef8-4444-b045-297d2cb8dac0 size size true 0 2 true 0 Scaling parameter passed to the library factory. Defaults to 1.0. 9d51e32e-c038-4352-9554-f4137ca91b9a 677 279 68 20 712.5 289 System.Private.CoreLib System.Double false RigidBody. 758422be-0f15-43e4-8297-eef68a8e696c rigid_body rigid_body false 0 2 true 0 RigidBody. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 775 239 57 30 803.5 254 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. a8b6b5a9-3738-4931-b8ea-c014661b48c0 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 775 269 57 30 803.5 284 System.Private.CoreLib System.Object true false true 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 Rigid Body From Library *.*.python 3.* 400 149 550 700 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Frame Target true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACCElEQVRIDWNgoDFgRDb/////IUB+/pOnz62/fPmCIoesDhubh4fnv4y05FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5KMroAIfbCbYB4+fPPtHapgTcgAoTmRlpJjAPiBk+Jp1GxhAmBQAM5OFGE2r10IMDwkKIEY5ihpYHKAIUpNDcwuICqK/bBxkewqciq7fuPUfmwn7X31gmHLrGcO1T9/A0lp8XAw5alIMjmIC2JRjiGlqqDHiDCKQ4Vln7oAN53nxhAGEQRaBxEByxAKcFoBcDgJTjFUYZE7sZZA9thvMBotB5cAKCBBY4+Dj7z9g11qK8DHo8nMz3AiIBxszpbaWgcfCmeEagwxDSGIGA/OvH3DjQ4MDGLAlY5w+gOn8+x8RPYz//8GEiaax+oCflYUBFKHH33wC++Sgkz7D5h27GNYIiTN8kZBhUGJjYlgzfwZRluD0ASi1gEDO2TsMFZfuMxyVUmV4YO8FFvu3ezPDtes3wGxCBNgHoIIJVnbANICS4jQTFXAyBfkEBEC+MnzziOEvLzuDlqYGTClWGmQmSAJWHxwG1gc2WFUCBUGRDgKgoCMWAOuDI8D6wBYWRBPxaQQZTIrhULPAZoItANU8oGoOnyWkyEGrTHC9DA4imGZaVPows2lGAwBHiLc94c9LygAAAABJRU5ErkJggg== 2c3deda5-7a78-4902-bb79-4796273ba3ff true false true COMPAS FAB: Frame Target COMPAS FAB: Frame Target 3 false false false false 2245 623 173 104 2367 675 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). f086b18c-92ca-408c-b345-a009bfdc1d25 plane plane true 0 2 true fa1878da-0da2-406e-95ad-60f40216bfa7 1 Rhino plane or COMPAS Frame describing the target pose (in WCF). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2247 625 105 20 2301 635 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). 4ea23f34-2f44-4fea-ace2-ed14776c55fd target_mode target_mode true 0 2 true 7f84f5b4-4206-4870-9cc2-3f06eea92a96 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 2247 645 105 20 2301 655 System.Private.CoreLib System.String true Position tolerance in meters (not affected by native_scale). If unset, the planner default is used. e64a05b9-8639-4029-88ed-8e9187a04a68 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 2247 665 105 20 2301 675 System.Private.CoreLib System.Double true Orientation tolerance in radians. If unset, the planner default is used. b9b337d0-dbe9-450e-b28b-ec6b45abb002 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 2247 685 105 20 2301 695 System.Private.CoreLib System.Double true Scale factor: user_value * native_scale = meters. Use 0.001 if modeling in millimeters. Defaults to 1.0. b27f1e89-e38c-49cc-952b-6cd07d5aad25 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 2247 705 105 20 2301 715 System.Private.CoreLib System.Double false FrameTarget. 4d4c2587-3e67-44b5-ad21-f205a57ebe3a target target false 0 2 true 0 FrameTarget. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2382 625 34 100 2399 675 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Frame Target *.*.python 3.* 525 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Attach Tool To Robot true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACBUlEQVRIDbWVTS9DQRSGT8WuXVjgtvG1EvXZCGkI/oI01cbWQiRWdoIQCwmJnZVE/AGKiL+AEEttuVhpiY9akLTrmve0czNt5pZLepKZOXPOuc97Z85iiKpsLpWfz+cjYj/39Pwyks1mS3Jqnc73eDz55ibfuchtuVyuA1ljQQR83bx7WJSJ/6z+jvYNIbIEBgvgzwU8Vg69uLyi63iCw/39AQoODpSX2O6FSBQnkQKnQmBUrT46PqG92JEaoslomMKh8ZKY3UYInAmBsRoU4M7Vwlwux3CvYdDmxhoP+BBE7jcmmSxQ3tC39wwzero7qa21hQd8mMzxpsIkmbW6GqOxgcOJ5C09ptKWD0fmOPiLSSvgdrv5vnEl84srFgY9QM6JaQUAQDN9Xi9t7+wyb3ZmmoaHgk7YXMs9sPsKwK+OPvr0B/4EB9f2BEjupzJ03zsElw7SHxRpqWffyaQVuLk1CSP5mSMj88W8+OsdUZ2bIuGQE77+BLHDYxYAySjiTLFiJG9MWl1eKEZ/XrQ96O7yW19GJ0KE0dVZiKk5q6iCo70iCcMqryR2OMUYua/ALEnZCgAue4EVhpM4Ne0VqTD0AwPm9O/xDQvgscBGNZxAngJxp38vmSxQfIlUPvtOoSpAMmUPtkSy5D1AMU4gRf5wPWAWXjQ4VX0yIQCrxqNfIFdx/gZyM8B488sZSgAAAABJRU5ErkJggg== a0b7288b-d4f9-4c4c-88eb-9a4e1b20e889 true false true COMPAS FAB: Attach Tool To Robot COMPAS FAB: Attach Tool To Robot 3 false false false false 2484 124 176 124 2591 186 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. 0632a7ab-b841-4e40-8475-8b8dadca3ef5 robot_cell robot_cell true 0 2 true c4c3df53-0a94-4574-afc8-9e68cb15bc46 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 2486 126 90 20 2532.5 136 System.Private.CoreLib System.Object true The RobotCellState to modify. If left unwired, the default state is derived from `robot_cell`. 5c8ad236-9f77-449f-9f22-cc089f77999f cell_state cell_state true 0 2 true e3d8b137-b6b2-491f-a175-53c88474afd2 1 The RobotCellState to modify. If left unwired, the default state is derived from `robot_cell`. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2486 146 90 20 2532.5 156 System.Private.CoreLib System.Object true Id of the tool inside the RobotCell. e931a4e6-c85a-4040-a631-65ab93fd2b4d tool_id tool_id true 0 2 true a194c46d-2cff-4b97-9fc2-c1b5762db47b 1 Id of the tool inside the RobotCell. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 2486 166 90 20 2532.5 176 System.Private.CoreLib System.String true Planning group to attach the tool to. If empty, the main planning group is taken from `robot_cell`. efc78418-137f-4d2a-bc1e-9ac84b85ba02 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 2486 186 90 20 2532.5 196 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). a7f72b11-5611-4e89-a36b-81f37715729b 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 2486 206 90 20 2532.5 216 System.Private.CoreLib System.Object 1 true Optional list of robot link names allowed to collide with the tool. b0b069e8-af5a-4216-9545-d1ebba73f40f 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 2486 226 90 20 2532.5 236 System.Private.CoreLib System.String false New RobotCellState with the tool attached. 69e48047-60c1-4584-8133-6458bdb0f4da cell_state cell_state false 0 2 true 0 New RobotCellState with the tool attached. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2606 126 52 120 2632 186 System.Private.CoreLib System.Object true false true IyByOiBjb21wYXNfZmFiPj0yCiIiIgpBdHRhY2ggYSB0b29sIHRvIGEgcm9ib3QgcGxhbm5pbmcgZ3JvdXAgaW5zaWRlIGEgUm9ib3RDZWxsU3RhdGUuCgpQYXNzdGhyb3VnaCBidWlsZGVyOiB0aGUgaW5wdXQgc3RhdGUgaXMgY29waWVkLCB0aGUgYXR0YWNobWVudCBpcyBzZXQsIGFuZAp0aGUgbmV3IHN0YXRlIGlzIHJldHVybmVkLgoKV2hlbiBgcm9ib3RfY2VsbGAgaXMgd2lyZWQgYW5kIGB0b29sX2lkYCBoYXMgbm8gc291cmNlLCB0aGUgY29tcG9uZW50CmF1dG8tY3JlYXRlcyBhIFZhbHVlIExpc3QgZHJvcGRvd24gbGlzdGluZyBldmVyeSB0b29sIGN1cnJlbnRseSBpbgpgY2VsbC50b29sX21vZGVsc2AgKHJlZnJlc2hlZCB3aGVuIHRoZSBzZXQgY2hhbmdlcykuIFRoZSBgdG9vbF9pZGAgaXMgYWxzbwp2YWxpZGF0ZWQgYWdhaW5zdCBgY2VsbC50b29sX21vZGVsc2A7IGFuIHVua25vd24gaWQgcmFpc2VzIGFuIGVycm9yIHJhdGhlcgp0aGFuIHByb2R1Y2luZyBhIGJyb2tlbiBzdGF0ZS4KCklmIGBjZWxsX3N0YXRlYCBpcyBsZWZ0IHVud2lyZWQsIHRoZSBkZWZhdWx0IHN0YXRlIGlzIGRlcml2ZWQgZnJvbQpgcm9ib3RfY2VsbGAsIHNvIGF0dGFjaGluZyBhIHNpbmdsZSB0b29sIG5lZWRzIG9ubHkgYHJvYm90X2NlbGxgICsgYHRvb2xfaWRgLgoKSWYgYGdyb3VwYCBpcyBsZWZ0IGVtcHR5LCB0aGUgY2VsbCdzIG1haW4gcGxhbm5pbmcgZ3JvdXAgaXMgdXNlZCAocmVxdWlyZXMKYHJvYm90X2NlbGxgIHRvIGJlIHdpcmVkIGluKS4gQW55IHRvb2wgYWxyZWFkeSBhdHRhY2hlZCB0byB0aGUgc2FtZSBncm91cCBpcwphdXRvbWF0aWNhbGx5IGRldGFjaGVkLgoKSWYgYHRvdWNoX2xpbmtzYCBpcyBsZWZ0IHVud2lyZWQsIHRoZSBjb21wb25lbnQgZGVmYXVsdHMgdG8gdGhlIGVuZC1lZmZlY3RvcgpsaW5rIG9mIHRoZSBwbGFubmluZyBncm91cCAocGx1cyBpdHMgcGFyZW50IGxpbmsgd2hlbiB0aGUgZW5kLWVmZmVjdG9yIGxpbmsKaXRzZWxmIGhhcyBubyBnZW9tZXRyeSwgZS5nLiBVUidzIGB0b29sMGAgaXMgYSB6ZXJvLWdlb21ldHJ5IGZyYW1lIHNvIHRoZQpwYXJlbnQgYHdyaXN0XzNfbGlua2AgaXMgaW5jbHVkZWQgYXV0b21hdGljYWxseSkuIEEgcmVtYXJrIGlzIHN1cmZhY2VkIHNvCnRoZSBhdXRvLXBpY2sgaXNuJ3Qgc2lsZW50LgoKQSByZW1hcmsgYWx3YXlzIGFubm91bmNlcyB0aGUgbGluayB0aGUgdG9vbCBhY3R1YWxseSBlbmRzIHVwIGF0dGFjaGVkIHRvOgp0aGUgcGxhbm5pbmcgZ3JvdXAncyBlbmQtZWZmZWN0b3IgbGluayBhcyByZXR1cm5lZCBieQpgcm9ib3RfY2VsbC5nZXRfZW5kX2VmZmVjdG9yX2xpbmtfbmFtZShncm91cClgLiBPdmVycmlkZSB0aGF0IGVmZmVjdGl2ZQpmcmFtZSB2aWEgdGhlIGBhdHRhY2htZW50X3BsYW5lYCBpbnB1dC4KCkNPTVBBUyBGQUIgdjIuMC4wCiIiIgoKZnJvbSBjb3B5IGltcG9ydCBkZWVwY29weQoKaW1wb3J0IEdyYXNzaG9wcGVyCmltcG9ydCBSaGlubwppbXBvcnQgU3lzdGVtCmZyb20gY29tcGFzLmdlb21ldHJ5IGltcG9ydCBGcmFtZQpmcm9tIGNvbXBhc19naHB5dGhvbiBpbXBvcnQgZXJyb3IKZnJvbSBjb21wYXNfZ2hweXRob24gaW1wb3J0IHJlbWFyawpmcm9tIGNvbXBhc19yaGluby5jb252ZXJzaW9ucyBpbXBvcnQgcGxhbmVfdG9fY29tcGFzX2ZyYW1lCgpmcm9tIGNvbXBhc19mYWIuZ2hweXRob24gaW1wb3J0IGVuc3VyZV9keW5hbWljX3ZhbHVlX2xpc3QKCgpjbGFzcyBBdHRhY2hUb29sVG9Sb2JvdChHcmFzc2hvcHBlci5LZXJuZWwuR0hfU2NyaXB0SW5zdGFuY2UpOgogICAgZGVmIFJ1blNjcmlwdChzZWxmLAogICAgICAgICAgICByb2JvdF9jZWxsLAogICAgICAgICAgICBjZWxsX3N0YXRlLAogICAgICAgICAgICB0b29sX2lkOiBzdHIsCiAgICAgICAgICAgIGdyb3VwOiBzdHIsCiAgICAgICAgICAgIGF0dGFjaG1lbnRfcGxhbmUsCiAgICAgICAgICAgIHRvdWNoX2xpbmtzOiBTeXN0ZW0uQ29sbGVjdGlvbnMuR2VuZXJpYy5MaXN0W3N0cl0pOgogICAgICAgICMgQXV0by1wb3B1bGF0ZSB0aGUgdG9vbF9pZCBkcm9wZG93biBmcm9tIHRoZSBjZWxsJ3MgdG9vbCBpbnZlbnRvcnkuCiAgICAgICAgIyBSdW5zIGV2ZW4gd2hlbiB0b29sX2lkIGlzIGN1cnJlbnRseSBOb25lOiB0aGF0J3MgdGhlIHRyaWdnZXIuCiAgICAgICAgaWYgcm9ib3RfY2VsbCBpcyBub3QgTm9uZToKICAgICAgICAgICAgZW5zdXJlX2R5bmFtaWNfdmFsdWVfbGlzdCgKICAgICAgICAgICAgICAgIGdoZW52LkNvbXBvbmVudCwgICMgbm9xYTogRjgyMQogICAgICAgICAgICAgICAgInRvb2xfaWQiLAogICAgICAgICAgICAgICAgc29ydGVkKHJvYm90X2NlbGwudG9vbF9tb2RlbHMua2V5cygpKSwKICAgICAgICAgICAgKQoKICAgICAgICBpZiBub3QgdG9vbF9pZDoKICAgICAgICAgICAgcmV0dXJuIGNlbGxfc3RhdGUKCiAgICAgICAgdG9vbF9pZCA9IHRvb2xfaWQuc3RyaXAoKQoKICAgICAgICAjIFZhbGlkYXRlIHRoZSB0b29sIGV4aXN0cyBpbiB0aGUgY2VsbCBiZWZvcmUgYXR0YWNoaW5nIGl0LgogICAgICAgIGlmIHJvYm90X2NlbGwgaXMgbm90IE5vbmUgYW5kIHRvb2xfaWQgbm90IGluIHJvYm90X2NlbGwudG9vbF9tb2RlbHM6CiAgICAgICAgICAgIGVycm9yKCAgIyBub3FhOiBGODIxCiAgICAgICAgICAgICAgICBnaGVudi5Db21wb25lbnQsICAjIG5vcWE6IEY4MjEKICAgICAgICAgICAgICAgICJUb29sIGlkICd7fScgaXMgbm90IGluIHRoZSByb2JvdCBjZWxsLiBBdmFpbGFibGUgdG9vbHM6IHt9LiIuZm9ybWF0KAogICAgICAgICAgICAgICAgICAgIHRvb2xfaWQsICIsICIuam9pbihzb3J0ZWQocm9ib3RfY2VsbC50b29sX21vZGVscy5rZXlzKCkpKSBvciAiKG5vbmUpIgogICAgICAgICAgICAgICAgKSwKICAgICAgICAgICAgKQogICAgICAgICAgICByZXR1cm4gY2VsbF9zdGF0ZQoKICAgICAgICAjIERlcml2ZSB0aGUgZGVmYXVsdCBzdGF0ZSBmcm9tIHRoZSBjZWxsIHdoZW4gYGNlbGxfc3RhdGVgIGlzIGxlZnQgdW53aXJlZC4KICAgICAgICBpZiBjZWxsX3N0YXRlIGlzIE5vbmU6CiAgICAgICAgICAgIGlmIHJvYm90X2NlbGwgaXMgTm9uZToKICAgICAgICAgICAgICAgIGVycm9yKGdoZW52LkNvbXBvbmVudCwgIldpcmUgYSBgY2VsbF9zdGF0ZWAsIG9yIHdpcmUgYHJvYm90X2NlbGxgIHNvIHRoZSBkZWZhdWx0IHN0YXRlIGNhbiBiZSBkZXJpdmVkLiIpICAjIG5vcWE6IEY4MjEKICAgICAgICAgICAgICAgIHJldHVybiBOb25lCiAgICAgICAgICAgIGNlbGxfc3RhdGUgPSByb2JvdF9jZWxsLmRlZmF1bHRfY2VsbF9zdGF0ZSgpCgogICAgICAgIGlmIG5vdCBncm91cDoKICAgICAgICAgICAgaWYgcm9ib3RfY2VsbCBpcyBOb25lOgogICAgICAgICAgICAgICAgZXJyb3IoZ2hlbnYuQ29tcG9uZW50LCAiYGdyb3VwYCBpcyBlbXB0eSBhbmQgbm8gYHJvYm90X2NlbGxgIHdhcyB3aXJlZCBpbjogcHJvdmlkZSBvbmUgb3IgdGhlIG90aGVyIHNvIHRoZSB0b29sJ3MgcGxhbm5pbmcgZ3JvdXAgY2FuIGJlIHJlc29sdmVkLiIpICAjIG5vcWE6IEY4MjEKICAgICAgICAgICAgICAgIHJldHVybiBjZWxsX3N0YXRlCiAgICAgICAgICAgIGdyb3VwID0gcm9ib3RfY2VsbC5tYWluX2dyb3VwX25hbWUKCiAgICAgICAgZ3JvdXAgPSBncm91cC5zdHJpcCgpCgogICAgICAgIGF0dGFjaG1lbnRfZnJhbWUgPSBOb25lCiAgICAgICAgaWYgYXR0YWNobWVudF9wbGFuZSBpcyBub3QgTm9uZToKICAgICAgICAgICAgYXR0YWNobWVudF9mcmFtZSA9IGF0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COMPAS FAB: Attach Tool To Robot *.*.python 3.* 383 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Visualize Robot Cell true true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABtElEQVRIDbVVzU7CQBCeEm99AxRvaMGrN30CT0TxKTThKsbEmBj1SqJPIRpOvoE349FWuYnyBr1S91s7ze46pRRkkmV25+ebnRm6Q7Rk8kz8JEna6twZfY134ji2dKadtPd9P6mtVZ+Vrud5Xp9tMhAFfhW9D7usWIQHm/VrFeQUGCv4wc0Bfjcc061aJh3Xq3SklkS59kRdhfmKTCqpYwfcBZdAi2QGhsbUJfocfU9Q88bTi/YP97aLcES96Y+erNdWKzqDsg0V0R0hY+oeODrx+BZGdP8woK1mQM3G7xINHaEVAA2V6OLyhhAAxPzwoEXt/ZZlLvnrHoTRR2JZGof+40DfHKLzsxMdAJmAkAlkedQINjwrA8mQwaBDJgBl4mz4LHH+m0o6S4aSgADKe8sg5zBzALPe5j4HNxMXBuCSoBdMKBWIdSyXeGGT4WQ2mkEAjlJNC/KnyXhbQO7bwyVBw6cBS/5WBuanzjctw11/ZFDYgzIBJFsdAA+TpFxExpj6Q8MkUvNglwE5VZzLzgPGSKcbcYl6DMYG83LjPdKYuskAW9bIzAKkQf596M9biZn9fgCrDLwo6wgHKQAAAABJRU5ErkJggg== c300a51d-ea1d-4a6f-aac8-a4d4a36ca3fd true false true COMPAS FAB: Visualize Robot Cell COMPAS FAB: Visualize Robot Cell 3 false false false false 2753 88 203 104 2840 140 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. 0c5aa94e-7a38-43c6-adf2-eee52207dafd robot_cell robot_cell true 0 2 true 4faef0a9-d25c-40bb-862f-6f5183f66019 1 The RobotCell to draw. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2755 90 70 20 2791.5 100 System.Private.CoreLib System.Object true Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used. 099fb9a6-50e4-488c-8fb8-e961b1a1251b cell_state cell_state true 0 2 true 69e48047-60c1-4584-8133-6458bdb0f4da 1 Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2755 110 70 20 2791.5 120 System.Private.CoreLib System.Object true Draw visual meshes. Defaults to True. fbb9921d-2976-406f-bae0-f496a01fc3f3 draw_visual draw_visual true 0 2 true 0 Draw visual meshes. Defaults to True. d60527f5-b5af-4ef6-8970-5f96fe412559 2755 130 70 20 2791.5 140 System.Private.CoreLib System.Boolean true Draw collision meshes. Defaults to False. df827498-35ea-4d0b-8421-db67c2ea9dc5 draw_collision draw_collision true 0 2 true 0 Draw collision meshes. Defaults to False. d60527f5-b5af-4ef6-8970-5f96fe412559 2755 150 70 20 2791.5 160 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. 9fb3f85b-9eef-4a39-a92b-7d864813ecdc 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 2755 170 70 20 2791.5 180 System.Private.CoreLib System.Double false Rhino meshes of the robot model. a10405c9-71de-4f11-861b-bd07a05b37f3 robot_meshes robot_meshes false 0 2 true 0 Rhino meshes of the robot model. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2855 90 99 25 2904.5 102.5 System.Private.CoreLib System.Object false Rhino meshes of all tool models in the cell. true 6502b183-bd8e-480f-9d1a-d5de5c1a6a4f tool_meshes tool_meshes false 0 2 true 0 Rhino meshes of all tool models in the cell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2855 115 99 25 2904.5 127.5 System.Private.CoreLib System.Object false Rhino meshes of all rigid bodies in the cell. 4e5f49ec-4d8c-4aed-b12d-1b7dd2b223df 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 2855 140 99 25 2904.5 152.5 System.Private.CoreLib System.Object false Rhino plane at the robot's base frame. 29539e21-299b-4f8f-af94-2afad9c5a860 base_plane base_plane false 0 2 true 0 Rhino plane at the robot's base frame. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2855 165 99 25 2904.5 177.5 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: Visualize Robot Cell *.*.python 3.* 575 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: ROS Client true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABvElEQVRIDWNgoDFgRDb/////UUB+5pOnz62/fPmCIoesDhubh4fnv4y05FGg3HRGRsZlMDVwQ4CG99y4ebsYJkEJraGu2gu0pARkBtgCkMuBhi+lxFB0vUBLokE+YYJKZKIroAIfbCbYB4+fPPtHapgTcgAoTmRlpJjAPqC24SDLYWbCgoiQg8iWZ0HXee/+A4bLV66BhXV1tBiUFBXQlaDwCalHsWDT5m0MS1esQjEgOiKMwc/XC0UMxiFGPdwCkEtAhouICDOEBgeCzVi9dj1YTAfqk70vP4DFncUFGIhRD1IMtwAWLCDDHexswAY9/cfI0Pn2D0Pk9VcMjHfeM3z8/Rcszs/KzPD/92+G70GJDOXCLED11mBxEDF95hxwEMOCln6RDIpQEAAFCwwcW7+eQfPNW4b2lgZwZKMHUWVNA8MxYJBKM/0Ha4HphZkFEgRntOs3boFVEBNpYJOgBCH1mhpqjCgWgPQRSnbIFhBSj9UCdAMo4YMsoHkkgy0AFUyUuBSbXpiZYAugNRE2dWSLwcyEBdF0sk3CrRFsJtgCUM0DquZwqyVNBlplgutlcDKFaadFpQ8zm2Y0AJ2kxEQg2Zf8AAAAAElFTkSuQmCC d669cfde-80ea-4143-bcdc-260a09b8dd65 true false true COMPAS FAB: ROS Client COMPAS FAB: ROS Client 3 false false false false 281 71 151 84 345 113 4 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 ROS bridge host. Defaults to '127.0.0.1'. c2f35edf-a776-4bfe-acc6-7426fe3408e6 host host true 0 2 true 0 ROS bridge host. Defaults to '127.0.0.1'. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 283 73 47 20 308 83 System.Private.CoreLib System.String true ROS bridge port. Defaults to 9090. 2652f473-4a38-4bd5-a19b-49dcd5e5d507 port port true 0 2 true 7508753f-ee58-41f3-927d-759349106fed 1 ROS bridge port. Defaults to 9090. 48d01794-d3d8-4aef-990e-127168822244 283 93 47 20 308 103 System.Private.CoreLib System.Int32 true If True, (re)connects. If False, disconnects. A Boolean Toggle (defaulting to False) is auto-created on this input when nothing is wired. 4db7c716-8be5-41c0-8dd3-1c0a38d0885a connect connect true 0 2 true cabb38ef-411b-4279-aa2d-497d7c31c5c7 1 If True, (re)connects. If False, disconnects. A Boolean Toggle (defaulting to False) is auto-created on this input when nothing is wired. d60527f5-b5af-4ef6-8970-5f96fe412559 283 113 47 20 308 123 System.Private.CoreLib System.Boolean true Optional roslibpy transport: 'twisted' (default on most platforms), 'asyncio' (opt-in, requires roslibpy[asyncio]), or 'cli' (IronPython). When empty the choice falls through to ROSLIBPY_TRANSPORT and roslibpy.set_default_transport. 5a940e85-9726-4ead-81c1-3e2f8dfd9716 transport transport true 0 2 true 14c71912-2008-445b-9fc4-bc21691e2d07 1 Optional roslibpy transport: 'twisted' (default on most platforms), 'asyncio' (opt-in, requires roslibpy[asyncio]), or 'cli' (IronPython). When empty the choice falls through to ROSLIBPY_TRANSPORT and roslibpy.set_default_transport. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 283 133 47 20 308 143 System.Private.CoreLib System.String false Connected RosClient (or None if disconnected). 3cc3528f-e4c6-4289-aa09-ea2f4e282515 ros_client ros_client false 0 2 true 0 Connected RosClient (or None if disconnected). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 360 73 70 26 395 86.333336 System.Private.CoreLib System.Object false True if the client is currently connected. 59c3b947-6ae3-4172-8726-0967daa1ba6d is_connected is_connected false 0 2 true 0 True if the client is currently connected. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 360 99 70 27 395 113 System.Private.CoreLib System.Object false Detected ROS distribution (e.g. 'noetic', 'jazzy'). e987c8f1-282c-4982-8597-1cf3b2599a3b ros_distro ros_distro false 0 2 true 0 Detected ROS distribution (e.g. 'noetic', 'jazzy'). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 360 126 70 27 395 139.66666 System.Private.CoreLib System.Object true false true 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 COMPAS FAB: ROS Client *.*.python 3.* 469 33 550 850 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: MoveIt Planner true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACUUlEQVRIDbVVPUgcURCeMxZ33C7EpFMvnWisNJhTUCHEJoiFJB6BNLaCgpZRAum0VVBIayPIabAIIYUJgUTIDyRpoid2mtiJgh634VbX9407z931iZo7B/bmvfn5vvdmuDdE1yyxIL7neX1qP7z1Z7s9n8+HfME40zqZTHqp2uoV5ZuKxWILEqNBFPh4bn1jVByl6Ib6uglFMgYMJsDJFXi2FNBoriLJ4CYVvmM4GlCGPWPyDTa3/h5JzQ8O8jQ3n6UfP39dieNecxM9e5ohy0pyHnpyJ1VTwTcQcHgA/v7DRyJPba7wIQe5IoJZKQbROHlV1U16NT0ppkvpgcER462lB7S6lqOF10vkOM7JyX3Y/q/rNLOxfYYENvhEXNflXGAERd8gu7jEJHAWi66O+bazT/ggg3XVrAE+HSEtqIOBBDi/V3P08sVzjtUEMID9zdt3VHlDmzkofdtmwPtKf1dkUXAE2ZZFzj+HerofUePdBs7DTwip73EvLUuDdQhR+pbNu/4vJyUBIWxRong8TsAIiu5B0GhaS3ngm22tN4UYbZog1GRDKE681t1Cs21mcPfwP5sc5ZJyRe2FgrnJ+gZocuZJLyUScUqoWoqg3iZBw4M+27Y4Fxj4RC5s8nn1xk3SkV6YmhwiACveFPztB4ZGQn84ORFr/cifWnd396jr4YNTg79iAjxM8nbgwYLwY2cA8vPOKIBLLpzAhGYINQ8+qXnQAUO5RM2Dz2oedEqTp8oFHMBhTCbA5MGYCzhLWvojk+dyqMrXMfRLOullko8BFYsFxtPMQ9sAAAAASUVORK5CYII= 4393a904-1d39-422c-be8d-f07a18284b2f true false true COMPAS FAB: MoveIt Planner COMPAS FAB: MoveIt Planner 3 false false false false 1159 74 191 124 1251 136 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 3 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa true Connected RosClient (from the ROS Client component). de78af4c-b41c-4d0a-911a-5a4563ff8aa5 ros_client ros_client true 0 2 true 3cc3528f-e4c6-4289-aa09-ea2f4e282515 1 Connected RosClient (from the ROS Client component). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1161 76 75 20 1200 86 System.Private.CoreLib System.Object 1 true Optional list of ToolModels to register into the cell. Each is keyed by its `.name`. Re-applied on every refresh without refetching. 1230f0c2-a82e-40f2-9d94-a077b31fd58a tools tools true 1 2 true 3e1a6509-8a44-43de-bc75-d31a76526dbe 1 Optional list of ToolModels to register into the cell. Each is keyed by its `.name`. Re-applied on every refresh without refetching. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1161 96 75 20 1200 106 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). d31b266e-d72a-4537-a305-e2b50b497ec5 rigid_bodies rigid_bodies true 1 2 true 758422be-0f15-43e4-8297-eef68a8e696c 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 1161 116 75 20 1200 126 System.Private.CoreLib System.Object true If True (default when unwired), fetch mesh geometry. Set to False for faster loads when only kinematics are needed. A Boolean Toggle is auto-created on this input when nothing is wired. 73e57853-56d4-4afc-8f2d-ee8480bd03a3 load_geometry load_geometry true 0 2 true a8abae57-e5f5-463f-8566-8443a0edd81c 1 If True (default when unwired), fetch mesh geometry. Set to False for faster loads when only kinematics are needed. A Boolean Toggle is auto-created on this input when nothing is wired. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1161 136 75 20 1200 146 System.Private.CoreLib System.Object true Optional MoveItPlannerOptions (from the MoveIt Planner Options component) carrying advanced load parameters (URDF/SRDF names, HTTP file server URL). Not needed for standard ROS setups. 8dfd4718-345e-4071-9898-2c7dd2162c16 options options true 0 2 true 0 Optional MoveItPlannerOptions (from the MoveIt Planner Options component) carrying advanced load parameters (URDF/SRDF names, HTTP file server URL). Not needed for standard ROS setups. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1161 156 75 20 1200 166 System.Private.CoreLib System.Object true Force a refetch from ROS (bypass the sticky cache). The cell is loaded automatically on the first run; flip this to re-fetch after the robot description or geometry changes. Defaults to False. 93e22e6e-be7b-4a4b-b638-c9972a2fc848 reload reload true 0 2 true 0 Force a refetch from ROS (bypass the sticky cache). The cell is loaded automatically on the first run; flip this to re-fetch after the robot description or geometry changes. Defaults to False. d60527f5-b5af-4ef6-8970-5f96fe412559 1161 176 75 20 1200 186 System.Private.CoreLib System.Boolean false MoveItPlanner with the loaded cell uploaded to the planning scene. Wire it into the planning / IK / FK components. 65aad224-d3c1-4ad9-9987-0faf7c247fd8 planner planner false 0 2 true 0 MoveItPlanner with the loaded cell uploaded to the planning scene. Wire it into the planning / IK / FK components. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1266 76 82 40 1307 96 System.Private.CoreLib System.Object false The loaded RobotCell (with any registered tools / rigid bodies). Handy for visualization or building cell states without a separate Deconstruct Planner component. b00151b7-e50e-4f3c-bf78-7ce14e07d00e robot_cell robot_cell false 0 2 true 0 The loaded RobotCell (with any registered tools / rigid bodies). Handy for visualization or building cell states without a separate Deconstruct Planner component. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1266 116 82 40 1307 136 System.Private.CoreLib System.Object false ROS distribution detected by the client (e.g. 'noetic', 'jazzy'). Useful for diagnosing ROS 1 vs ROS 2 loader mismatches. 47efdb72-2efa-4bf8-811d-16b8c8d5c65f detected_distro detected_distro false 0 2 true 0 ROS distribution detected by the client (e.g. 'noetic', 'jazzy'). Useful for diagnosing ROS 1 vs ROS 2 loader mismatches. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 1266 156 82 40 1307 176 System.Private.CoreLib System.Object true false true 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COMPAS FAB: MoveIt Planner *.*.python 3.* 135 99 932 750 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Deconstruct Planner true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACU0lEQVRIDWNgoDFgRDb/////IUB+/uMnz6y/fv2KIoesDhubm5v7v6yM1FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5KMroAIfbCbYB48eP/1HapjDHLDy0WswM1xOFCYEpkFxIicrzcQC4sEMf/L0GcPNm7dQFII46upqDDLSUhjiwUeuMVz79A0srsvPzaDFzwVXAzMTbAFI9Omz5wzFZeB4gStCZvR2taFYEn/yJthwcQ42BnU+ThTDkfXBLbhx4yZYPDU5AVkezJ49dwHYZzBfgAw/9fYzg5kwL8NCc3UM9cgCYAuuXb/BcPb8Bbi4i5MDnL1n3wE4G8QgxXCQerAFjS0dIDYYPH/+AsbEoHEZ/vz7LwZmRkYGMQ5WDD1gC0KDAxju3X/AcPbcBQZJSQkMRSCBbX/YwMECYoOCR3PbGRATBex11GOQ4mRDEQPnAy1NDRRBbJzb/5ixCaOIsQB9gQ6IDqJ8tu8Mi7glsUbuqx+/Gf7+/481iMA+AAWRsZEB2HJcQQSSBKUYUMoBBREoPmAAFPaSaEEDkwNbEBIEtMAQYgFIApRyYBimEEbjsgQmj06DgwgkCMqtIABK89gATB4kB7IElqJMdp1nMBbiYZhpoopNG6Q0vX7j1n+QLKlFRf3lhwyrHkPKorXWWhi5WVNDDRLttCzsYPXBYWB9YIPVj2QKAuuDI8D6wBZWH0wk0xx82sBmgi0A1Tygag6falLkoFUmuF5GyXq0qPRJcRhZagFJEuhmTItpkQAAAABJRU5ErkJggg== 4819d1cf-0141-4891-83b1-8dbe7d876737 true false true COMPAS FAB: Deconstruct Planner COMPAS FAB: Deconstruct Planner 3 false false false false 2928 776 140 44 2984 798 1 08908df5-fa14-4982-9ab2-1aa0927566aa 2 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa true A planner (MoveItPlanner, PyBulletPlanner, AnalyticalKinematicsPlanner, …) that has had a robot cell set on it. 24341190-e05c-4049-b6b3-e770f5565812 planner planner true 0 2 true d0c4d7c9-a51c-49fd-b072-a7b8ba5d1f9e 1 A planner (MoveItPlanner, PyBulletPlanner, AnalyticalKinematicsPlanner, …) that has had a robot cell set on it. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2930 778 39 40 2951 798 System.Private.CoreLib System.Object false The RobotCell currently held by the planner's client. None if no cell has been loaded yet. 53164f03-75b0-4ed9-9b64-afb81bc02549 robot_cell robot_cell false 0 2 true 0 The RobotCell currently held by the planner's client. None if no cell has been loaded yet. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2999 778 67 20 3032.5 788 System.Private.CoreLib System.Object false The cell's RobotModel (`robot_cell.robot_model`). None if no cell has been loaded yet. 54714e78-8232-4aea-b127-6592b1fcaf57 robot_model robot_model false 0 2 true 0 The cell's RobotModel (`robot_cell.robot_model`). None if no cell has been loaded yet. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2999 798 67 20 3032.5 808 System.Private.CoreLib System.Object true false true IyByOiBjb21wYXNfZmFiPj0yCiIiIgpEZWNvbnN0cnVjdCBhIHBsYW5uZXIgaW50byB0aGUgcm9ib3QgY2VsbCBpdCBjdXJyZW50bHkgaG9sZHM6IHRoZQpgcm9ib3RfY2VsbGAgYW5kIGl0cyBgcm9ib3RfbW9kZWxgLgoKVGhlc2UgYXJlIHJlYWQgZnJvbSB0aGUgcGxhbm5lcidzIGNsaWVudCAodGhlIGNlbGwgbGFzdCBzZXQgb24gaXQgdmlhIGEKTG9hZCBSb2JvdCBDZWxsICsgcGxhbm5lciBzZXR1cCkuIEVhY2ggb3V0cHV0IGlzIGBOb25lYCB1bnRpbCBhIGNlbGwgaGFzCmJlZW4gbG9hZGVkLiBSZWFkcyBvbmx5OyBuZXZlciBtdXRhdGVzIHRoZSBwbGFubmVyLgoKVGhlIGNlbGwgKnN0YXRlKiBpcyBpbnRlbnRpb25hbGx5IG5vdCBleHBvc2VkOiB0aGUgc3RhdGUgaGVsZCBieSB0aGUgY2xpZW50CmlzIHdoYXRldmVyIHdhcyBsYXN0IHNldCBpbnRlcm5hbGx5IGFuZCBpcyByYXJlbHkgdGhlIG9uZSB5b3Ugd2FudC4gQnVpbGQgdGhlCnN0YXRlIHlvdSBuZWVkIGZyb20gYERlZmF1bHQgQ2VsbCBTdGF0ZWAgLyB0aGUgYEF0dGFjaCpgIGNvbXBvbmVudHMgaW5zdGVhZC4KCldvcmtzIHdpdGggYW55IHBsYW5uZXIgKE1vdmVJdCwgUHlCdWxsZXQsIEFuYWx5dGljYWwsIOKApikuCgpDT01QQVMgRkFCIHYyLjAuMAoiIiIKCmltcG9ydCBHcmFzc2hvcHBlcgppbXBvcnQgUmhpbm8KaW1wb3J0IFN5c3RlbQoKCmNsYXNzIERlY29uc3RydWN0UGxhbm5lcihHcmFzc2hvcHBlci5LZXJuZWwuR0hfU2NyaXB0SW5zdGFuY2UpOgogICAgZGVmIFJ1blNjcmlwdChzZWxmLCBwbGFubmVyKToKICAgICAgICBpZiBwbGFubmVyIGlzIE5vbmU6CiAgICAgICAgICAgIHJldHVybiAoTm9uZSwgTm9uZSkKCiAgICAgICAgcm9ib3RfY2VsbCA9IHBsYW5uZXIucm9ib3RfY2VsbAogICAgICAgIHJvYm90X21vZGVsID0gcm9ib3RfY2VsbC5yb2JvdF9tb2RlbCBpZiByb2JvdF9jZWxsIGlzIG5vdCBOb25lIGVsc2UgTm9uZQoKICAgICAgICByZXR1cm4gKHJvYm90X2NlbGwsIHJvYm90X21vZGVsKQo= COMPAS FAB: Deconstruct Planner *.*.python 3.* 399 199 550 650 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Plan Motion true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACKUlEQVRIDWNgoDFgRDb/////IUB+/sNHT6y/f/+OIoesDhubk5Pzv7yczFGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYFK5KMrIJZ/9eM3huNvP4GVWwjzMujwc8O0gsxcA/bBg4eP/5Ea5iBT5tx7wdB74wnMQDBdrCHDkKIkwQCKEwV5WSawD8gx/MrHr2DDpTjZGHJUpcCGT7n9DCxmKczHoA0NflgQobgCF2fNug0MV6/dYLh2/QaDfm4xWBnzvu0M6hL+DFqaGmB+1aUH4CDT5ucC84myAGQgCKxeuwFMwwwDcaSkJOGGgyXRCIIWNLZ0gF0cGhzAUF9TATcMFLmLj15jeKxhwLD+yRuwsaAgAgFQZMMAXgtAQQJyPcjwkKAAmB4wDQoCUISCIhkULDAAEkNKSZB8cP3Grf8wBTAaZDAIg4IDOUhg8jAaFNkn3n4Gc8GRCw17kICmhhojVh+AXA4Kb5DL8RkOMgTkWmQXg8SQARMyhxZsnBZgC3dyHIBhASx4CAUNsZZhWHDj5i1i9RKlDsWCzVu3M1y+cg2s8dbtu0QZQEgR2AJQwQRS+PfvP7h6ZmYUu+HixDJgZsLqg8PA+sAGpBnkC5BFAX7exJqFVR2wPjgCrA9sYflgIlAV2AJfb0+sGsgQBJnJAA4HUM0DqubIMASrFmiVCa6X4XUySCUtKn2sLqCmIABQc8F4LvG3HgAAAABJRU5ErkJggg== 878ee4f3-dfc7-4c1e-ab8e-487124d32510 true false true COMPAS FAB: Plan Motion COMPAS FAB: Plan Motion 3 false false false false 2663 552 214 164 2800 634 8 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 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 A planner that supports plan_motion (e.g. MoveItPlanner, PyBulletPlanner). 8e002351-10fa-451a-83f6-40a91c1deb68 planner planner true 0 2 true d0c4d7c9-a51c-49fd-b072-a7b8ba5d1f9e 1 A planner that supports plan_motion (e.g. MoveItPlanner, PyBulletPlanner). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2665 554 120 20 2726.5 564 System.Private.CoreLib System.Object true Target to reach (FrameTarget, PointAxisTarget, ConfigurationTarget, ConstraintSetTarget). 8f0985c9-bfd3-4613-b402-a03b0404cb26 target target true 0 2 true 549998f3-80a1-4ada-9c82-ef9c0f3c9e43 1 Target to reach (FrameTarget, PointAxisTarget, ConfigurationTarget, ConstraintSetTarget). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2665 574 120 20 2726.5 584 System.Private.CoreLib System.Object true Starting RobotCellState. The robot's configuration in this state is used as the seed. 705c1aad-ac69-4405-ad94-59eeae7980d1 start_state start_state true 0 2 true 3466ce89-77e4-426b-a993-683e29db59a1 1 Starting RobotCellState. The robot's configuration in this state is used as the seed. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2665 594 120 20 2726.5 604 System.Private.CoreLib System.Object true Planning group name. Defaults to the cell's main planning group. 3044f4b7-874d-40c8-82f8-a61e0f89869b group group true 0 2 true 0 Planning group name. Defaults to the cell's main planning group. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 2665 614 120 20 2726.5 624 System.Private.CoreLib System.String true MoveIt planner algorithm name (e.g. 'RRTConnect', 'PRMstar'). Defaults to 'RRTConnect'. c630c1e8-050b-4e7b-b340-dfed3ebe4a15 planner_id planner_id true 0 2 true 0 MoveIt planner algorithm name (e.g. 'RRTConnect', 'PRMstar'). Defaults to 'RRTConnect'. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 2665 634 120 20 2726.5 644 System.Private.CoreLib System.String true Number of randomized attempts to make. Defaults to 5 for MoveIt. 7cfa47f0-5878-47fe-b807-48088f6505f0 num_planning_attempts num_planning_attempts true 0 2 true 0 Number of randomized attempts to make. Defaults to 5 for MoveIt. 48d01794-d3d8-4aef-990e-127168822244 2665 654 120 20 2726.5 664 System.Private.CoreLib System.Int32 true Planning timeout in seconds. Defaults to 1.0. 5812faf4-6133-43b2-b17b-2c55fa330237 allowed_planning_time allowed_planning_time true 0 2 true 0 Planning timeout in seconds. Defaults to 1.0. 9d51e32e-c038-4352-9554-f4137ca91b9a 2665 674 120 20 2726.5 684 System.Private.CoreLib System.Double true Trigger planning. Defaults to False so the canvas does not plan on every refresh. bc877669-87a5-40f0-9262-54b61aaf6bff compute compute true 0 2 true 8a25fcc1-f970-4f14-b174-b1c41b5328d9 1 Trigger planning. Defaults to False so the canvas does not plan on every refresh. d60527f5-b5af-4ef6-8970-5f96fe412559 2665 694 120 20 2726.5 704 System.Private.CoreLib System.Boolean false Resulting JointTrajectory, or a partial trajectory on planning failure. The component is flagged red (with the backend error) when planning fails outright. f73d3ab2-8697-4ff9-b443-87d7b13dafeb trajectory trajectory false 0 2 true 0 Resulting JointTrajectory, or a partial trajectory on planning failure. The component is flagged red (with the backend error) when planning fails outright. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2815 554 60 40 2845 574 System.Private.CoreLib System.Object false List of Rhino planes — one per trajectory point — at the planning group's end-effector frame (target_mode=ROBOT). Computed via FK on the planner with the start_state's attachments preserved. 7862377a-b0e8-4386-8873-fef9ac5884c7 planes planes false 0 2 true 0 List of Rhino planes — one per trajectory point — at the planning group's end-effector frame (target_mode=ROBOT). Computed via FK on the planner with the start_state's attachments preserved. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2815 594 60 40 2845 614 System.Private.CoreLib System.Object false Polyline connecting the plane origins in trajectory order. None when the trajectory has fewer than two points. 4dd0ca5a-e703-4ea7-be36-d625defb901f polyline polyline false 0 2 true 0 Polyline connecting the plane origins in trajectory order. None when the trajectory has fewer than two points. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2815 634 60 40 2845 654 System.Private.CoreLib System.Object false The failure message (including a collision diagnostic on a full failure), as a single string. Wire a panel to read it; empty on success. f08254eb-d464-4f7e-98da-31516efa7c4b debug_info debug_info false 0 2 true 0 The failure message (including a collision diagnostic on a full failure), as a single string. Wire a panel to read it; empty on success. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2815 674 60 40 2845 694 System.Private.CoreLib System.Object true false true 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COMPAS FAB: Plan Motion *.*.python 3.* 535 149 550 700 c9b2d725-6f87-4b07-af90-bd9aefef68eb COMPAS FAB: Robot Configuration true 2 iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAAB4ElEQVRIDWNgoDFgRDb/////UUB+5u0796z//v2LIoesDhubmZn5v6qK0lGg3HRGRsZlMDVwQ4CG99y4ebsYJkEJraGu2gu0pARkBtgCkMuBhi+lxFB0vUBLokE+YYJKZKIroAIfbCbYB7du3/2HK8wX3X8JtitOUZwkO0FxoqaqzMQC0gUz/NLlKwyvX7+BGzT9FwfD1X9gJQybbt5nyGT7AZfDxRAVFWHQ09WBmwnRDVU9beYchvfvP8D1Xo3OQbCBFs2auwDOx8UQFBRgmDFlAlwaxYKs9BQ0H/yB+0Cb6Q9DWnICXCMuBsgHyADFApDXkIEzkENuHMDMQbEAJohMo0fu+idvGBquPAQradCRZwiUQXUxsl4QG5yKrt+49R/Eae/qZXj46DGIiRMc9ohi+McESd1M//4x2O6AZ1qwHnk5WYbKMkh+1dRQY4TlA5wGUiqB4gNiDCMliEA+IBgHMEuRI5tQuMP0gGgUC9AzGkwhKRkOltFgelEsQM9oMEWkZDiSMhrMgum/iM9wWDMaqGAClUfoGQ1mATkZDmQmSD84FQHrg8PA+sAGZiA1aGB9cARYH9jC8sF0ahiKZgbYTLAFoJoHVM2hKSCbC60ywVkcHEQwk2hR6cPMphkNAHNawSqnZwBxAAAAAElFTkSuQmCC 41a87a38-d6ed-4fa3-8ce0-56d36c64d779 true false true COMPAS FAB: Robot Configuration COMPAS FAB: Robot Configuration 3 false false false false 2281 242 155 44 2349 264 2 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa 2 08908df5-fa14-4982-9ab2-1aa0927566aa 08908df5-fa14-4982-9ab2-1aa0927566aa true The RobotCell to derive joint metadata from. Wiring a new cell rebuilds the slider bank to match its configurable joints. c13b9e93-0236-4827-908f-9e3625b9c970 robot_cell robot_cell true 0 2 true c4c3df53-0a94-4574-afc8-9e68cb15bc46 1 The RobotCell to derive joint metadata from. Wiring a new cell rebuilds the slider bank to match its configurable joints. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2283 244 51 20 2310 254 System.Private.CoreLib System.Object 1 true Joint values in canonical joint order. Auto-populated by the per-joint sliders the component creates; wire your own values to override. 352d1cbf-fc57-4fd2-afc5-b31c624b77c2 joints joints true 1 2 true 6c63291c-1328-4b53-8824-3fabe85dcaea e1f2d3c9-448c-4325-9962-093ce24f4b6d 6908f732-c3c1-46cf-b28f-d05e55442514 7d720b2e-cb1b-4d13-8e07-b58ef0a2ca4e a16adbc8-88dd-44fa-85a8-ef79e4a1e8b0 ba57b42f-a73d-48dc-9c86-b258615889b2 6 Joint values in canonical joint order. Auto-populated by the per-joint sliders the component creates; wire your own values to override. 9d51e32e-c038-4352-9554-f4137ca91b9a 2283 264 51 20 2310 274 System.Private.CoreLib System.Double false Configuration with joint_names and joint_types extracted from the cell. e3aeb9d7-fd12-419f-82da-1a5c3e5fda0d configuration configuration false 0 2 true 0 Configuration with joint_names and joint_types extracted from the cell. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2364 244 70 20 2399 254 System.Private.CoreLib System.Object false A copy of the default cell state with `robot_configuration` set to the selected configuration. e3d8b137-b6b2-491f-a175-53c88474afd2 cell_state cell_state false 0 2 true 0 A copy of the default cell state with `robot_configuration` set to the selected configuration. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 2364 264 70 20 2399 274 System.Private.CoreLib System.Object true false true 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COMPAS FAB: Robot Configuration *.*.python 3.* 251 199 550 650 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 6c63291c-1328-4b53-8824-3fabe85dcaea Number Slider shoulder_pan_joint false 0 1981 194 223 20 6 1 0 6.283185 -6.283185 0 0.502654 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values e1f2d3c9-448c-4325-9962-093ce24f4b6d Number Slider shoulder_lift_joint false 0 1981 226 217 20 6 1 0 6.283185 -6.283185 0 -1.00531 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 6908f732-c3c1-46cf-b28f-d05e55442514 Number Slider elbow_joint false 0 1981 258 185 20 6 1 0 3.141593 -3.141593 0 0.879646 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values 7d720b2e-cb1b-4d13-8e07-b58ef0a2ca4e Number Slider wrist_1_joint false 0 1981 290 190 20 6 1 0 6.283185 -6.283185 0 0 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values a16adbc8-88dd-44fa-85a8-ef79e4a1e8b0 Number Slider wrist_2_joint false 0 1981 322 193 20 6 1 0 6.283185 -6.283185 0 0 57da07bd-ecab-415d-9d86-af36d7073abc Number Slider Numeric slider for single values ba57b42f-a73d-48dc-9c86-b258615889b2 Number Slider wrist_3_joint false 0 1981 354 192 20 6 1 0 6.283185 -6.283185 0 0 ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 Geometry Contains a collection of generic geometry true dff2c88d-1764-48d8-b531-260cfdbcae71 Geometry Geometry false 6502b183-bd8e-480f-9d1a-d5de5c1a6a4f 1 2999 115 50 24 3024.5435 127 ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 Geometry Contains a collection of generic geometry true dac92279-9268-4927-89c5-083f66ea4ca0 Geometry Geometry false a10405c9-71de-4f11-861b-bd07a05b37f3 1 2999 90 50 24 3024.5435 102 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== 1f179f42-a302-4b46-a703-cf43ac8ec09f true false true COMPAS FAB: Tool From Mesh COMPAS FAB: Tool From Mesh 3 false false false false 667 116 167 104 758 168 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`. 3600fb81-ca56-4008-a0c8-ce0d7dfbda77 name name true 0 2 true b1d6bdbb-bbbc-482e-9851-581e5580f4a9 1 Tool identifier (used as the tool id when added to a cell). Defaults to `attached_tool`. 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88 669 118 74 20 707.5 128 System.Private.CoreLib System.String true Rhino mesh for visualization (and collision checking if no separate collision mesh is provided). 0ef05760-9985-44e6-9fb4-0a0b0f4d84f7 visual_mesh visual_mesh true 0 2 true de7ea5f7-f04b-48c8-80ca-659046e21818 1 Rhino mesh for visualization (and collision checking if no separate collision mesh is provided). 1c282eeb-dd16-439f-94e4-7d92b542fe8b 669 138 74 20 707.5 148 System.Private.CoreLib System.Object true Optional Rhino mesh used only for collision checking. Defaults to `visual_mesh`. 56f882fb-6daf-4f6c-af1f-f4f991da3e98 collision_mesh collision_mesh true 0 2 true de7ea5f7-f04b-48c8-80ca-659046e21818 1 Optional Rhino mesh used only for collision checking. Defaults to `visual_mesh`. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 669 158 74 20 707.5 168 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. 79e726f7-b446-4461-81b5-d88988f92338 tcp_plane tcp_plane true 0 2 true 3e07e26f-7364-466c-bf58-2608d206128a 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 669 178 74 20 707.5 188 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. 7c1b078d-551b-4b71-8b7d-2b040373be5c 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 669 198 74 20 707.5 208 System.Private.CoreLib System.Object false ToolModel. 3e1a6509-8a44-43de-bc75-d31a76526dbe tool_model tool_model false 0 2 true 0 ToolModel. 1c282eeb-dd16-439f-94e4-7d92b542fe8b 773 118 59 100 802.5 168 System.Private.CoreLib System.Object true false true 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COMPAS FAB: Tool From Mesh *.*.python 3.* 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KkBjHScLK1A2Smc7IT6psW0nlZbSoZ4mdZ/QYwupE9m3jN1+WFEDeFgdzUYfABa6tMO39YAcer1eV1b21KQtgGU0Jx/39vbcswaLNVlOU921b75VKaqcy8u+KPBILA2rciA3kMWjbVGsvxlbvtZMmYAvdWdlB7LDw9cCBtxZScBVc2v6dMW6DQMNrOoa2Zhka2vH7RzDWkdor8qyf4BEh4C+/XgOngEryDFvMHGdYAKwrpPQFPexJH5CKY0GX48iZgUPytvdJX6aboNbaOEaOZIUaKz7bLtVzlgfLA+g4R7FsJokLB2bgvBjdY+SUDr+uSuc/GGFEPEXW2YaWLG4upIoKeadGG9kBWB5gpn9aUmUeiEupe3cFwrq9QAa37xfJM2ZQjjaDyCq0ikGqLpi5WIXSCcV5QTsbGw0xGXNO9fW651JuYqzZgsL6w7ALNdnCTzL4n2Q+HSy54Dz8rIqvyOPJy1l/Gbr+NcBWL40ZnyOcgjI2XpyMGA7goHEOucS6xxKS6kV8GMsHcWlFonl96xEj+OObG0wLy513gOcz3BlGAupRen3W26/0K2tXefq6vWGA9VNQGFUbUAAGKmnllAtnZW56hiAdZVkZpCPQhqNJbEabOtNzDOQgHteRmYHEhdlh/njDaJIth/H3Q0G7G2l2z4CUD9RjmTK55y8paWV6LnsCHN0dBQ9e/avUwEDGiRoaqyl55p7/d8ArOtl9FYlcHuNRvqfNFBUtcq+DWqxUnc33gz3+McFAOTysiXu80TAZTHSeHnLAVSM8C4ucMEV2RVmz1kvjcE2Erds5Scd4TME75Mk9BPeA0x+Aijm/vz8/HONu1Aw6w35mWXK0jXLBR3u0Q6LXRlUAEjWKDLVQLy1trYmFsz2JB1vGVrch451AqPrt+PX9PkJFsuXzD2dqwJGwTapaVMkI7p+X13opPLcow32xaIuoCKx4zF77rMj3/Pn37odaNiFhjI+eLhmGoJy/A8h4kO/b6QA4hnUDbsGvD8BWJ4wHvqpzVvBpylaMJCck881SV2mP0DQyVZAww44uEqW8RODAS4DGKDhHvNeTMDqpOl4J6B9bVvvZfkIwFI9PPi/xErlcl0Ak28hxh+Ad4yj82pWBuuEe3z6dGsIsCMHMNwmFo05MYDGvvxxrJOpBlijcd0xAOs6CT2A+1gRXsFsbGxNxQ31Urc1XjUF2AcCoFj24TqRLZf23esfdr9mNGiz+ZPojFMOE6R5MnmwedMq96YPAsCwboCJRIBPoM+rHt5F4hLtH0Vw/zrAUiZYLKTwnqQ8YAIo383xGggwEejzjyDY//T09I0E8rz85r/A1eXXcGWY4Sdms+TTD8AyqbzDRxT+5f/+j1igjozhBAhDLHD+t7/9l7jAIzcq/NWvnkW/+c1vnaXa3NSX5MRdtiMyr4b4V4H8CxReMZEAJgDjkxuO8mrb5QdgOTG8+39i2cStK7vYOAvjAUs/x2kLsNjApOViuZ2dDxOB+G4PC4a1IpHPyNO+HwNouE5LNCFlwvdYJpBZHlHW5aV93TBLytPT0nmq8WkD/QJiiDQhy2c4+sqIsmn+pBYBq3rEkuzmvOzAGyzWJIm95T0VNv9Iid37ftrkx0I+J2JTRhL/1GnaNEpD/4VNANa0UpyiPMqUye8HkqYHzNswHoD1NtK7Ud2buZMbkSpQIVsaWyCWA6tFkEAAVhG0VEAeA7AKqLQisByAVQQtFZDHAKwCKq0ILAdgFUFLBeQxAKuASisCywFYRdBSAXkMwCqg0orAcgBWEbRUQB4DsAqotCKwHIBVBC0VkMcArAIqrQgsB2AVQUsF5DEAq4BKKwLLAVhF0FIBeQzAKqDSisByAFYRtFRAHgOwCqi0IrAcgFUELRWQxwCsAiqtCCwnC1aLwGzgsRgScAtYhdX7XXBWDNkELt9SAv8A8diK/fNdmGgAAAAASUVORK5CYII=