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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
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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
- 26
- 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/VeXAAABtUlEQVRIDbVVvU7DQAy+VEx5BH7KVEjKygZPwFRBeQqQulKEhJAQsFaCp6CgTrwBG2KkgU4U6CNkJNxn4ujucJqmpZauvvPP57PdnJWaM3kmfpIkTX1uDT++tuI4tnSmnbT3fT+priw9al3H87wu22QgGvwieh20WTELD9ZrlzrIMTAW8IObA/xmMFLXepl0WFtUB3pJlGuvVFtjPiOTSurYAnfBJdAimYFBmFSi9+HnN2oePjyRf39nswhH1Jv+6MlqdblCGZRtqIjuCBmTeuDoxONLP1K3dz21UQ9UPfxdoqEjtAKgoRKdnV8pBAAx399rqOZuwzKX/KkH/egtsSyNQ/e+RzeH6PTkiAIgExAygSyPwmDNszKQDBkMOmQCUCbOhs8S57+ppLNkKAkIoLy3DHIOEwcw623uc3AzcWEALgl6wYRSgVjHcokXNhlOZqMZBOAo1bggf5qMtwXkvj1cEjR8HLDkb2Vgfup80zLc9UcGhT0oE0CypQB4mCTlLDLGpA8Nk0jPg20G5FRxLjsPGCOdbopL1GEwNpiWG+8RYVKTATavkZkFSIP8+9CfthIT+/0A0Eq8LlpvRl4AAAAASUVORK5CYII=
- 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
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- Visualize (PM)
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- 3
- false
- false
- false
- false
-
675
219
159
64
-
760
251
- 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
221
68
20
-
712.5
231
- 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
241
68
20
-
712.5
251
- 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
261
68
20
-
712.5
271
- 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
221
57
30
-
803.5
236
- 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
251
57
30
-
803.5
266
- 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: Tool From Mesh
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABtElEQVRIDbVVPUsDQRDdi4LFgQgRBTWSQjFa2xnB/APRpPUnmFZFEEHUSsg/sLGQRPE/qJ21RrQyfpRWB9p47hszx7q3e3dJLltkZ2fevDezy2WE6PNyVH7f98vyXG29vi95nvcvpuJMtuu6fm5q4lbGao7jNBgTkEjyw+bj0zYHetkLc7NHUmQHHCSAyiV5vRdSPVeKVNBJph2o6oAUzsRJHby03n46vfO4AvAm07nJzCCAOvn+wbG4f2jGcQTxvd0tsTBfCM4wmJOvKAiCuBPyINFihARQiV4NclFlZX01RAOfCc/AkAACJiJcW/3iivMS70YBtQtTdexDIeW1cFequlEAALWL87NTuGjB5jeKI0eCVYC70B+9cfl3TWoBpGz5sQoAzyTq3bOdpHpwRAqoXQDMi4X5HLVHCiDRRJa0euTTlwzDttAFRE4+PDHw/SU281kb1OiPFUBWtrgiPu+eiWB0ccZIZHPSFeGPyQaAvzQ2Ijby46I0PER2FJZjzMnz4FrOgyIH09jlPLiR82CZH7mWBqnGQZwkgMmDMacBuj62RybN5WAmg60fQ7/rKpMm/gLhhokzxSFCzgAAAABJRU5ErkJggg==
- 14762c92-f1ae-4fe4-98ab-802dc2b518e2
- true
- false
- true
- COMPAS FAB: Tool From Mesh
- COMPAS FAB: Tool From Mesh
- 3
- false
- false
- false
- false
-
673
116
167
84
-
764
158
- 4
- 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`.
- da2ca3e1-ada7-4121-93b6-7b421382aab4
- 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
-
675
118
74
20
-
713.5
128
- System.Private.CoreLib
- System.String
- true
- Rhino mesh for visualization (and collision checking if no separate collision mesh is provided).
- f2ed7ea7-33d7-441d-8089-38c02ce07c76
- 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
-
675
138
74
20
-
713.5
148
- System.Private.CoreLib
- System.Object
- true
- Optional Rhino mesh used only for collision checking. Defaults to `visual_mesh`.
- 845901a6-5ddb-4f5f-9663-353bb0d7d2b1
- 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
-
675
158
74
20
-
713.5
168
- System.Private.CoreLib
- System.Object
- true
- Tool Coordinate Frame in the robot's `tool0` link frame, as a Rhino Plane or COMPAS Frame.
- 10f1a94a-a2c7-4f77-a6f5-0047b6ca053a
- tcp_plane
- tcp_plane
- true
- 0
- 2
- true
- 3e07e26f-7364-466c-bf58-2608d206128a
- 1
- Tool Coordinate Frame in the robot's `tool0` link frame, as a Rhino Plane or COMPAS Frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
675
178
74
20
-
713.5
188
- System.Private.CoreLib
- System.Object
- false
- ToolModel.
- 6f0b279a-83bc-49d8-b291-d9861d788592
- tool_model
- tool_model
- false
- 0
- 2
- true
- 0
- ToolModel.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
779
118
59
80
-
808.5
158
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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
- COMPAS FAB: Tool From Mesh
- *.*.python
- 3.*
-
399
149
550
700
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Frame Target
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACCElEQVRIDWNgoDFgRDb/////IUB+/uMnz6y/fv2KIoesDhubm5v7v6yM1FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5KMroAIfbCbYB48eP/1HapgTcgAoTuRkpZnAPiBk+Jp1GxhAmBQAM5OFGE2r10IMDwkKIEY5ihpYHKAIUpNDcwuICqK/bBxkewqciq7fuPUfmwn7X31gmHLrGcO1T9/A0lp8XAw5alIMjmIC2JRjiGlqqDHiDCKQ4Vln7oAN53nxhAGEQRaBxEByxAKcFoBcDgJTjFUYZE7sZZA9thvMBotB5cAKCBBY4+Dj7z9g11qK8DHo8nMz3AiIBxszpbaWgcfCmeEagwxDSGIGA/OvH3DjQ4MDGLAlY5w+gOn8+x8RPYz//8GEiaax+oCflYUBFKHH33wC++Sgkz7D5h27GNYIiTN8kZBhUGJjYlgzfwZRluD0ASi1gEDO2TsMFZfuMxyVUmV4YO8FFvu3ezPDtes3wGxCBNgHoIIJVnbANICS4jQTFXAyBfkEBEC+MnzziOEvLzuDlqYGTClWGmQmSAJWHxwG1gc2WFUCBUGRDgKgoCMWAOuDI8D6wBYWRBPxaQQZTIrhULPAZoItANU8oGoOnyWkyEGrTHC9DA4imGZaVPows2lGAwBpPLdAuMVd1AAAAABJRU5ErkJggg==
- 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
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-
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- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Attach Tool To Robot
- true
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- a0b7288b-d4f9-4c4c-88eb-9a4e1b20e889
- true
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- COMPAS FAB: Attach Tool To Robot
- COMPAS FAB: Attach Tool To Robot
- 3
- false
- false
- false
- false
-
2484
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124
-
2591
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- 6
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 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
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- 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
-
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-
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- System.Private.CoreLib
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- 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
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- The RobotCellState to modify. If left unwired, the default state is derived from `robot_cell`.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2486
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-
2532.5
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- System.Private.CoreLib
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- Id of the tool inside the RobotCell.
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- tool_id
- tool_id
- true
- 0
- 2
- true
- a194c46d-2cff-4b97-9fc2-c1b5762db47b
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- 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
- 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dGFjaG1lbnRfcGxhbmUgaWYgaXNpbnN0YW5jZShhdHRhY2htZW50X3BsYW5lLCBGcmFtZSkgZWxzZSBwbGFuZV90b19jb21wYXNfZnJhbWUoYXR0YWNobWVudF9wbGFuZSkKCiAgICAgICAgdG91Y2hfbGlua3NfbGlzdCA9IGxpc3QodG91Y2hfbGlua3MpIGlmIHRvdWNoX2xpbmtzIGVsc2UgTm9uZQoKICAgICAgICBpZiB0b3VjaF9saW5rc19saXN0IGlzIE5vbmUgYW5kIHJvYm90X2NlbGwgaXMgbm90IE5vbmU6CiAgICAgICAgICAgIHRvdWNoX2xpbmtzX2xpc3QgPSByb2JvdF9jZWxsLmRlZmF1bHRfdG91Y2hfbGlua3MoZ3JvdXApCiAgICAgICAgICAgIHJlbWFyayhnaGVudi5Db21wb25lbnQsICJ0b3VjaF9saW5rcyB1bndpcmVkOyBkZWZhdWx0ZWQgdG8ge30gKGxpbmtzIHRoZSB0b29sIGluZXZpdGFibHkgb3ZlcmxhcHMpLiBXaXJlIHlvdXIgb3duIGxpc3QgdG8gb3ZlcnJpZGUuIi5mb3JtYXQodG91Y2hfbGlua3NfbGlzdCkpICAjIG5vcWE6IEY4MjEKCiAgICAgICAgaWYgcm9ib3RfY2VsbCBpcyBub3QgTm9uZToKICAgICAgICAgICAgZWVfbGluayA9IHJvYm90X2NlbGwuZ2V0X2VuZF9lZmZlY3Rvcl9saW5rX25hbWUoZ3JvdXApCiAgICAgICAgICAgIHJlbWFyayggICMgbm9xYTogRjgyMQogICAgICAgICAgICAgICAgZ2hlbnYuQ29tcG9uZW50LCAgIyBub3FhOiBGODIxCiAgICAgICAgICAgICAgICAiYXR0YWNoaW5nICd7fScgYXQgbGluayAne30nIChncm91cCAne30nIGVuZC1lZmZlY3RvcikuIFRoZSB0b29sJ3MgYHRvb2wwYCBmcmFtZSBpcyBhdCB0aGlzIGxpbms7ICIKICAgICAgICAgICAgICAgICJ1c2UgYGF0dGFjaG1lbnRfcGxhbmVgIHRvIHJvdGF0ZS9vZmZzZXQgdGhlIHRvb2wgcmVsYXRpdmUgdG8gaXQuIi5mb3JtYXQodG9vbF9pZCwgZWVfbGluaywgZ3JvdXApLAogICAgICAgICAgICApCgogICAgICAgIG5ld19zdGF0ZSA9IGRlZXBjb3B5KGNlbGxfc3RhdGUpCiAgICAgICAgbmV3X3N0YXRlLnNldF90b29sX2F0dGFjaGVkX3RvX2dyb3VwKAogICAgICAgICAgICB0b29sX2lkPXRvb2xfaWQsCiAgICAgICAgICAgIGdyb3VwPWdyb3VwLAogICAgICAgICAgICBhdHRhY2htZW50X2ZyYW1lPWF0dGFjaG1lbnRfZnJhbWUsCiAgICAgICAgICAgIHRvdWNoX2xpbmtzPXRvdWNoX2xpbmtzX2xpc3QsCiAgICAgICAgKQogICAgICAgIHJldHVybiBuZXdfc3RhdGUK
- COMPAS FAB: Attach Tool To Robot
- *.*.python
- 3.*
-
383
199
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- COMPAS FAB: Visualize Robot Cell
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
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- Scale factor for the drawn geometry: meter_value / native_scale = native_value. Use 0.001 for a millimeter document. Defaults to 1.0.
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- Rhino plane at the robot's base frame.
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- 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
- COMPAS FAB: ROS Client
- *.*.python
- 3.*
-
469
33
550
850
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: MoveIt Planner
- true
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-
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- 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
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- 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
- 6f0b279a-83bc-49d8-b291-d9861d788592
- 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
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- 1
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- 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
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- 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+/qPHT62/ffuGIoesDhubi4vrv5ys9FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5KMroAIfbCbYBw8fPflHapjDHLDy0WswM1xOFCYEpkFxIi8nw8QC4sEMf/L0GcPNm7dQFII46upqDDLSUhjiwUeuMVz79A0srsvPzaDFzwVXAzMTbAFI9Omz5wzFZeB4gStCZvR2taFYEn/yJthwcQ42BnU+ThTDkfXBLbhx4yZYPDU5AVkezJ49dwHYZzBfgAw/9fYzg5kwL8NCc3UM9cgCYAuuXb/BcPb8Bbi4i5MDnL1n3wE4G8QgxXCQerAFjS0dIDYYPH/+AsbEoHEZ/vz7LwZmRkYGMQ5WDD1gC0KDAxju3X/AcPbcBQZJSQkMRSCBbX/YwMECYoOCR3PbGRATBex11GOQ4mRDEQPnAy1NDRRBbJzb/5ixCaOIsQB9gQ6IDqJ8tu8Mi7glsUbuqx+/Gf7+/481iMA+AAWRsZEB2HJcQQSSBKUYUMoBBREoPmAAFPaSaEEDkwNbEBIEtMAQYgFIApRyYBimEEbjsgQmj06DgwgkCMqtIABK89gATB4kB7IElqJMdp1nMBbiYZhpoopNG6Q0vX7j1n+QLKlFRf3lhwyrHkPKorXWWhi5WVNDDRLttCzsYPXBYWB9YIPVj2QKAuuDI8D6wBZWH0wk0xx82sBmgi0A1Tygag6falLkoFUmuF5GyXq0qPRJcRhZagFwfuhs3ElmqwAAAABJRU5ErkJggg==
- 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+/oOHj61//PiBIoesDhubg4Pjv4K87FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYFK5KMrIJZ/9eM3huNvP4GVWwjzMujwc8O0gsxcA/bB/QeP/pEa5iBT5tx7wdB74wnMQDBdrCHDkKIkwQCKE0UFOSawD8gx/MrHr2DDpTjZGHJUpcCGT7n9DCxmKczHoA0NflgQobgCF2fNug0MV6/dYLh2/QaDfm4xWBnzvu0M6hL+DFqaGmB+1aUH4CDT5ucC84myAGQgCKxeuwFMwwwDcaSkJOGGgyXRCIIWNLZ0gF0cGhzAUF9TATcMFLmLj15jeKxhwLD+yRuwsaAgAgFQZMMAXgtAQQJyPcjwkKAAmB4wDQoCUISCIhkULDAAEkNKSZB8cP3Grf8wBTAaZDAIg4IDOUhg8jAaFNkn3n4Gc8GRCw17kICmhhojVh+AXA4Kb5DL8RkOMgTkWmQXg8SQARMyhxZsnBZgC3dyHIBhASx4CAUNsZZhWHDj5i1i9RKlDsWCzVu3M1y+cg2s8dbtu0QZQEgR2AJQwQRS+PfvP7h6ZmYUu+HixDJgZsLqg8PA+sAGpBnkC5BFAX7exJqFVR2wPjgCrA9sYflgIlAV2AJfb0+sGsgQBJnJAA4HUM0DqubIMASrFmiVCa6X4XUySCUtKn2sLqCmIABYC8F1xJtFXwAAAABJRU5ErkJggg==
- 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
-
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- 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
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- System.Private.CoreLib
- System.Object
- true
- false
- true
- IyByOiBjb21wYXNfZmFiPj0yCiIiIgpCdWlsZCBhIENvbmZpZ3VyYXRpb24gZnJvbSBwZXItam9pbnQgc2xpZGVycyBhdXRvLWNyZWF0ZWQgZnJvbSBhIFJvYm90Q2VsbC4KCldpcmUgYSBgcm9ib3RfY2VsbGAgdG8gdGhpcyBjb21wb25lbnQgYW5kIG9uZSBgR0hfTnVtYmVyU2xpZGVyYCBwZXIKY29uZmlndXJhYmxlIGpvaW50IGlzIGdlbmVyYXRlZCBhdXRvbWF0aWNhbGx5IGFuZCB3aXJlZCB0byB0aGUgYGpvaW50c2AKbGlzdCBpbnB1dCwgd2l0aCBtaW4vbWF4IHNldCB0byB0aGUgam9pbnQncyBsaW1pdHMgKGFuZCDCsTLPgCBmYWxsYmFjayBmb3IKY29udGludW91cyBqb2ludHMgLyDCsTFtIGZvciBwcmlzbWF0aWMgd2hlbiBubyBsaW1pdCBpcyBkZWNsYXJlZCkuCgpSZS13aXJpbmcgYSBkaWZmZXJlbnQgYHJvYm90X2NlbGxgIHJlcGxhY2VzIHRoZSBzbGlkZXIgYmFuayB0byBtYXRjaCB0aGUKbmV3IGpvaW50IHNpZ25hdHVyZS4gV2lyaW5nIHlvdXIgb3duIHZhbHVlcyB0byBgam9pbnRzYCBvdmVycmlkZXMgdGhlCmF1dG8tc2xpZGVycy4KCkNPTVBBUyBGQUIgdjIuMC4wCiIiIgoKaW1wb3J0IEdyYXNzaG9wcGVyCmltcG9ydCBSaGlubwppbXBvcnQgU3lzdGVtCmZyb20gY29tcGFzX2docHl0aG9uIGltcG9ydCBlcnJvcgpmcm9tIGNvbXBhc19yb2JvdHMgaW1wb3J0IENvbmZpZ3VyYXRpb24KCmZyb20gY29tcGFzX2ZhYi5naHB5dGhvbiBpbXBvcnQgZW5zdXJlX2pvaW50X3NsaWRlcnMKCgpjbGFzcyBSb2JvdENvbmZpZ3VyYXRpb25Db21wb25lbnQoR3Jhc3Nob3BwZXIuS2VybmVsLkdIX1NjcmlwdEluc3RhbmNlKToKICAgIGRlZiBSdW5TY3JpcHQoc2VsZiwgcm9ib3RfY2VsbCwgam9pbnRzOiBTeXN0ZW0uQ29sbGVjdGlvbnMuR2VuZXJpYy5MaXN0W2Zsb2F0XSk6CiAgICAgICAgaWYgcm9ib3RfY2VsbCBpcyBOb25lOgogICAgICAgICAgICByZXR1cm4gTm9uZQoKICAgICAgICB0cnk6CiAgICAgICAgICAgIHJvYm90X21vZGVsID0gcm9ib3RfY2VsbC5yb2JvdF9tb2RlbAogICAgICAgIGV4Y2VwdCBBdHRyaWJ1dGVFcnJvcjoKICAgICAgICAgICAgZXJyb3IoZ2hlbnYuQ29tcG9uZW50LCAicm9ib3RfY2VsbCBtdXN0IGJlIGEgUm9ib3RDZWxsIGluc3RhbmNlLiIpICAjIG5vcWE6IEY4MjEKICAgICAgICAgICAgcmV0dXJuIE5vbmUKCiAgICAgICAgbWV0YWRhdGEgPSBlbnN1cmVfam9pbnRfc2xpZGVycyhnaGVudi5Db21wb25lbnQsIHJvYm90X21vZGVsLCBpbnB1dF9uYW1lPSJqb2ludHMiKSAgIyBub3FhOiBGODIxCiAgICAgICAgaWYgbm90IG1ldGFkYXRhOgogICAgICAgICAgICByZXR1cm4gTm9uZQoKICAgICAgICBuYW1lcyA9IFtuYW1lIGZvciBuYW1lLCBfLCBfIGluIG1ldGFkYXRhXQogICAgICAgIHR5cGVzID0gW2p0eXBlIGZvciBfLCBqdHlwZSwgXyBpbiBtZXRhZGF0YV0KICAgICAgICBkZWZhdWx0cyA9IFtkZWZhdWx0IGZvciBfLCBfLCBkZWZhdWx0IGluIG1ldGFkYXRhXQoKICAgICAgICAjIGBqb2ludHNgIG1heSBhcnJpdmUgZW1wdHkgb24gdGhlIHZlcnkgZmlyc3Qgc29sdmUgKHNsaWRlcnMgYXJlCiAgICAgICAgIyB3aXJlZCBpbiB0aGlzIHBhc3MgYnV0IHRoZWlyIHZhbHVlcyBvbmx5IGZsb3cgb24gdGhlIHNjaGVkdWxlZAogICAgICAgICMgZm9sbG93LXVwIHNvbHZlKS4gRmFsbCBiYWNrIHRvIHBlci1qb2ludCBkZWZhdWx0cyB0aGVuLgogICAgICAgIGlmIG5vdCBqb2ludHMgb3IgbGVuKGpvaW50cykgPCBsZW4obWV0YWRhdGEpOgogICAgICAgICAgICB2YWx1ZXMgPSBkZWZhdWx0cwogICAgICAgIGVsc2U6CiAgICAgICAgICAgIHZhbHVlcyA9IFtmbG9hdCh2KSBmb3IgdiBpbiBqb2ludHNdCgogICAgICAgIGNvbmZpZ3VyYXRpb24gPSBDb25maWd1cmF0aW9uKGpvaW50X3ZhbHVlcz12YWx1ZXMsIGpvaW50X3R5cGVzPXR5cGVzLCBqb2ludF9uYW1lcz1uYW1lcykKICAgICAgICBjZWxsX3N0YXRlID1yb2JvdF9jZWxsLmRlZmF1bHRfY2VsbF9zdGF0ZSgpCiAgICAgICAgY2VsbF9zdGF0ZS5yb2JvdF9jb25maWd1cmF0aW9uID0gY29uZmlndXJhdGlvbgogICAgICAgIHJldHVybiAoY29uZmlndXJhdGlvbiwgY2VsbF9zdGF0ZSkKCg==
- 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
-
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