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586.1842
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- 3395d76e-3f13-4b26-ba34-d20894cd52cc
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- false
- true
- COMPAS FAB: Visualize Robot Cell
- Visualize (IK)
- 3
- false
- false
- false
- false
-
2827
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203
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-
2914
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 4
- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- The RobotCell to draw.
- 93f3866f-27ee-4fa5-8b8e-07b20ecb00db
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- cf545e47-da82-42ea-8a75-9625d07e2aef
- 1
- The RobotCell to draw.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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-
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- System.Private.CoreLib
- System.Object
- true
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 6b9b76c3-1842-4c55-8284-c34ee0e183c4
- cell_state
- cell_state
- true
- 0
- 2
- true
- f9a1df4b-61e4-4f8e-b91d-b385f437ed07
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2829
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70
20
-
2865.5
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- System.Private.CoreLib
- System.Object
- true
- Draw visual meshes. Defaults to True.
- cf4cf965-b068-41ed-98b5-0014db11548c
- draw_visual
- draw_visual
- true
- 0
- 2
- true
- 0
- Draw visual meshes. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
2829
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70
20
-
2865.5
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- System.Private.CoreLib
- System.Boolean
- true
- Draw collision meshes. Defaults to False.
- 116a0f2c-4f0b-483a-83df-737604274513
- draw_collision
- draw_collision
- true
- 0
- 2
- true
- 0
- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
2829
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70
20
-
2865.5
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- 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.
- 2172a68e-78fc-47ef-b640-787e46779107
- 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
-
2829
656
70
20
-
2865.5
666
- System.Private.CoreLib
- System.Double
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- Rhino meshes of the robot model.
- c73360ed-2989-49f5-a6a8-fe97577c99c5
- robot_meshes
- robot_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2929
576
99
25
-
2978.5
588.5
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all tool models in the cell.
- 17d9d964-1725-4d8f-9e08-8128b8e8f9e7
- tool_meshes
- tool_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2929
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99
25
-
2978.5
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- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all rigid bodies in the cell.
- 073b9497-7aad-45d0-8cf0-cc0f51442c87
- 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
-
2929
626
99
25
-
2978.5
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- System.Private.CoreLib
- System.Object
- false
- Rhino plane at the robot's base frame.
- 0e1ae98e-5e74-402a-968c-4632554b53f4
- base_plane
- base_plane
- false
- 0
- 2
- true
- 0
- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2929
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99
25
-
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- true
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- 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
- Visualize (IK)
- *.*.python
- 3.*
-
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- COMPAS FAB: Visualize Robot Cell
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- 879f838f-40fa-475b-a82f-c6514e3d7044
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- COMPAS FAB: Visualize Robot Cell
- Visualize (PM)
- 3
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-
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-
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- true
- The RobotCell to draw.
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- The RobotCell to draw.
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
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- af9a7b55-e4fb-40bc-ad01-d382fd8f40c5
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
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-
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- Draw visual meshes. Defaults to True.
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- draw_visual
- true
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- Draw visual meshes. Defaults to True.
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-
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- Draw collision meshes. Defaults to False.
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- draw_collision
- true
- 0
- 2
- true
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- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
3464
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20
-
3500.5
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- System.Private.CoreLib
- System.Boolean
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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.
- edea9d04-1d1c-4230-9b20-c05dcbc47162
- native_scale
- native_scale
- true
- 0
- 2
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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.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
3464
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20
-
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- System.Private.CoreLib
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- Rhino meshes of the robot model.
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- robot_meshes
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- 0
- 2
- true
- 0
- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3564
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-
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- System.Private.CoreLib
- System.Object
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- Rhino meshes of all tool models in the cell.
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- tool_meshes
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- 0
- 2
- true
- 0
- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3564
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-
3613.5
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- System.Private.CoreLib
- System.Object
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- Rhino meshes of all rigid bodies in the cell.
- 5f288f05-f05a-4381-aa6c-c61bcda372c7
- rigid_body_meshes
- rigid_body_meshes
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- 0
- 2
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- 0
- Rhino meshes of all rigid bodies in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3564
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25
-
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- Rhino plane at the robot's base frame.
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- base_plane
- base_plane
- false
- 0
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- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
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- Visualize (PM)
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- COMPAS FAB: Deconstruct Trajectory
- Deconstruct (CM)
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 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
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- 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.
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- One Configuration per trajectory point, in order.
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3214.5
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- 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`.
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- 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`.
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- 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
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- 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.
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- 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
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75
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3214.5
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- DataTree of joint efforts — one branch per trajectory point, ordered to match `joint_names`. Zeros when the backend didn't populate this field.
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75
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- Deconstruct (CM)
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- COMPAS FAB: Visualize Robot Cell
- Visualize (IK)
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- 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.
- 013828ff-6ae5-4dd9-aa62-0ea0756e9de4
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- 46e9fa86-ac99-4393-914c-0338105dc1fa
- 1
- The RobotCell to draw.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2829
838
70
20
-
2865.5
848
- System.Private.CoreLib
- System.Object
- true
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 644abcc2-8f10-473a-8d2a-71c274feb437
- cell_state
- cell_state
- true
- 0
- 2
- true
- 0d04794f-ef5e-4cfb-8592-2f45b175aa55
- 1
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2829
858
70
20
-
2865.5
868
- System.Private.CoreLib
- System.Object
- true
- Draw visual meshes. Defaults to True.
- bfddd583-deaf-4751-93a5-0f1571be597c
- draw_visual
- draw_visual
- true
- 0
- 2
- true
- 0
- Draw visual meshes. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
2829
878
70
20
-
2865.5
888
- System.Private.CoreLib
- System.Boolean
- true
- Draw collision meshes. Defaults to False.
- 3127c101-0103-4dee-90ee-c03c17ef026f
- draw_collision
- draw_collision
- true
- 0
- 2
- true
- 0
- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
2829
898
70
20
-
2865.5
908
- 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.
- 465858a2-d38a-4824-ac89-89004236b70c
- 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
-
2829
918
70
20
-
2865.5
928
- System.Private.CoreLib
- System.Double
- false
- Rhino meshes of the robot model.
- 3a27189a-b3fd-4692-8d48-31ceb514e4ac
- robot_meshes
- robot_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2929
838
99
25
-
2978.5
850.5
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all tool models in the cell.
- 0b056059-5995-4ce0-8408-8958a02c3681
- tool_meshes
- tool_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2929
863
99
25
-
2978.5
875.5
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all rigid bodies in the cell.
- 884be532-ee2e-4402-8356-6b3ef2049f7e
- 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
-
2929
888
99
25
-
2978.5
900.5
- System.Private.CoreLib
- System.Object
- false
- Rhino plane at the robot's base frame.
- 466251bf-a6ea-411a-a96b-470ad7b2aae3
- base_plane
- base_plane
- false
- 0
- 2
- true
- 0
- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2929
913
99
25
-
2978.5
925.5
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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
- Visualize (IK)
- *.*.python
- 3.*
-
648
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Deconstruct Trajectory
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABvklEQVRIDb1VvU4CQRDeI1Y8gj9oAxz4CPoEVkShM6E10QQLE5WYGBODmtiY6FOAhpcwUUoT4Q4q8afTxoTSc7/xhuwee/EAcZvZmfnm+2bvZ0eICS9L5fc8Ly/9Uvf5danX62k5FWfax+NxLzE3cytzF5Zl1RjTJ5HkFcft7HNiHGunkydSpAwOEkDnkrw6DmmwVooUcJKYnygFAX/gEyed4Kn78jXsM+cGmi2HttmMzSGyeCfzidnYFLww8rBiZqrd1EX1us6uKKzlRH41Rz5z0glaTtvro+QGxChkAeTUYjWPzheztiZ0eLAnEM/YKUsTCHZkKkaMhVVRNIH6x6YjIIClCaDo6PiUEiBBMSwvVdyUZ5xqNQEkIKKSqmDeR8EwdkCAE8Paq84blWwmp7VSCNBXpEUNThgBQy9DBJDnH42xRgsCJgGg8fFpxJmCRoHfCIp3rijeuya+gZhRIApB4z3aKYwCaCMqwUDLgUCoQAA3sktfES6mytm55bjtH6KVdbIbW9sj+XY6Jcq7O3T9kIA/iZa5zYXOA2/JDuujyOf8p4GDyYMxp7U9huOPTJrLdJsy1ySGPnNPzH4DnVnW4pC0cHgAAAAASUVORK5CYII=
- ca756bd4-082c-4396-bc07-2044a7451bd3
- true
- false
- true
- COMPAS FAB: Deconstruct Trajectory
- Deconstruct (CM)
- 3
- false
- false
- false
- false
-
3389
1999
158
104
-
3455
2051
- 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.
- 6b0f23a9-9adf-4bb6-9c8f-a5d26ff2d87b
- trajectory
- trajectory
- true
- 0
- 2
- true
- b4bd187a-0f59-474c-95e6-763ef506687f
- 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
-
3391
2001
49
100
-
3417
2051
- System.Private.CoreLib
- System.Object
- false
- One Configuration per trajectory point, in order.
- b6e9ad7e-ed1a-44e4-91df-f596371b5956
- configurations
- configurations
- false
- 0
- 2
- true
- 0
- One Configuration per trajectory point, in order.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3470
2001
75
20
-
3507.5
2011
- 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`.
- e8819c87-bc0c-46be-ac2b-9cb2d27f8275
- 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
-
3470
2021
75
20
-
3507.5
2031
- 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.
- 464ecd06-967e-47d0-b0c5-62204d6e497c
- 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
-
3470
2041
75
20
-
3507.5
2051
- 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.
- d96eca1b-21af-4360-a62f-1def22896da4
- 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
-
3470
2061
75
20
-
3507.5
2071
- 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.
- 9fb58df7-4bad-4de2-ba54-7516d708fc42
- 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
-
3470
2081
75
20
-
3507.5
2091
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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
- Deconstruct (CM)
- *.*.python
- 3.*
-
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- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Visualize Robot Cell
- true
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-
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- 59be7153-6043-422c-9ddf-fbb55010bd2a
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- COMPAS FAB: Visualize Robot Cell
- Visualize (PM)
- 3
- false
- false
- false
- false
-
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- The RobotCell to draw.
- b42b2d2b-703d-48b7-b3a2-bec5a2f755eb
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- true
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- The RobotCell to draw.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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3787.5
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- System.Private.CoreLib
- System.Object
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- c61099f0-32b5-42b1-bd56-610b01c5c8e0
- cell_state
- cell_state
- true
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- true
- d88b1ed9-dca2-403d-9f6e-940d7e482be9
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3751
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-
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- System.Private.CoreLib
- System.Object
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- Draw visual meshes. Defaults to True.
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- draw_visual
- draw_visual
- true
- 0
- 2
- true
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- Draw visual meshes. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
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- System.Private.CoreLib
- System.Boolean
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- Draw collision meshes. Defaults to False.
- 415aea1e-54d1-4b62-ba9b-cdf562ff9512
- draw_collision
- draw_collision
- true
- 0
- 2
- true
- 0
- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
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-
3787.5
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- 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.
- 4fdbb7e3-14fb-47bb-92a7-0c674f1f6800
- 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
-
3751
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-
3787.5
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- System.Private.CoreLib
- System.Double
- false
- Rhino meshes of the robot model.
- 84d1ac53-1254-4593-ac32-40366bba02a3
- robot_meshes
- robot_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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-
3900.5
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- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all tool models in the cell.
- ffcf20c4-fc8f-41de-8b2b-507f275f81dc
- tool_meshes
- tool_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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-
3900.5
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- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all rigid bodies in the cell.
- dcada19d-a7e2-4fae-a16d-af696e4bb76b
- 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
-
3851
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99
25
-
3900.5
2230.5
- System.Private.CoreLib
- System.Object
- false
- Rhino plane at the robot's base frame.
- 7e7a35b2-f927-4283-82f9-a03aea3ca095
- base_plane
- base_plane
- false
- 0
- 2
- true
- 0
- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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- Visualize (PM)
- *.*.python
- 3.*
-
595
199
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- COMPAS FAB: Visualize Robot Cell
- true
- 2
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- 2e1e8ed9-3cc8-4018-a772-130af7b9c80f
- true
- false
- true
- COMPAS FAB: Visualize Robot Cell
- Visualize (PM)
- 3
- false
- false
- false
- false
-
3278
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203
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-
3365
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- true
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- The RobotCell to draw.
- 41e10d0a-6e26-4370-9a4a-36434fc7fc1f
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- fe933d34-513c-4f27-9b6d-1923118ed16a
- 1
- The RobotCell to draw.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3280
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70
20
-
3316.5
2550
- true
- System.Private.CoreLib
- System.Object
- true
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- ef77c8cf-8eed-4192-8687-bece3e23ebfe
- cell_state
- cell_state
- true
- 0
- 2
- true
- db3f6081-4384-419a-b51a-c68193e7602a
- 1
- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3280
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-
3316.5
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- System.Private.CoreLib
- System.Object
- true
- Draw visual meshes. Defaults to True.
- 9690ed1d-7ce0-4f67-8ec7-8602428f9940
- draw_visual
- draw_visual
- true
- 0
- 2
- true
- 0
- Draw visual meshes. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
3280
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70
20
-
3316.5
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- true
- System.Private.CoreLib
- System.Boolean
- true
- Draw collision meshes. Defaults to False.
- 176e063c-aab5-4777-acd3-be4fe43a2bc0
- draw_collision
- draw_collision
- true
- 0
- 2
- true
- 0
- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
3280
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20
-
3316.5
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- 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.
- ad0a22a7-d1e6-4890-a9c3-379fc253d79e
- 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
-
3280
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20
-
3316.5
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- true
- System.Private.CoreLib
- System.Double
- false
- Rhino meshes of the robot model.
- 90e88705-aa58-4344-886d-1f3030c4b279
- robot_meshes
- robot_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3380
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99
25
-
3429.5
2552.5
- true
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all tool models in the cell.
- 68b81394-e686-4bbc-983a-8ba901c673ff
- tool_meshes
- tool_meshes
- false
- 0
- 2
- true
- 0
- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3380
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99
25
-
3429.5
2577.5
- true
- System.Private.CoreLib
- System.Object
- false
- Rhino meshes of all rigid bodies in the cell.
- 5ffcaffa-b664-4e76-a586-bd11644f53db
- 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
-
3380
2590
99
25
-
3429.5
2602.5
- true
- System.Private.CoreLib
- System.Object
- false
- Rhino plane at the robot's base frame.
- c066f1a8-b418-47bc-b429-b6a8c313ab3c
- base_plane
- base_plane
- false
- 0
- 2
- true
- 0
- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3380
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99
25
-
3429.5
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- true
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- Visualize (PM)
- *.*.python
- 3.*
-
529
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Trajectory Action
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACHUlEQVRIDbWVzy8DQRTHXxuJpBd6wfpRNClF4nfigItI0zgIWhLxLxBnjg6cuYtEIhJKG5FGXOnFHUXiR/3oxblurfm+diZrbWWbrpfs7sy8N5/vvLc7O0T/bA49P5fLhUV/OfX6PpzJZH749HFmbZfLlfM0NSSEb9PhcERkjIII+Hry7mFFOsp5+tt9G0JkFQwWwMoF/LAcqHGuEJlFJs6CY9kYYEOfmZzBS+otK2v+/JKix8cnElmVpCFWS15vK7U0e3ge3kmzp9FZgZ6EH0VP6CByXBLYGDwXnqHQ9KRisgCCsHLANa2OJoIBcjpl9YwI8342m6X42TkzBvp7VSZKAGWBAR4YHzOnGEbXrq7J7XbTkq9eebZ3drnEslRKQNbc6sq3onHar6wh+vyisZpq6qpyqawlC6pKQC3B0Igcx+j6JkldnX4Kz0yxF2OJoxjVdg9Rb083ww3TVPdPAYAOBQh2c5vkdr2m0Uc6zWOLPo3CwWFuF7sVfZN6+GxoinDBJBx9mVExOMZNM9jbP6CT0zjP04MAhA9mBY44UwE4YIMDfb9AC/NzeafFuxLAToThewakVJCci6dkoa0EsM1h2Cwwq58rB4ub3GjoSxbavOzb5D3/eOz8VQDe4W/L1+U/f3acgdh5F+I8GIGqXSbOg0vxLkblPti0C6zjMJMFhFIEx5zOWVazcGTyuZz/Ngs4USrbD/2yVmpl8jdy39R+b7UCBQAAAABJRU5ErkJggg==
- 9e8af65d-2825-4065-bd44-35ba37b85d94
- true
- false
- true
- COMPAS FAB: Trajectory Action
- COMPAS FAB: Trajectory Action
- 3
- false
- false
- false
- false
-
2154
2571
126
84
-
2228
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- 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
- Unique name for this action within the chain (e.g. 'approach', 'descend', 'retract').
- 8e05aff0-49f0-4251-bbd2-151eb6b1ff6a
- name
- name
- true
- 0
- 2
- true
- aead9a91-08c5-4918-ab2d-c64eb629156d
- 1
- Unique name for this action within the chain (e.g. 'approach', 'descend', 'retract').
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2156
2573
57
20
-
2186
2583
- System.Private.CoreLib
- System.String
- true
- JointTrajectory output of a planner (Plan Motion / Plan Cartesian Motion).
- 61c25a6d-c169-4a31-b01c-58ae83f85dc0
- trajectory
- trajectory
- true
- 0
- 2
- true
- e4792570-802b-4644-bca0-c345fcd33c7f
- 1
- JointTrajectory output of a planner (Plan Motion / Plan Cartesian Motion).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2156
2593
57
20
-
2186
2603
- System.Private.CoreLib
- System.Object
- true
- Optional comma-separated tags driving differentiated downstream execution (e.g. 'approach, linear'). Stored on the action's attributes.
- 0f7a1f8d-63c8-476a-8041-a7180a171875
- tags
- tags
- true
- 0
- 2
- true
- 0
- Optional comma-separated tags driving differentiated downstream execution (e.g. 'approach, linear'). Stored on the action's attributes.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2156
2613
57
20
-
2186
2623
- System.Private.CoreLib
- System.String
- true
- Optional free-form human description.
- 74e100d6-71f1-47a5-b09d-62e42ada37e9
- description
- description
- true
- 0
- 2
- true
- 0
- Optional free-form human description.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2156
2633
57
20
-
2186
2643
- System.Private.CoreLib
- System.String
- false
- Action — wire into Cf_ActionChain's `actions` input.
- 2e717202-5266-4d2d-9e13-7a198c740643
- action
- action
- false
- 0
- 2
- true
- 0
- Action — wire into Cf_ActionChain's `actions` input.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2243
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-
2260.5
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- true
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- true
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- COMPAS FAB: Trajectory Action
- *.*.python
- 3.*
-
565
199
550
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- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Trajectory Action
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- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACHUlEQVRIDbWVzy8DQRTHXxuJpBd6wfpRNClF4nfigItI0zgIWhLxLxBnjg6cuYtEIhJKG5FGXOnFHUXiR/3oxblurfm+diZrbWWbrpfs7sy8N5/vvLc7O0T/bA49P5fLhUV/OfX6PpzJZH749HFmbZfLlfM0NSSEb9PhcERkjIII+Hry7mFFOsp5+tt9G0JkFQwWwMoF/LAcqHGuEJlFJs6CY9kYYEOfmZzBS+otK2v+/JKix8cnElmVpCFWS15vK7U0e3ge3kmzp9FZgZ6EH0VP6CByXBLYGDwXnqHQ9KRisgCCsHLANa2OJoIBcjpl9YwI8342m6X42TkzBvp7VSZKAGWBAR4YHzOnGEbXrq7J7XbTkq9eebZ3drnEslRKQNbc6sq3onHar6wh+vyisZpq6qpyqawlC6pKQC3B0Igcx+j6JkldnX4Kz0yxF2OJoxjVdg9Rb083ww3TVPdPAYAOBQh2c5vkdr2m0Uc6zWOLPo3CwWFuF7sVfZN6+GxoinDBJBx9mVExOMZNM9jbP6CT0zjP04MAhA9mBY44UwE4YIMDfb9AC/NzeafFuxLAToThewakVJCci6dkoa0EsM1h2Cwwq58rB4ub3GjoSxbavOzb5D3/eOz8VQDe4W/L1+U/f3acgdh5F+I8GIGqXSbOg0vxLkblPti0C6zjMJMFhFIEx5zOWVazcGTyuZz/Ngs4USrbD/2yVmpl8jdy39R+b7UCBQAAAABJRU5ErkJggg==
- b479ed8a-fea5-463f-8a86-5870ac4ac61e
- true
- false
- true
- COMPAS FAB: Trajectory Action
- COMPAS FAB: Trajectory Action
- 3
- false
- false
- false
- false
-
2154
2737
126
84
-
2228
2779
- 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
- Unique name for this action within the chain (e.g. 'approach', 'descend', 'retract').
- d03d9e69-7bd8-44b5-8c05-1a74240009a7
- name
- name
- true
- 0
- 2
- true
- 421c3e57-1ed2-4957-abdd-1689464cfd20
- 1
- Unique name for this action within the chain (e.g. 'approach', 'descend', 'retract').
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2156
2739
57
20
-
2186
2749
- System.Private.CoreLib
- System.String
- true
- JointTrajectory output of a planner (Plan Motion / Plan Cartesian Motion).
- b7876dc5-2400-4ec5-b189-9597eea2a3e6
- trajectory
- trajectory
- true
- 0
- 2
- true
- 16667f4f-f8b4-4fbc-9317-7216d95bdda5
- 1
- JointTrajectory output of a planner (Plan Motion / Plan Cartesian Motion).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2156
2759
57
20
-
2186
2769
- System.Private.CoreLib
- System.Object
- true
- Optional comma-separated tags driving differentiated downstream execution (e.g. 'approach, linear'). Stored on the action's attributes.
- c5f4e10b-a440-4693-94cb-6f1661f99ba4
- tags
- tags
- true
- 0
- 2
- true
- 0
- Optional comma-separated tags driving differentiated downstream execution (e.g. 'approach, linear'). Stored on the action's attributes.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2156
2779
57
20
-
2186
2789
- System.Private.CoreLib
- System.String
- true
- Optional free-form human description.
- 52a0d9e7-5bc6-4c03-a337-9edc850fc050
- description
- description
- true
- 0
- 2
- true
- 0
- Optional free-form human description.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2156
2799
57
20
-
2186
2809
- System.Private.CoreLib
- System.String
- false
- Action — wire into Cf_ActionChain's `actions` input.
- a290fd58-d3fa-476f-92dd-ed9320ae8e25
- action
- action
- false
- 0
- 2
- true
- 0
- Action — wire into Cf_ActionChain's `actions` input.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2243
2739
35
80
-
2260.5
2779
- System.Private.CoreLib
- System.Object
- true
- false
- true
- IyByOiBjb21wYXNfZmFiPj0yCiIiIgpXcmFwIGEgSm9pbnRUcmFqZWN0b3J5IGludG8gYSBuYW1lZCBBY3Rpb24sIHJlYWR5IGZvciBDZl9BY3Rpb25DaGFpbi4KClVzZSB0aGlzIGJldHdlZW4gYSBwbGFubmVyIG91dHB1dCAoUGxhbiBNb3Rpb24gLyBQbGFuIENhcnRlc2lhbiBNb3Rpb24pCmFuZCB0aGUgQ2ZfQWN0aW9uQ2hhaW4gYXNzZW1ibGVyOiBkcm9wIG9uZSBwZXIgdHJhamVjdG9yeSBpbiB0aGUgY2hhaW4sCnR5cGUgdGhlIG5hbWUgbmV4dCB0byB0aGUgdHJhamVjdG9yeSBpdCBsYWJlbHMuIE9wdGlvbmFsIGB0YWdzYCAoQ1NWKQpkcml2ZSBkaWZmZXJlbnRpYXRlZCBkb3duc3RyZWFtIGV4ZWN1dGlvbiAoZS5nLiBhcHByb2FjaCwgbGluZWFyKS4KCkNPTVBBUyBGQUIgdjIuMC4wCiIiIgoKCmltcG9ydCBHcmFzc2hvcHBlcgppbXBvcnQgUmhpbm8KaW1wb3J0IFN5c3RlbQoKZnJvbSBjb21wYXNfZmFiLnJvYm90cyBpbXBvcnQgQWN0aW9uCgoKY2xhc3MgVHJhamVjdG9yeUFjdGlvbihHcmFzc2hvcHBlci5LZXJuZWwuR0hfU2NyaXB0SW5zdGFuY2UpOgogICAgZGVmIFJ1blNjcmlwdChzZWxmLCBuYW1lOiBzdHIsIHRyYWplY3RvcnksIHRhZ3M6IHN0ciwgZGVzY3JpcHRpb246IHN0cik6CiAgICAgICAgaWYgbm90IG5hbWUgb3IgdHJhamVjdG9yeSBpcyBOb25lOgogICAgICAgICAgICByZXR1cm4gTm9uZQogICAgICAgIHRhZ19saXN0ID0gW3Quc3RyaXAoKSBmb3IgdCBpbiAodGFncyBvciAiIikuc3BsaXQoIiwiKSBpZiB0LnN0cmlwKCldCiAgICAgICAgcmV0dXJuIEFjdGlvbigKICAgICAgICAgICAgbmFtZT1uYW1lLnN0cmlwKCksCiAgICAgICAgICAgIHRyYWplY3Rvcnk9dHJhamVjdG9yeSwKICAgICAgICAgICAgdGFncz10YWdfbGlzdCwKICAgICAgICAgICAgZGVzY3JpcHRpb249KGRlc2NyaXB0aW9uIG9yICIiKS5zdHJpcCgpLAogICAgICAgICkK
- COMPAS FAB: Trajectory Action
- *.*.python
- 3.*
-
565
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Action Chain
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACh0lEQVRIDWNgoDFgRDb/////UUB+5qPHT62/ffuGIoesDhubi4vrv5ys9FGg3HRGRsZlMDVwQ4CG99y4ebsYJkEJraGu2gu0pARkBtgCkMuBhi+lxFB0vUBLokE+YYFKZKIrgPH37jvAsHHzNoZfv3/BhHDS6mqqDKlJCQw8PNwgNSAzlzGBWKAwB9EgMPvuCzAGse/eu88wa+4Chl+/gIb/BwoQwCdOnmaYPW8BSCvcTLAPYBF65PUnhr6bT8AKNPm4GH4+eAhmhwQHMLg4OYDZ+IiM7AKGm7dug5XAzIQFEVhQhZcDrh/EvssJ4d+//4BhDzCoiAFsrGwoylAskOBgYxBjZwUrALElLC0Ytm7bSbThII1pyQkgCg5QLICLIjHSUhIZlixbwfD9+w8kUexMDXU1BmcnBxRJDAt+/wfFJAR8+PiRoaK6ngGYjGFCeOk7d+8xMDExMURHhsHVoVhw+cNXhve//oAlQew3Fy6CDY+ODGcwNTaEa8LFaGzpYDh89BiKBeBkiksDNcRRfKArwM0gyAYRArE/GOozAHMjw9LlK8GYGAv9fLxQlKFYAJJhBRoIAwL8/AwdrY0Mi4mMZE1gJCOHP8gcDAtghsPoWXPmg3M0jI+PvguMZClJCZSUhGLBix+/GF79/A02A8S+e/4c2HBQLlZUVGAgBNas3QAut5CTKooFdz4j0jqI/ROa9hUVFYgqKkAWoBeKYAtAlQWo7LAR5WMoUpcBOxTEvqsgD2aDNIIwIfD+wwcGC3NTsDKQmSAGOEaBGekwsD6wwWYAucU1sD44AkyBtjALaFbhgDMaqOYBVXPYfECOGLTKBNfLiEQPNAlUdQIpqlb65DiQJD0A5NQCM2YD4v8AAAAASUVORK5CYII=
- 8ba50487-6869-4a3d-837f-9901d0919a25
- true
- false
- true
- COMPAS FAB: Action Chain
- COMPAS FAB: Action Chain
- 3
- false
- false
- false
- false
-
2893
2501
149
124
-
2967
2563
- 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
- 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
- true
- Chain identifier.
- 1443df81-8225-49ee-ae2c-73fbf2c565aa
- name
- name
- true
- 0
- 2
- true
- 4874c148-bd92-4816-a3e3-165dad5c0891
- 1
- Chain identifier.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2895
2503
57
20
-
2925
2513
- System.Private.CoreLib
- System.String
- true
- RobotCellState the chain starts from.
- 17c2041b-c0d2-460e-814d-43bac75e38d0
- start_state
- start_state
- true
- 0
- 2
- true
- 84d96f4e-4565-4f8a-ae04-1fa03a0041cd
- 1
- RobotCellState the chain starts from.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2895
2523
57
20
-
2925
2533
- System.Private.CoreLib
- System.Object
- 1
- true
- Ordered list of Action objects, typically from Cf_TrajectoryAction and Cf_StateChangeAction components.
- e3cae306-0298-4cd7-b07a-56171af81c8f
- actions
- actions
- true
- 1
- 2
- true
- e2a174d5-e6b4-4961-b1cb-717e9dcfbdbb
- 1
- Ordered list of Action objects, typically from Cf_TrajectoryAction and Cf_StateChangeAction components.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2895
2543
57
20
-
2925
2553
- System.Private.CoreLib
- System.Object
- true
- Optional RobotCell. When provided, a structural signature is stored on the chain so a mismatched cell on load can be detected via verify_cell().
- 67205a77-7b38-4f89-864b-86234d5d11cb
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- fe933d34-513c-4f27-9b6d-1923118ed16a
- 1
- Optional RobotCell. When provided, a structural signature is stored on the chain so a mismatched cell on load can be detected via verify_cell().
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2895
2563
57
20
-
2925
2573
- System.Private.CoreLib
- System.Object
- true
- Planning group name used for the FK visualisation. Defaults to the cell's main group.
- 68bb91c0-9e7c-4b1d-8320-09c79052206d
- group
- group
- true
- 0
- 2
- true
- 0
- Planning group name used for the FK visualisation. Defaults to the cell's main group.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2895
2583
57
20
-
2925
2593
- System.Private.CoreLib
- System.String
- true
- Optional free-form description of the chain.
- af88a15c-7899-40a6-9701-e8841cd57b86
- description
- description
- true
- 0
- 2
- true
- 0
- Optional free-form description of the chain.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2895
2603
57
20
-
2925
2613
- System.Private.CoreLib
- System.String
- false
- The assembled ActionChain. Serialisable via to_json / to_jsonstring.
- 7311d63e-1391-42e5-9fe5-f1a46674285e
- chain
- chain
- false
- 0
- 2
- true
- 0
- The assembled ActionChain. Serialisable via to_json / to_jsonstring.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2982
2503
58
20
-
3011
2513
- System.Private.CoreLib
- System.Object
- false
- DataTree of Rhino planes — one branch per trajectory action, one plane per trajectory point. Flatten for a single combined list.
- 672c866c-3d23-4261-afa9-25cd30362a8f
- planes
- planes
- false
- 0
- 2
- true
- 0
- DataTree of Rhino planes — one branch per trajectory action, one plane per trajectory point. Flatten for a single combined list.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2982
2523
58
20
-
3011
2533
- System.Private.CoreLib
- System.Object
- false
- List of Rhino polylines — one per trajectory action, through the EE origins.
- c6973728-19a7-44e3-969d-ce00c55857a9
- polyline
- polyline
- false
- 0
- 2
- true
- 0
- List of Rhino polylines — one per trajectory action, through the EE origins.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2982
2543
58
20
-
3011
2553
- System.Private.CoreLib
- System.Object
- false
- Flat list of RobotCellState snapshots covering the whole chain — one per trajectory point plus one per state-change action. Pair with an index slider + VisualizeRobotCell to scrub through the entire motion.
- 11c20610-4e1b-46a4-9b36-1c1848c3df08
- cell_states
- cell_states
- false
- 0
- 2
- true
- 0
- Flat list of RobotCellState snapshots covering the whole chain — one per trajectory point plus one per state-change action. Pair with an index slider + VisualizeRobotCell to scrub through the entire motion.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2982
2563
58
20
-
3011
2573
- System.Private.CoreLib
- System.Object
- false
- Sum of trajectory durations along the realized path, in seconds. Backends that do not time their trajectories report 0.
- 729220e8-2bba-4ef7-a3b5-132af8c7bf20
- duration
- duration
- false
- 0
- 2
- true
- 0
- Sum of trajectory durations along the realized path, in seconds. Backends that do not time their trajectories report 0.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2982
2583
58
20
-
3011
2593
- System.Private.CoreLib
- System.Object
- false
- RobotCellState at the end of the realized path.
- 0ddb3233-937d-414b-8894-301300ecfadc
- end_state
- end_state
- false
- 0
- 2
- true
- 0
- RobotCellState at the end of the realized path.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2982
2603
58
20
-
3011
2613
- System.Private.CoreLib
- System.Object
- true
- false
- true
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- COMPAS FAB: Visualize Robot Cell
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- COMPAS FAB: Visualize Robot Cell
- COMPAS FAB: Visualize Robot Cell
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- The RobotCell to draw.
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
- a66d9cb9-475b-423e-a63d-e93a6b09beee
- cell_state
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
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- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
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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.
- 8f584837-6d55-4d36-b28d-0846b8c40799
- native_scale
- native_scale
- true
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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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- System.Private.CoreLib
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- Rhino meshes of the robot model.
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- robot_meshes
- robot_meshes
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- Rhino meshes of the robot model.
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-
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- Rhino meshes of all tool models in the cell.
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- tool_meshes
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- Rhino meshes of all tool models in the cell.
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- Rhino meshes of all rigid bodies in the cell.
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- rigid_body_meshes
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- Rhino meshes of all rigid bodies in the cell.
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- Rhino plane at the robot's base frame.
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- base_plane
- base_plane
- false
- 0
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- true
- 0
- Rhino plane at the robot's base frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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- COMPAS FAB: Visualize Robot Cell
- *.*.python
- 3.*
-
570
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650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Robot Configuration
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAAB3UlEQVRIDWNgoDFgRDb/////UUB+5qPHT62/ffuGIoesDhubi4vrv5ys9FGg3HRGRsZlMDVwQ4CG99y4ebsYJkEJraGu2gu0pARkBtgCkMuBhi+lxFB0vUBLokE+YYJKZKIroAIfbCbYBw8fPfmHK8wX3X8JtitOUZwkO0FxIi8nw8QC0gUz/NLlKwyvX7+BGzT9FwfD1X9gJQybbt5nyGT7AZfDxRAVFWHQ09WBmwnRDVU9beYchvfvP8D1Xo3OQbCBFs2auwDOx8UQFBRgmDFlAlwaxYKs9BQ0H/yB+0Cb6Q9DWnICXCMuBsgHyADFApDXkIEzkENuHMDMQbEAJohMo0fu+idvGBquPAQradCRZwiUQXUxsl4QG5yKrt+49R/Eae/qZXj46DGIiRMc9ohi+McESd1M//4x2O6AZ1qwHnk5WYbKMkh+1dRQY4TlA5wGUiqB4gNiDCMliEA+IBgHMEuRI5tQuMP0gGgUC9AzGkwhKRkOltFgelEsQM9oMEWkZDiSMhrMgum/iM9w6BmNYGEHswQ5DmBi+GhYYQe2AFgfHAbWBzb4NJAqB6wPjgDrA1tYPphOqgFEqAebCbYAVPOAqjkiNBGlBFplgrM4OIhgumhR6cPMphkNACYhwys18M2RAAAAAElFTkSuQmCC
- 086f7395-0fe4-4910-b486-d371d72a525f
- true
- false
- true
- COMPAS FAB: Robot Configuration
- COMPAS FAB: Robot Configuration
- 3
- false
- false
- false
- false
-
2380
419
155
44
-
2448
441
- 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.
- 83955464-7d70-4da4-a261-56bdf6a395b6
- robot_cell
- robot_cell
- true
- 0
- 2
- true
- e95c2a67-03b9-495f-ae6b-41135313d8f9
- 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
-
2382
421
51
20
-
2409
431
- 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.
- 17031cf3-1c46-4ee7-919e-075103537251
- joints
- joints
- true
- 1
- 2
- true
- bdce4754-a6b0-47dc-ba0c-8fef4b701886
- 1f5db91c-2547-4781-939e-e813733713e9
- f3e86788-4a7f-40b7-a645-f63aa093cd29
- bceb6ccc-7107-4426-adca-c7aac74a5c46
- b23ab536-0229-4863-88bd-2042b8311bb5
- bef9677b-8a97-4c70-8d77-7a840d3a73fb
- 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
-
2382
441
51
20
-
2409
451
- System.Private.CoreLib
- System.Double
- false
- Configuration with joint_names and joint_types extracted from the cell.
- 06f88486-a107-4ca4-96d7-1db0a06e5c45
- configuration
- configuration
- false
- 0
- 2
- true
- 0
- Configuration with joint_names and joint_types extracted from the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2463
421
70
20
-
2498
431
- System.Private.CoreLib
- System.Object
- false
- A copy of the default cell state with `robot_configuration` set to the selected configuration.
- 916ef8c4-0cbf-47b2-90db-e3fe6f29230c
- 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
-
2463
441
70
20
-
2498
451
- System.Private.CoreLib
- System.Object
- true
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- true
- 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
- COMPAS FAB: Robot Configuration
- *.*.python
- 3.*
-
447
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Rigid Body From Library
- true
- 2
-
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- 9c92c74a-5e86-436d-874f-a0030c6dab03
- true
- false
- true
- COMPAS FAB: Rigid Body From Library
- Rigid Body From Library
- 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.*
-
370
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
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- Rhino mesh for visualization (and collision checking if no separate collision mesh is provided).
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- Rhino mesh for visualization (and collision checking if no separate collision mesh is provided).
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- Optional Rhino mesh used only for collision checking. Defaults to `visual_mesh`.
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-
675
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713.5
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- Tool Coordinate Frame in the robot's `tool0` link frame, as a Rhino Plane or COMPAS Frame.
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- tcp_plane
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- Tool Coordinate Frame in the robot's `tool0` link frame, as a Rhino Plane or COMPAS Frame.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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- 0
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- true
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- ToolModel.
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- COMPAS FAB: Tool From Mesh
- *.*.python
- 3.*
-
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- COMPAS FAB: Frame Waypoints
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- 1
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 1
- true
- Ordered list of Rhino planes (or COMPAS Frames) to interpolate through (in WCF).
- 82a44cdd-a456-4146-b9af-3b95a1ce51fc
- planes
- planes
- true
- 1
- 2
- true
- ab8c8e72-67f9-4df7-bc0b-4917ac2bdfb8
- 1
- Ordered list of Rhino planes (or COMPAS Frames) to interpolate through (in WCF).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2862
1935
105
20
-
2916
1945
- System.Private.CoreLib
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- Which frame on the robot to match: 'ROBOT' (default), 'TOOL', or 'WORKPIECE'.
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- true
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- true
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- Which frame on the robot to match: 'ROBOT' (default), 'TOOL', or 'WORKPIECE'.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2862
1955
105
20
-
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1965
- System.Private.CoreLib
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- Position tolerance in meters. If unset, the planner default is used.
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- true
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- Position tolerance in meters. If unset, the planner default is used.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
2862
1975
105
20
-
2916
1985
- System.Private.CoreLib
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- Orientation tolerance in radians. If unset, the planner default is used.
- 1967d1ba-74b0-4c37-a3b0-5c6f309cd64c
- tolerance_orientation
- tolerance_orientation
- true
- 0
- 2
- true
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- Orientation tolerance in radians. If unset, the planner default is used.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
2862
1995
105
20
-
2916
2005
- System.Private.CoreLib
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- Scale factor: user_value * native_scale = meters. Use 0.001 for millimeter documents. Defaults to 1.0.
- 392eb274-d595-462f-bfd0-e1c1407ea3e4
- native_scale
- native_scale
- true
- 0
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- true
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- Scale factor: user_value * native_scale = meters. Use 0.001 for millimeter documents. Defaults to 1.0.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
2862
2015
105
20
-
2916
2025
- System.Private.CoreLib
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- FrameWaypoints.
- 28df960e-1cab-4f10-859e-6fe4a4d07915
- waypoints
- waypoints
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- true
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- FrameWaypoints.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2997
1935
54
100
-
3024
1985
- System.Private.CoreLib
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- 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
- Frame Waypoints
- *.*.python
- 3.*
-
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- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Frame Target
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-
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- Rhino plane or COMPAS Frame describing the target pose (in WCF).
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- Rhino plane or COMPAS Frame describing the target pose (in WCF).
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- Which frame on the robot to match. One of 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece).
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- Which frame on the robot to match. One of 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece).
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- Position tolerance in meters (not affected by native_scale). If unset, the planner default is used.
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- Position tolerance in meters (not affected by native_scale). If unset, the planner default is used.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
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105
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- Orientation tolerance in radians. If unset, the planner default is used.
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- Orientation tolerance in radians. If unset, the planner default is used.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
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1532
105
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- Scale factor: user_value * native_scale = meters. Use 0.001 if modeling in millimeters. Defaults to 1.0.
- b27f1e89-e38c-49cc-952b-6cd07d5aad25
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- Scale factor: user_value * native_scale = meters. Use 0.001 if modeling in millimeters. Defaults to 1.0.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
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1552
105
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-
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- FrameTarget.
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- 0
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- true
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- FrameTarget.
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34
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-
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- false
- true
- 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
- COMPAS FAB: Frame Target
- *.*.python
- 3.*
-
442
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Frame Target
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACCElEQVRIDWNgoDFgRDb/////IUB+/qPHT62/ffuGIoesDhubi4vrv5ys9FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5KMroAIfbCbYBw8fPflHapgTcgAoTuTlZJjAPiBk+Jp1GxhAmBQAM5OFGE2r10IMDwkKIEY5ihpYHKAIUpNDcwuICqK/bBxkewqciq7fuPUfmwn7X31gmHLrGcO1T9/A0lp8XAw5alIMjmIC2JRjiGlqqDHiDCKQ4Vln7oAN53nxhAGEQRaBxEByxAKcFoBcDgJTjFUYZE7sZZA9thvMBotB5cAKCBBY4+Dj7z9g11qK8DHo8nMz3AiIBxszpbaWgcfCmeEagwxDSGIGA/OvH3DjQ4MDGLAlY5w+gOn8+x8RPYz//8GEiaax+oCflYUBFKHH33wC++Sgkz7D5h27GNYIiTN8kZBhUGJjYlgzfwZRluD0ASi1gEDO2TsMFZfuMxyVUmV4YO8FFvu3ezPDtes3wGxCBNgHoIIJVnbANICS4jQTFXAyBfkEBEC+MnzziOEvLzuDlqYGTClWGmQmSAJWHxwG1gc2WFUCBUGRDgKgoCMWAOuDI8D6wBYWRBPxaQQZTIrhULPAZoItANU8oGoOnyWkyEGrTHC9DA4imGZaVPows2lGAwCK8LdD37XD/QAAAABJRU5ErkJggg==
- 00b4398a-522a-4426-bceb-c8b4eb2df50a
- true
- false
- true
- COMPAS FAB: Frame Target
- COMPAS FAB: Frame Target
- 3
- false
- false
- false
- false
-
2300
969
173
104
-
2422
1021
- 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).
- 421cdb15-e61c-43a8-9ace-73222d21e661
- plane
- plane
- true
- 0
- 2
- true
- c3986e21-f43e-45b1-99c4-13cd41951b9b
- 1
- Rhino plane or COMPAS Frame describing the target pose (in WCF).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2302
971
105
20
-
2356
981
- 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).
- 86de0bc6-4419-4b0b-8a4d-6b9a559c63e3
- target_mode
- target_mode
- true
- 0
- 2
- true
- 27c34ac6-7313-4835-ba74-e72d714dfa0c
- 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
-
2302
991
105
20
-
2356
1001
- System.Private.CoreLib
- System.String
- true
- Position tolerance in meters (not affected by native_scale). If unset, the planner default is used.
- f4f23e0e-4bed-4b0b-bc7e-e36da1b98ab5
- 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
-
2302
1011
105
20
-
2356
1021
- System.Private.CoreLib
- System.Double
- true
- Orientation tolerance in radians. If unset, the planner default is used.
- b156cf66-5572-45de-815d-845ba1b591df
- 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
-
2302
1031
105
20
-
2356
1041
- System.Private.CoreLib
- System.Double
- true
- Scale factor: user_value * native_scale = meters. Use 0.001 if modeling in millimeters. Defaults to 1.0.
- 12a193fc-47b5-48a2-9120-53009c8320ad
- 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
-
2302
1051
105
20
-
2356
1061
- System.Private.CoreLib
- System.Double
- false
- FrameTarget.
- af688928-cfed-4994-b5ed-12c5ab569a63
- target
- target
- false
- 0
- 2
- true
- 0
- FrameTarget.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2437
971
34
100
-
2454
1021
- System.Private.CoreLib
- System.Object
- true
- false
- true
- IyByOiBjb21wYXNfZmFiPj0yCiIiIgpDcmVhdGUgYSBGcmFtZVRhcmdldCBmb3IgdGhlIHJvYm90J3MgZW5kLWVmZmVjdG9yIG1vdGlvbiBwbGFubmluZy4KCkFjY2VwdHMgYSBSaGlubyBwbGFuZSBvciBhIENPTVBBUyBGcmFtZS4gVGhlIGB0YXJnZXRfbW9kZWAgY29udHJvbHMgd2hpY2gKZnJhbWUgb24gdGhlIHJvYm90L3Rvb2wvd29ya3BpZWNlIGlzIG1hdGNoZWQgYWdhaW5zdCB0aGUgdGFyZ2V0LgoKQ09NUEFTIEZBQiB2Mi4wLjAKIiIiCgppbXBvcnQgR3Jhc3Nob3BwZXIKaW1wb3J0IFJoaW5vCmltcG9ydCBTeXN0ZW0KZnJvbSBjb21wYXMuZ2VvbWV0cnkgaW1wb3J0IEZyYW1lCmZyb20gY29tcGFzX3JoaW5vLmNvbnZlcnNpb25zIGltcG9ydCBwbGFuZV90b19jb21wYXNfZnJhbWUKCmZyb20gY29tcGFzX2ZhYi5naHB5dGhvbiBpbXBvcnQgZW5zdXJlX3ZhbHVlX2xpc3QKZnJvbSBjb21wYXNfZmFiLnJvYm90cyBpbXBvcnQgRnJhbWVUYXJnZXQKZnJvbSBjb21wYXNfZmFiLnJvYm90cyBpbXBvcnQgVGFyZ2V0TW9kZQoKX1RBUkdFVF9NT0RFUyA9IFttb2RlLnZhbHVlIGZvciBtb2RlIGluIFRhcmdldE1vZGVdCgoKY2xhc3MgRnJhbWVUYXJnZXRDb21wb25lbnQoR3Jhc3Nob3BwZXIuS2VybmVsLkdIX1NjcmlwdEluc3RhbmNlKToKICAgIGRlZiBSdW5TY3JpcHQoc2VsZiwKICAgICAgICAgICAgcGxhbmUsCiAgICAgICAgICAgIHRhcmdldF9tb2RlOiBzdHIsCiAgICAgICAgICAgIHRvbGVyYW5jZV9wb3NpdGlvbjogZmxvYXQsCiAgICAgICAgICAgIHRvbGVyYW5jZV9vcmllbnRhdGlvbjogZmxvYXQsCiAgICAgICAgICAgIG5hdGl2ZV9zY2FsZTogZmxvYXQpOgogICAgICAgIGVuc3VyZV92YWx1ZV9saXN0KGdoZW52LkNvbXBvbmVudCwgInRhcmdldF9tb2RlIiwgX1RBUkdFVF9NT0RFUywgZGVmYXVsdD0iUk9CT1QiKSAgIyBub3FhOiBGODIxCgogICAgICAgIGlmIHBsYW5lIGlzIE5vbmU6CiAgICAgICAgICAgIHJldHVybiBOb25lCgogICAgICAgIGZyYW1lID0gcGxhbmUgaWYgaXNpbnN0YW5jZShwbGFuZSwgRnJhbWUpIGVsc2UgcGxhbmVfdG9fY29tcGFzX2ZyYW1lKHBsYW5lKQoKICAgICAgICBtb2RlID0gdGFyZ2V0X21vZGUgb3IgIlJPQk9UIgogICAgICAgIGlmIGlzaW5zdGFuY2UobW9kZSwgc3RyKToKICAgICAgICAgICAgbW9kZSA9IFRhcmdldE1vZGUobW9kZS5zdHJpcCgpLnVwcGVyKCkpCgogICAgICAgIG5hdGl2ZV9zY2FsZSA9IG5hdGl2ZV9zY2FsZSBpZiBuYXRpdmVfc2NhbGUgZWxzZSAxLjAKCiAgICAgICAgdGFyZ2V0ID0gRnJhbWVUYXJnZXQoCiAgICAgICAgICAgIHRhcmdldF9mcmFtZT1mcmFtZSwKICAgICAgICAgICAgdGFyZ2V0X21vZGU9bW9kZSwKICAgICAgICAgICAgbmF0aXZlX3NjYWxlPW5hdGl2ZV9zY2FsZSwKICAgICAgICAgICAgdG9sZXJhbmNlX3Bvc2l0aW9uPXRvbGVyYW5jZV9wb3NpdGlvbiwKICAgICAgICAgICAgdG9sZXJhbmNlX29yaWVudGF0aW9uPXRvbGVyYW5jZV9vcmllbnRhdGlvbiwKICAgICAgICApCiAgICAgICAgcmV0dXJuIHRhcmdldAo=
- COMPAS FAB: Frame Target
- *.*.python
- 3.*
-
538
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Forward Kinematics
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACAUlEQVRIDbWVS0sCURTH70QroZWQ0HOTqUXUqqAs6htI6bpdEAZtK4IIotoGRdCugiK0cNUX6AFF21KzRdoDClwFrqrp/k9zhmujaI5eGOY+zvmde87/zlwhatw0la/relCOZzNPL0O5XC5vTbUr1Hc4HHpba/OFXNvQNC3KNiZEwlcTydQ8L9h5ez3uNRlkAQwKgJ1LeMQO9K+vDBJCJnXGwuxfgyqMiUkZpDPP36j5bTxB3G6f1zYfmrS3tdTVgwT45vaOODu/JPCwf1DMTE/ZCsKHhEqEnQPucjXSgz5nYyuKdKYMGPL5+SWy2SwPq/KmDFBzlEWFp1IPVcmCRI4n7nVsF2UB+PDI/E4oMOtxZxyCrjIPgc/bqfExpXIgE7e7wyyN0+kkbViPyHFMLK+si+hJzLTZSr0KPMVangaqEQTntrd/IB7TGR4KBEILjgfEpgEPu5vMdbWTlwEWWI+3t3eBp6+3Jw+uOpfTL5gBaj42OkL+6keH8kCH0ESAdl9xADiqYAYtLc5RgHJFhl/BDBhY6F0M7ju9Mc1npB6siUUD06qMzuRVsqQVZYAfE/87SnoYBjia19kP0e9sELsDHosbmJikDIybyGJUaqIYHH7MZA025Jy/FFBdR43D6oS1D+ZvBrh5cM1ZbSqbMa5M+t+YdzJQtbj0K9viP7x+APKst1ZZrG60AAAAAElFTkSuQmCC
- 36d4fb80-9142-4c73-81a0-e837a9435e26
- true
- false
- true
- COMPAS FAB: Forward Kinematics
- COMPAS FAB: Forward Kinematics
- 3
- false
- false
- false
- false
-
2201
2158
131
84
-
2282
2200
- 4
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- 813becee-23c5-46fc-b55e-97804cc80478
- planner
- planner
- true
- 0
- 2
- true
- a40f4ab6-4cf9-40fb-a23e-c9ab5e03f7e5
- 1
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2203
2160
64
20
-
2236.5
2170
- System.Private.CoreLib
- System.Object
- true
- RobotCellState containing the configuration to evaluate.
- ea4a365f-778e-4bd2-bc17-3dfe16e226f3
- cell_state
- cell_state
- true
- 0
- 2
- true
- ee419e20-228d-43a6-af93-9a9de4d9d82a
- 1
- RobotCellState containing the configuration to evaluate.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2203
2180
64
20
-
2236.5
2190
- System.Private.CoreLib
- System.Object
- true
- Which frame to return: 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece).
- 5d802eab-434f-4acd-8066-c1cf144e8026
- target_mode
- target_mode
- true
- 0
- 2
- true
- fe685839-b290-47ef-9f9d-1a89ca3428b8
- 1
- Which frame to return: 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece).
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2203
2200
64
20
-
2236.5
2210
- System.Private.CoreLib
- System.String
- true
- Optional planning group name. Defaults to the cell's main planning group.
- b9afcbd5-938a-486f-b4e1-f8e2ed58d3af
- group
- group
- true
- 0
- 2
- true
- 0
- Optional planning group name. Defaults to the cell's main planning group.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2203
2220
64
20
-
2236.5
2230
- System.Private.CoreLib
- System.String
- false
- Resulting COMPAS Frame in WCF.
- 18a5ff13-33cb-41e3-a128-35860f34acc8
- frame
- frame
- false
- 0
- 2
- true
- 0
- Resulting COMPAS Frame in WCF.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2297
2160
33
40
-
2313.5
2180
- System.Private.CoreLib
- System.Object
- false
- Same result as a Rhino Plane for downstream Grasshopper components.
- 4529cf6b-23c7-4292-a976-414f671e41e7
- plane
- plane
- false
- 0
- 2
- true
- 0
- Same result as a Rhino Plane for downstream Grasshopper components.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2297
2200
33
40
-
2313.5
2220
- System.Private.CoreLib
- System.Object
- true
- false
- true
- IyByOiBjb21wYXNfZmFiPj0yCiIiIgpDb21wdXRlIGZvcndhcmQga2luZW1hdGljcyBmcm9tIGEgUm9ib3RDZWxsU3RhdGUgdXNpbmcgYSBzdGF0ZWxlc3MgcGxhbm5lci4KClRoZSByZXR1cm5lZCBmcmFtZSBkZXBlbmRzIG9uIHRoZSBgdGFyZ2V0X21vZGVgOgoqICdST0JPVCcgICAgICA6IFBDRiAocGxhbm5lciBjb29yZGluYXRlIGZyYW1lLCBsYXN0IGxpbmsgb2YgdGhlIHBsYW5uaW5nIGdyb3VwKQoqICdUT09MJyAgICAgICA6IFRDRiBvZiB0aGUgYXR0YWNoZWQgdG9vbAoqICdXT1JLUElFQ0UnICA6IE9DRiBvZiB0aGUgYXR0YWNoZWQgd29ya3BpZWNlCgpUaGUgQ29uZmlndXJhdGlvbiB0byBldmFsdWF0ZSBpcyB0YWtlbiBmcm9tIGBjZWxsX3N0YXRlLnJvYm90X2NvbmZpZ3VyYXRpb25gOwp1c2UgdGhlIFNldFJvYm90Q29uZmlndXJhdGlvbiBoZWxwZXIgdXBzdHJlYW0gdG8gb3ZlcnJpZGUgaXQuCgpDT01QQVMgRkFCIHYyLjAuMAoiIiIKCmltcG9ydCBHcmFzc2hvcHBlcgppbXBvcnQgUmhpbm8KaW1wb3J0IFN5c3RlbQpmcm9tIGNvbXBhc19yaGluby5jb252ZXJzaW9ucyBpbXBvcnQgZnJhbWVfdG9fcmhpbm9fcGxhbmUKCmZyb20gY29tcGFzX2ZhYi5naHB5dGhvbiBpbXBvcnQgZW5zdXJlX3ZhbHVlX2xpc3QKZnJvbSBjb21wYXNfZmFiLnJvYm90cyBpbXBvcnQgVGFyZ2V0TW9kZQoKX1RBUkdFVF9NT0RFUyA9IFttb2RlLnZhbHVlIGZvciBtb2RlIGluIFRhcmdldE1vZGVdCgoKY2xhc3MgRm9yd2FyZEtpbmVtYXRpY3NDb21wb25lbnQoR3Jhc3Nob3BwZXIuS2VybmVsLkdIX1NjcmlwdEluc3RhbmNlKToKICAgIGRlZiBSdW5TY3JpcHQoc2VsZiwgcGxhbm5lciwgY2VsbF9zdGF0ZSwgdGFyZ2V0X21vZGU6IHN0ciwgZ3JvdXA6IHN0cik6CiAgICAgICAgZW5zdXJlX3ZhbHVlX2xpc3QoZ2hlbnYuQ29tcG9uZW50LCAidGFyZ2V0X21vZGUiLCBfVEFSR0VUX01PREVTLCBkZWZhdWx0PSJST0JPVCIpICAjIG5vcWE6IEY4MjEKCiAgICAgICAgaWYgbm90IChwbGFubmVyIGFuZCBjZWxsX3N0YXRlKToKICAgICAgICAgICAgcmV0dXJuIChOb25lLCBOb25lKQoKICAgICAgICBtb2RlID0gdGFyZ2V0X21vZGUgb3IgIlJPQk9UIgogICAgICAgIGlmIGlzaW5zdGFuY2UobW9kZSwgc3RyKToKICAgICAgICAgICAgbW9kZSA9IFRhcmdldE1vZGUobW9kZS5zdHJpcCgpLnVwcGVyKCkpCgogICAgICAgIGZyYW1lID0gcGxhbm5lci5mb3J3YXJkX2tpbmVtYXRpY3MoCiAgICAgICAgICAgIHJvYm90X2NlbGxfc3RhdGU9Y2VsbF9zdGF0ZSwKICAgICAgICAgICAgdGFyZ2V0X21vZGU9bW9kZSwKICAgICAgICAgICAgZ3JvdXA9Z3JvdXAgb3IgTm9uZSwKICAgICAgICApCiAgICAgICAgcGxhbmUgPSBmcmFtZV90b19yaGlub19wbGFuZShmcmFtZSkKICAgICAgICByZXR1cm4gKGZyYW1lLCBwbGFuZSkK
- COMPAS FAB: Forward Kinematics
- *.*.python
- 3.*
-
462
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Forward Kinematics
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACAUlEQVRIDbWVS0sCURTH70QroZWQ0HOTqUXUqqAs6htI6bpdEAZtK4IIotoGRdCugiK0cNUX6AFF21KzRdoDClwFrqrp/k9zhmujaI5eGOY+zvmde87/zlwhatw0la/relCOZzNPL0O5XC5vTbUr1Hc4HHpba/OFXNvQNC3KNiZEwlcTydQ8L9h5ez3uNRlkAQwKgJ1LeMQO9K+vDBJCJnXGwuxfgyqMiUkZpDPP36j5bTxB3G6f1zYfmrS3tdTVgwT45vaOODu/JPCwf1DMTE/ZCsKHhEqEnQPucjXSgz5nYyuKdKYMGPL5+SWy2SwPq/KmDFBzlEWFp1IPVcmCRI4n7nVsF2UB+PDI/E4oMOtxZxyCrjIPgc/bqfExpXIgE7e7wyyN0+kkbViPyHFMLK+si+hJzLTZSr0KPMVangaqEQTntrd/IB7TGR4KBEILjgfEpgEPu5vMdbWTlwEWWI+3t3eBp6+3Jw+uOpfTL5gBaj42OkL+6keH8kCH0ESAdl9xADiqYAYtLc5RgHJFhl/BDBhY6F0M7ju9Mc1npB6siUUD06qMzuRVsqQVZYAfE/87SnoYBjia19kP0e9sELsDHosbmJikDIybyGJUaqIYHH7MZA025Jy/FFBdR43D6oS1D+ZvBrh5cM1ZbSqbMa5M+t+YdzJQtbj0K9viP7x+APKst1ZZrG60AAAAAElFTkSuQmCC
- 506100f6-29bc-4721-8251-b473cc6ca5f1
- true
- false
- true
- COMPAS FAB: Forward Kinematics
- COMPAS FAB: Forward Kinematics
- 3
- false
- false
- false
- false
-
2770
252
131
84
-
2851
294
- 4
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- 79c0cd2f-f233-459e-a3d5-ca4d9ccf01f2
- planner
- planner
- true
- 0
- 2
- true
- eed3e05b-a8b5-4d7c-a7e5-f545a8de1127
- 1
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2772
254
64
20
-
2805.5
264
- System.Private.CoreLib
- System.Object
- true
- RobotCellState containing the configuration to evaluate.
- e0baeb70-7249-4022-9a98-7bb005f2d3b1
- cell_state
- cell_state
- true
- 0
- 2
- true
- 916ef8c4-0cbf-47b2-90db-e3fe6f29230c
- 1
- RobotCellState containing the configuration to evaluate.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2772
274
64
20
-
2805.5
284
- System.Private.CoreLib
- System.Object
- true
- Which frame to return: 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece).
- 3457b58d-4379-4ae0-ba13-a7823417fa68
- target_mode
- target_mode
- true
- 0
- 2
- true
- 007f1a73-de5a-45f0-8f44-643799f0d058
- 1
- Which frame to return: 'ROBOT' (PCF, default), 'TOOL' (TCF of attached tool), or 'WORKPIECE' (OCF of attached workpiece).
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2772
294
64
20
-
2805.5
304
- System.Private.CoreLib
- System.String
- true
- Optional planning group name. Defaults to the cell's main planning group.
- b1fa59a6-82ba-44f4-a2ca-3baadd9bad41
- group
- group
- true
- 0
- 2
- true
- 0
- Optional planning group name. Defaults to the cell's main planning group.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2772
314
64
20
-
2805.5
324
- System.Private.CoreLib
- System.String
- false
- Resulting COMPAS Frame in WCF.
- c00fd8fd-8127-4dd8-815a-3fc68de87e4d
- frame
- frame
- false
- 0
- 2
- true
- 0
- Resulting COMPAS Frame in WCF.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2866
254
33
40
-
2882.5
274
- System.Private.CoreLib
- System.Object
- false
- Same result as a Rhino Plane for downstream Grasshopper components.
- d67372f4-bd74-4517-b065-1e71ff303bc6
- plane
- plane
- false
- 0
- 2
- true
- 0
- Same result as a Rhino Plane for downstream Grasshopper components.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2866
294
33
40
-
2882.5
314
- System.Private.CoreLib
- System.Object
- true
- false
- true
- IyByOiBjb21wYXNfZmFiPj0yCiIiIgpDb21wdXRlIGZvcndhcmQga2luZW1hdGljcyBmcm9tIGEgUm9ib3RDZWxsU3RhdGUgdXNpbmcgYSBzdGF0ZWxlc3MgcGxhbm5lci4KClRoZSByZXR1cm5lZCBmcmFtZSBkZXBlbmRzIG9uIHRoZSBgdGFyZ2V0X21vZGVgOgoqICdST0JPVCcgICAgICA6IFBDRiAocGxhbm5lciBjb29yZGluYXRlIGZyYW1lLCBsYXN0IGxpbmsgb2YgdGhlIHBsYW5uaW5nIGdyb3VwKQoqICdUT09MJyAgICAgICA6IFRDRiBvZiB0aGUgYXR0YWNoZWQgdG9vbAoqICdXT1JLUElFQ0UnICA6IE9DRiBvZiB0aGUgYXR0YWNoZWQgd29ya3BpZWNlCgpUaGUgQ29uZmlndXJhdGlvbiB0byBldmFsdWF0ZSBpcyB0YWtlbiBmcm9tIGBjZWxsX3N0YXRlLnJvYm90X2NvbmZpZ3VyYXRpb25gOwp1c2UgdGhlIFNldFJvYm90Q29uZmlndXJhdGlvbiBoZWxwZXIgdXBzdHJlYW0gdG8gb3ZlcnJpZGUgaXQuCgpDT01QQVMgRkFCIHYyLjAuMAoiIiIKCmltcG9ydCBHcmFzc2hvcHBlcgppbXBvcnQgUmhpbm8KaW1wb3J0IFN5c3RlbQpmcm9tIGNvbXBhc19yaGluby5jb252ZXJzaW9ucyBpbXBvcnQgZnJhbWVfdG9fcmhpbm9fcGxhbmUKCmZyb20gY29tcGFzX2ZhYi5naHB5dGhvbiBpbXBvcnQgZW5zdXJlX3ZhbHVlX2xpc3QKZnJvbSBjb21wYXNfZmFiLnJvYm90cyBpbXBvcnQgVGFyZ2V0TW9kZQoKX1RBUkdFVF9NT0RFUyA9IFttb2RlLnZhbHVlIGZvciBtb2RlIGluIFRhcmdldE1vZGVdCgoKY2xhc3MgRm9yd2FyZEtpbmVtYXRpY3NDb21wb25lbnQoR3Jhc3Nob3BwZXIuS2VybmVsLkdIX1NjcmlwdEluc3RhbmNlKToKICAgIGRlZiBSdW5TY3JpcHQoc2VsZiwgcGxhbm5lciwgY2VsbF9zdGF0ZSwgdGFyZ2V0X21vZGU6IHN0ciwgZ3JvdXA6IHN0cik6CiAgICAgICAgZW5zdXJlX3ZhbHVlX2xpc3QoZ2hlbnYuQ29tcG9uZW50LCAidGFyZ2V0X21vZGUiLCBfVEFSR0VUX01PREVTLCBkZWZhdWx0PSJST0JPVCIpICAjIG5vcWE6IEY4MjEKCiAgICAgICAgaWYgbm90IChwbGFubmVyIGFuZCBjZWxsX3N0YXRlKToKICAgICAgICAgICAgcmV0dXJuIChOb25lLCBOb25lKQoKICAgICAgICBtb2RlID0gdGFyZ2V0X21vZGUgb3IgIlJPQk9UIgogICAgICAgIGlmIGlzaW5zdGFuY2UobW9kZSwgc3RyKToKICAgICAgICAgICAgbW9kZSA9IFRhcmdldE1vZGUobW9kZS5zdHJpcCgpLnVwcGVyKCkpCgogICAgICAgIGZyYW1lID0gcGxhbm5lci5mb3J3YXJkX2tpbmVtYXRpY3MoCiAgICAgICAgICAgIHJvYm90X2NlbGxfc3RhdGU9Y2VsbF9zdGF0ZSwKICAgICAgICAgICAgdGFyZ2V0X21vZGU9bW9kZSwKICAgICAgICAgICAgZ3JvdXA9Z3JvdXAgb3IgTm9uZSwKICAgICAgICApCiAgICAgICAgcGxhbmUgPSBmcmFtZV90b19yaGlub19wbGFuZShmcmFtZSkKICAgICAgICByZXR1cm4gKGZyYW1lLCBwbGFuZSkK
- COMPAS FAB: Forward Kinematics
- *.*.python
- 3.*
-
588
199
550
650
- 00027467-0d24-4fa7-b178-8dc0ac5f42ec
- Value List
- Provides a list of preset values to choose from
- fe685839-b290-47ef-9f9d-1a89ca3428b8
- 3
- 1
- Value List
- target_mode
- false
- 0
- "ROBOT"
- ROBOT
- false
- "TOOL"
- TOOL
- true
- "WORKPIECE"
- WORKPIECE
- false
-
2001
2199
164
22
-
2073
2199
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Attach Tool To Robot
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACA0lEQVRIDbWVTS9DQRSGT8WuGwvcEmUlbdVHhEgFf0GaamNrIRIrO1EhFhISOyuJ+AO0RPwFhFjST1ZUBLVoF13XvKedm2kzt1zSk8ydM3POfd4759xkiJpsDpVfLpfDYr2Se32bKpVKNTE1T+c7nc6yu6f7WsT2HQ5HXOaYEAHfyWSfojLwn9nr6d8VIutgsAC+XMBj9dCb2zu6f0jw9ujoCE2Mj9WnWK6FSAQnkQKXQmBazT47v6Dj2Jm6RfOREIWCszV7VgshcCUEZlqQgJqriaL+DHcZBu3tbvOAD0HEfmOSyQL1Df34zDNj0O+jvl43D/gwGeNFg4dktupyjM4O3k4k0/T8kjN9ODLGm794aAXEL8f1RklWo5smBj1AzI5pBQBAM7tcLjo4PGLe8tIiTQYm7LA5l3tg9RaARc8wFbwjf4KDa3kCBE9e8vQ4FIBL8dwXhd3t7Nt5aAVS6QxhJAslMvJF5j28Z4nanBQOBe3w9SeInZ6zAEhGFZcRM0YylaGtjbXq7s+Ttgf+Aa/5ZmQuSBgDvsqeGjOTGjjaEkkYZlmS2OkCY+S6AbMmZCkAuOwFZhhOYte0JVJh6AcGzO7X4x0WwGWBhWo4gTwF9u1+vWSyQPUmUvns24WqAMmUPdgXwZr7AMk4gRT5Q3nArNxocJp6ZUIA1oxLv0Ju4vMbbXfAeMEPB5cAAAAASUVORK5CYII=
- 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
-
1452
216
176
124
-
1559
278
- 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
- b00151b7-e50e-4f3c-bf78-7ce14e07d00e
- 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
-
1454
218
90
20
-
1500.5
228
- 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
- 0
- The RobotCellState to modify. If left unwired, the default state is derived from `robot_cell`.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
1454
238
90
20
-
1500.5
248
- 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
-
1454
258
90
20
-
1500.5
268
- 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
-
1454
278
90
20
-
1500.5
288
- 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
-
1454
298
90
20
-
1500.5
308
- 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
-
1454
318
90
20
-
1500.5
328
- 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
-
1574
218
52
120
-
1600
278
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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- COMPAS FAB: Attach Tool To Robot
- *.*.python
- 3.*
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- COMPAS FAB: Visualize Robot Cell
- COMPAS FAB: Visualize Robot Cell
- 3
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- The RobotCell to draw.
- 0c5aa94e-7a38-43c6-adf2-eee52207dafd
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
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- cell_state
- cell_state
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- 0
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- Optional RobotCellState describing the configuration to draw. If unwired, the cell's default state is used.
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- Draw visual meshes. Defaults to True.
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- draw_visual
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- Draw visual meshes. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
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- Draw collision meshes. Defaults to False.
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- draw_collision
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- Draw collision meshes. Defaults to False.
- d60527f5-b5af-4ef6-8970-5f96fe412559
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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.
- 9fb3f85b-9eef-4a39-a92b-7d864813ecdc
- native_scale
- native_scale
- true
- 0
- 2
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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.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
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- Rhino meshes of the robot model.
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- robot_meshes
- robot_meshes
- false
- 0
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- Rhino meshes of the robot model.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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- Rhino meshes of all tool models in the cell.
- true
- 6502b183-bd8e-480f-9d1a-d5de5c1a6a4f
- tool_meshes
- tool_meshes
- false
- 0
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- Rhino meshes of all tool models in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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- Rhino meshes of all rigid bodies in the cell.
- 4e5f49ec-4d8c-4aed-b12d-1b7dd2b223df
- rigid_body_meshes
- rigid_body_meshes
- false
- 0
- 2
- true
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- Rhino meshes of all rigid bodies in the cell.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
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-
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- System.Private.CoreLib
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- 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
-
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-
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- COMPAS FAB: Visualize Robot Cell
- *.*.python
- 3.*
-
516
199
550
650
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: ROS Client
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABvElEQVRIDWNgoDFgRDb/////UUB+5uMnz6y/fv2KIoesDhubm5v7v6yM1FGg3HRGRsZlMDVwQ4CG99y4ebsYJkEJraGu2gu0pARkBtgCkMuBhi+lxFB0vUBLokE+YYJKZKIroAIfbCbYB48eP/1HapgTcgAoTuRkpZnAPqC24SDLYWbCgoiQg8iWZ0HXee/+A4bLV66BhXV1tBiUFBXQlaDwCalHsWDT5m0MS1esQjEgOiKMwc/XC0UMxiFGPdwCkEtAhouICDOEBgeCzVi9dj1YTAfqk70vP4DFncUFGIhRD1IMtwAWLCDDHexswAY9/cfI0Pn2D0Pk9VcMjHfeM3z8/Rcszs/KzPD/92+G70GJDOXCLED11mBxEDF95hxwEMOCln6RDIpQEAAFCwwcW7+eQfPNW4b2lgZwZKMHUWVNA8MxYJBKM/0Ha4HphZkFEgRntOs3boFVEBNpYJOgBCH1mhpqjCgWgPQRSnbIFhBSj9UCdAMo4YMsoHkkgy0AFUyUuBSbXpiZYAugNRE2dWSLwcyEBdF0sk3CrRFsJtgCUM0DquZwqyVNBlplgutlcDKFaadFpQ8zm2Y0AMLixEoY2NubAAAAAElFTkSuQmCC
- d669cfde-80ea-4143-bcdc-260a09b8dd65
- true
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- 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
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- 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
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- 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.*
-
387
33
550
850
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: MoveIt Planner
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAACUklEQVRIDbVVTUhUURQ+Yy5mpvcgddfPtBLNlYpOQgVSmxhaSDkEbtwKBrq0CNzpNsGgrRshRsWFiIuKQIM0qDbpiCst3YmCNvPEV6/7Hd+5vve8kTbjgTfn3vPzffeew9xDdM4SC+J7ntep9n0b3zdvFQqFkC8YZ1onk0kvde3KB+UbicViExKjQRT4UH517ak4StH1dbXDiuQZMJgAJ1fguVJAo7mKJIubVPiOvmhAGfaMyTdY3/jxW2q+v/+Txl/n6POXr2fiaG5qpK7HWbKsi5yHnlxPXa3gGwg4PAB/++49kac2Z/iQg1wRwawUg2icvKrqEr0afSGmU+me3n7jraUHtLySp4mpaXIc5+jkPmz34iq9XNs6QQIbfCKu63IuMIKib5CbnGYSOA8PXR2ztL1H+CC9tZdZA3w0QlpUBwMJcL4t52nw+QDHagIYwD4zO0eVF7SZg9I1NgO2Kv1JkUXBEWRbFjkHDj3I3KeGG/Wch58QUufDDnojDdYhROlqm3fdH49KAkLYokTxeJyAERTdg6DRtJbywDd2s84UYrRpglCTDaE48UqmhcbazODur/9scpRLyhW1F4vmJusboMnZRx2USMQpoWopgnqbBA0P+mzb4lxg4BP5Z5P/Vm/cJB3phanJIQKw4k3B377nSX/oDycnYq0f+WPrzs4u3bvbfmzwV0yAh0neDjxYEH7sDEB+3gkFcMmFE5jQDKHmwbyaB7dhKJeoebCg5sEdafJIuYADOIzJBJg8GHMBZ0lLf2TyXA5V+TyGfkknPU3yHzc/Bck9uYAcAAAAAElFTkSuQmCC
- 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
- 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
- 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.*
-
58
99
932
750
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Inverse Kinematics
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABtUlEQVRIDWNgoDFgRDb/////IUB+/qPHT62/ffuGIoesDhubi4vrv5ys9FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5IPoNes2gDG6YjL5YDNZQJpBYQ6iV6/dAKIYQoICwDQlBMxMsA/QI7SxpYNin8DMhAURimOvXb+BwsfH2f3iPQMI4wJYLQApBgVXeHQCXp+ADM47dxeMcVmCYkFoMPlhv/35O6yeACfT6zdu/ccqi0UQFHxamhpwmbWP3zB03XjM8On3X4ZpJioMjmICcDlNDTVGFB/AZXAwQIaDEgAIw+IpWFaEoUNfEayj4uJ9hjVAC5EBUT4A5Q9YEkbWXF9TAfdN4fl7DDugwTTJSJnBVUKQgWQfIBsOYiMHlZekILo0mE+UD2A6YUEEMhiUIJAtAKmBpSSQ60EA5AOSLABpQo9kkBguQFYQobsal+EwcZJSEUwTKTTYAlBlQYomYtTCzARbAK2JiNFHtBqYmbAgmki0TuIVgs0EWwCqeUDVHPF68auEVpngehmcTGHKaVHpw8ymGQ0AU/+nWEJiEbQAAAAASUVORK5CYII=
- 8c40b20d-5907-473b-8192-ee9a7a063d58
- true
- false
- true
- COMPAS FAB: Inverse Kinematics
- COMPAS FAB: Inverse Kinematics
- 3
- false
- false
- false
- false
-
2569
602
180
104
-
2662
654
- 5
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- b3822e88-c76e-4658-864f-5770142bbba9
- planner
- planner
- true
- 0
- 2
- true
- bc933c2c-ae13-4247-a61a-f86c20c78f0d
- 1
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2571
604
76
20
-
2610.5
614
- System.Private.CoreLib
- System.Object
- true
- Target to reach (FrameTarget, PointAxisTarget, etc.).
- 440a8d99-a2a1-4cbf-b106-d8f98fddcb3b
- target
- target
- true
- 0
- 2
- true
- 0ca7f032-be0a-43fa-adad-9e75a9ef29da
- 1
- Target to reach (FrameTarget, PointAxisTarget, etc.).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2571
624
76
20
-
2610.5
634
- System.Private.CoreLib
- System.Object
- true
- Starting RobotCellState. The robot's configuration in this state is used as the IK seed.
- 8ae42147-eab1-43f3-9eb7-8a578139332a
- start_state
- start_state
- true
- 0
- 2
- true
- f4cfdba3-1db8-4adb-adfc-aa5af8183db6
- 1
- Starting RobotCellState. The robot's configuration in this state is used as the IK seed.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2571
644
76
20
-
2610.5
654
- System.Private.CoreLib
- System.Object
- true
- Optional planning group name. Defaults to the cell's main planning group.
- 86ece2a2-a28e-4b98-a195-975c8b2062cf
- group
- group
- true
- 0
- 2
- true
- 0
- Optional planning group name. Defaults to the cell's main planning group.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2571
664
76
20
-
2610.5
674
- System.Private.CoreLib
- System.String
- true
- When True, only collision-free IK solutions are returned; when False, in-collision solutions are accepted. Unwired keeps the backend default (True: collision-free).
- 440e214d-087e-4ae5-8f1a-1125d9939062
- check_collision
- check_collision
- true
- 0
- 2
- true
- 0
- When True, only collision-free IK solutions are returned; when False, in-collision solutions are accepted. Unwired keeps the backend default (True: collision-free).
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
2571
684
76
20
-
2610.5
694
- System.Private.CoreLib
- System.Boolean
- false
- Resulting Configuration, or None if no solution was found.
- c310907a-863a-4304-99f4-2213ad3eab3d
- configuration
- configuration
- false
- 0
- 2
- true
- 0
- Resulting Configuration, or None if no solution was found.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2677
604
70
50
-
2712
629
- System.Private.CoreLib
- System.Object
- false
- A copy of the start_state with `robot_configuration` set to the IK result. Wire straight into VisualizeRobotCell / ForwardKinematics / next planner step- no SetRobotConfiguration needed.
- f9a1df4b-61e4-4f8e-b91d-b385f437ed07
- cell_state
- cell_state
- false
- 0
- 2
- true
- 0
- A copy of the start_state with `robot_configuration` set to the IK result. Wire straight into VisualizeRobotCell / ForwardKinematics / next planner step- no SetRobotConfiguration needed.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2677
654
70
50
-
2712
679
- System.Private.CoreLib
- System.Object
- true
- false
- true
- # r: compas_fab>=2
"""
Compute inverse kinematics for a target using a stateless planner.

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

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

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

If no IK solution is found, the component is flagged with an error message
(visible in the component balloon) and returns (None, None). When the planner
supports collision checking, the start state is additionally checked and, if it
is in collision, the colliding pairs are appended to the message to explain why
no collision-free solution exists.

COMPAS FAB v2.0.0
"""

from copy import deepcopy

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

from compas_fab.backends.exceptions import BackendFeatureNotSupportedError
from compas_fab.backends.exceptions import BackendTargetNotSupportedError
from compas_fab.backends.exceptions import CollisionCheckError
from compas_fab.backends.exceptions import InverseKinematicsError
from compas_fab.robots import FrameTarget
from compas_fab.robots import RobotCellState
from compas_fab.robots import Target
from compas_fab.robots import TargetMode


def _collision_diagnostic(planner, state):
    """Explain an IK failure via a collision check on the start state, if available.

    Returns a human-readable hint, or `None` when the planner cannot collision-check
    (so the caller just reports the bare IK error). Never raises - a diagnostic must
    not mask the real failure.
    """
    try:
        planner.check_collision(state, options={"full_report": True})
    except CollisionCheckError as cc:
        return "The start state is in collision, which blocks every collision-free solution:\n{}".format(cc)
    except (BackendFeatureNotSupportedError, AttributeError, NotImplementedError):
        return None
    except Exception:
        return None
    return (
        "The start state itself is collision-free, so the failure is most likely reachability "
        "(target out of range or orientation infeasible) or collisions at the target pose."
    )


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

        if not isinstance(target, Target):
            wrap_msg = "Wrapped a {} as FrameTarget(target_mode=ROBOT) with default tolerances. Wire a Target component for non-default settings."
            if isinstance(target, Frame):
                target = FrameTarget(target_frame=target, target_mode=TargetMode.ROBOT)
                warning(ghenv.Component, wrap_msg.format("bare COMPAS Frame"))  # noqa: F821
            else:
                # Anything else (Rhino Plane, GH_Plane wrapper, ...): try the
                # plane-to-frame conversion. If it isn't plane-shaped, surface
                # a clean error.
                try:
                    frame = plane_to_compas_frame(target)
                except Exception:
                    error(ghenv.Component, "target must be a Target, a COMPAS Frame or a Rhino Plane; got {}.".format(type(target).__name__))  # noqa: F821
                    return (None, None)
                target = FrameTarget(target_frame=frame, target_mode=TargetMode.ROBOT)
                warning(ghenv.Component, wrap_msg.format("Rhino Plane"))  # noqa: F821

        if start_state is None:
            if planner.robot_cell is None:
                error(ghenv.Component, "No start_state wired and the planner has no robot_cell to derive one from.")  # noqa: F821
                return (None, None)
            start_state = planner.robot_cell_state or RobotCellState.from_robot_cell(planner.robot_cell)
            warning(  # noqa: F821
                ghenv.Component,  # noqa: F821
                "No start_state wired; using zero-configuration default from planner.robot_cell. "
                "Wire a state explicitly to seed from a different configuration or to keep tool/workpiece attachments.",
            )

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

        try:
            configuration = planner.inverse_kinematics(
                target=target,
                robot_cell_state=start_state,
                group=group or None,
                options=options,
            )
        except BackendTargetNotSupportedError:
            # The exception is raised with no payload: surface something
            # actionable: name the target type and the planner that rejected it.
            error(  # noqa: F821
                ghenv.Component,  # noqa: F821
                "Planner '{}' does not support target type '{}'. "
                "Use a target type supported by this backend (typically `FrameTarget` "
                "for the Analytical planner) or switch backends.".format(
                    type(planner).__name__, type(target).__name__),
            )
            return (None, None)
        except InverseKinematicsError as e:
            msg = "Inverse kinematics failed: {}".format(e)
            hint = _collision_diagnostic(planner, start_state)
            if hint:
                msg += "\n" + hint
            error(ghenv.Component, msg)  # noqa: F821
            return (None, None)

        if configuration is None:
            return (None, None)

        new_state = deepcopy(start_state)
        new_state.robot_configuration = configuration
        return (configuration, new_state)

- COMPAS FAB: Inverse Kinematics
- *.*.python
- 3.*
-
606
149
550
700
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Inverse Kinematics
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAABtUlEQVRIDWNgoDFgRDb/////IUB+/qPHT62/ffuGIoesDhubi4vrv5ys9FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYJK5IPoNes2gDG6YjL5YDNZQJpBYQ6iV6/dAKIYQoICwDQlBMxMsA/QI7SxpYNin8DMhAURimOvXb+BwsfH2f3iPQMI4wJYLQApBgVXeHQCXp+ADM47dxeMcVmCYkFoMPlhv/35O6yeACfT6zdu/ccqi0UQFHxamhpwmbWP3zB03XjM8On3X4ZpJioMjmICcDlNDTVGFB/AZXAwQIaDEgAIw+IpWFaEoUNfEayj4uJ9hjVAC5EBUT4A5Q9YEkbWXF9TAfdN4fl7DDugwTTJSJnBVUKQgWQfIBsOYiMHlZekILo0mE+UD2A6YUEEMhiUIJAtAKmBpSSQ60EA5AOSLABpQo9kkBguQFYQobsal+EwcZJSEUwTKTTYAlBlQYomYtTCzARbAK2JiNFHtBqYmbAgmki0TuIVgs0EWwCqeUDVHPF68auEVpngehmcTGHKaVHpw8ymGQ0AU/+nWEJiEbQAAAAASUVORK5CYII=
- d833948b-a8e4-440a-87e5-eb1fb8831e21
- true
- false
- true
- COMPAS FAB: Inverse Kinematics
- COMPAS FAB: Inverse Kinematics
- 3
- false
- false
- false
- false
-
2563
895
180
104
-
2656
947
- 5
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 2
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- 08908df5-fa14-4982-9ab2-1aa0927566aa
- true
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- bcbf94cc-8535-4cdc-a973-3a9d3d9e0a04
- planner
- planner
- true
- 0
- 2
- true
- af72fb09-988a-487f-9884-218b9ff8de1d
- 1
- A planner instance (AnalyticalKinematicsPlanner, MoveItPlanner, PyBulletPlanner, AnalyticalPyBulletPlanner).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2565
897
76
20
-
2604.5
907
- System.Private.CoreLib
- System.Object
- true
- Target to reach (FrameTarget, PointAxisTarget, etc.).
- bda000aa-d05f-4f4b-a14d-9b6a50f133d5
- target
- target
- true
- 0
- 2
- true
- af688928-cfed-4994-b5ed-12c5ab569a63
- 1
- Target to reach (FrameTarget, PointAxisTarget, etc.).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2565
917
76
20
-
2604.5
927
- System.Private.CoreLib
- System.Object
- true
- Starting RobotCellState. The robot's configuration in this state is used as the IK seed.
- d128c619-7c54-40d1-aaad-4a532e555ca9
- start_state
- start_state
- true
- 0
- 2
- true
- 869a8b88-2c5e-4c80-a170-fd29ace28e96
- 1
- Starting RobotCellState. The robot's configuration in this state is used as the IK seed.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2565
937
76
20
-
2604.5
947
- System.Private.CoreLib
- System.Object
- true
- Optional planning group name. Defaults to the cell's main planning group.
- 6fbbeaa8-20f0-407a-8b43-91f359b0915c
- group
- group
- true
- 0
- 2
- true
- 0
- Optional planning group name. Defaults to the cell's main planning group.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
2565
957
76
20
-
2604.5
967
- System.Private.CoreLib
- System.String
- true
- When True, only collision-free IK solutions are returned; when False, in-collision solutions are accepted. Unwired keeps the backend default (True: collision-free).
- 5f4fb86c-bd5e-47c5-a701-8a4792953c12
- check_collision
- check_collision
- true
- 0
- 2
- true
- 0
- When True, only collision-free IK solutions are returned; when False, in-collision solutions are accepted. Unwired keeps the backend default (True: collision-free).
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
2565
977
76
20
-
2604.5
987
- System.Private.CoreLib
- System.Boolean
- false
- Resulting Configuration, or None if no solution was found.
- fd3c5d0b-b7eb-4617-a5be-d89e7dfa55a0
- configuration
- configuration
- false
- 0
- 2
- true
- 0
- Resulting Configuration, or None if no solution was found.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2671
897
70
50
-
2706
922
- System.Private.CoreLib
- System.Object
- false
- A copy of the start_state with `robot_configuration` set to the IK result. Wire straight into VisualizeRobotCell / ForwardKinematics / next planner step- no SetRobotConfiguration needed.
- 0d04794f-ef5e-4cfb-8592-2f45b175aa55
- cell_state
- cell_state
- false
- 0
- 2
- true
- 0
- A copy of the start_state with `robot_configuration` set to the IK result. Wire straight into VisualizeRobotCell / ForwardKinematics / next planner step- no SetRobotConfiguration needed.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
2671
947
70
50
-
2706
972
- System.Private.CoreLib
- System.Object
- true
- false
- true
- # r: compas_fab>=2
"""
Compute inverse kinematics for a target using a stateless planner.

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

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

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

If no IK solution is found, the component is flagged with an error message
(visible in the component balloon) and returns (None, None). When the planner
supports collision checking, the start state is additionally checked and, if it
is in collision, the colliding pairs are appended to the message to explain why
no collision-free solution exists.

COMPAS FAB v2.0.0
"""

from copy import deepcopy

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

from compas_fab.backends.exceptions import BackendFeatureNotSupportedError
from compas_fab.backends.exceptions import BackendTargetNotSupportedError
from compas_fab.backends.exceptions import CollisionCheckError
from compas_fab.backends.exceptions import InverseKinematicsError
from compas_fab.robots import FrameTarget
from compas_fab.robots import RobotCellState
from compas_fab.robots import Target
from compas_fab.robots import TargetMode


def _collision_diagnostic(planner, state):
    """Explain an IK failure via a collision check on the start state, if available.

    Returns a human-readable hint, or `None` when the planner cannot collision-check
    (so the caller just reports the bare IK error). Never raises - a diagnostic must
    not mask the real failure.
    """
    try:
        planner.check_collision(state, options={"full_report": True})
    except CollisionCheckError as cc:
        return "The start state is in collision, which blocks every collision-free solution:\n{}".format(cc)
    except (BackendFeatureNotSupportedError, AttributeError, NotImplementedError):
        return None
    except Exception:
        return None
    return (
        "The start state itself is collision-free, so the failure is most likely reachability "
        "(target out of range or orientation infeasible) or collisions at the target pose."
    )


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

        if not isinstance(target, Target):
            wrap_msg = "Wrapped a {} as FrameTarget(target_mode=ROBOT) with default tolerances. Wire a Target component for non-default settings."
            if isinstance(target, Frame):
                target = FrameTarget(target_frame=target, target_mode=TargetMode.ROBOT)
                warning(ghenv.Component, wrap_msg.format("bare COMPAS Frame"))  # noqa: F821
            else:
                # Anything else (Rhino Plane, GH_Plane wrapper, ...): try the
                # plane-to-frame conversion. If it isn't plane-shaped, surface
                # a clean error.
                try:
                    frame = plane_to_compas_frame(target)
                except Exception:
                    error(ghenv.Component, "target must be a Target, a COMPAS Frame or a Rhino Plane; got {}.".format(type(target).__name__))  # noqa: F821
                    return (None, None)
                target = FrameTarget(target_frame=frame, target_mode=TargetMode.ROBOT)
                warning(ghenv.Component, wrap_msg.format("Rhino Plane"))  # noqa: F821

        if start_state is None:
            if planner.robot_cell is None:
                error(ghenv.Component, "No start_state wired and the planner has no robot_cell to derive one from.")  # noqa: F821
                return (None, None)
            start_state = planner.robot_cell_state or RobotCellState.from_robot_cell(planner.robot_cell)
            warning(  # noqa: F821
                ghenv.Component,  # noqa: F821
                "No start_state wired; using zero-configuration default from planner.robot_cell. "
                "Wire a state explicitly to seed from a different configuration or to keep tool/workpiece attachments.",
            )

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

        try:
            configuration = planner.inverse_kinematics(
                target=target,
                robot_cell_state=start_state,
                group=group or None,
                options=options,
            )
        except BackendTargetNotSupportedError:
            # The exception is raised with no payload: surface something
            # actionable: name the target type and the planner that rejected it.
            error(  # noqa: F821
                ghenv.Component,  # noqa: F821
                "Planner '{}' does not support target type '{}'. "
                "Use a target type supported by this backend (typically `FrameTarget` "
                "for the Analytical planner) or switch backends.".format(
                    type(planner).__name__, type(target).__name__),
            )
            return (None, None)
        except InverseKinematicsError as e:
            msg = "Inverse kinematics failed: {}".format(e)
            hint = _collision_diagnostic(planner, start_state)
            if hint:
                msg += "\n" + hint
            error(ghenv.Component, msg)  # noqa: F821
            return (None, None)

        if configuration is None:
            return (None, None)

        new_state = deepcopy(start_state)
        new_state.robot_configuration = configuration
        return (configuration, new_state)

- COMPAS FAB: Inverse Kinematics
- *.*.python
- 3.*
-
420
149
550
700
- 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
1623
140
44
-
2984
1645
- 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
1625
39
40
-
2951
1645
- 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
1625
67
20
-
3032.5
1635
- 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
1645
67
20
-
3032.5
1655
- System.Private.CoreLib
- System.Object
- true
- false
- true
- IyByOiBjb21wYXNfZmFiPj0yCiIiIgpEZWNvbnN0cnVjdCBhIHBsYW5uZXIgaW50byB0aGUgcm9ib3QgY2VsbCBpdCBjdXJyZW50bHkgaG9sZHM6IHRoZQpgcm9ib3RfY2VsbGAgYW5kIGl0cyBgcm9ib3RfbW9kZWxgLgoKVGhlc2UgYXJlIHJlYWQgZnJvbSB0aGUgcGxhbm5lcidzIGNsaWVudCAodGhlIGNlbGwgbGFzdCBzZXQgb24gaXQgdmlhIGEKTG9hZCBSb2JvdCBDZWxsICsgcGxhbm5lciBzZXR1cCkuIEVhY2ggb3V0cHV0IGlzIGBOb25lYCB1bnRpbCBhIGNlbGwgaGFzCmJlZW4gbG9hZGVkLiBSZWFkcyBvbmx5OyBuZXZlciBtdXRhdGVzIHRoZSBwbGFubmVyLgoKVGhlIGNlbGwgKnN0YXRlKiBpcyBpbnRlbnRpb25hbGx5IG5vdCBleHBvc2VkOiB0aGUgc3RhdGUgaGVsZCBieSB0aGUgY2xpZW50CmlzIHdoYXRldmVyIHdhcyBsYXN0IHNldCBpbnRlcm5hbGx5IGFuZCBpcyByYXJlbHkgdGhlIG9uZSB5b3Ugd2FudC4gQnVpbGQgdGhlCnN0YXRlIHlvdSBuZWVkIGZyb20gYERlZmF1bHQgQ2VsbCBTdGF0ZWAgLyB0aGUgYEF0dGFjaCpgIGNvbXBvbmVudHMgaW5zdGVhZC4KCldvcmtzIHdpdGggYW55IHBsYW5uZXIgKE1vdmVJdCwgUHlCdWxsZXQsIEFuYWx5dGljYWwsIOKApikuCgpDT01QQVMgRkFCIHYyLjAuMAoiIiIKCmltcG9ydCBHcmFzc2hvcHBlcgppbXBvcnQgUmhpbm8KaW1wb3J0IFN5c3RlbQoKCmNsYXNzIERlY29uc3RydWN0UGxhbm5lcihHcmFzc2hvcHBlci5LZXJuZWwuR0hfU2NyaXB0SW5zdGFuY2UpOgogICAgZGVmIFJ1blNjcmlwdChzZWxmLCBwbGFubmVyKToKICAgICAgICBpZiBwbGFubmVyIGlzIE5vbmU6CiAgICAgICAgICAgIHJldHVybiAoTm9uZSwgTm9uZSkKCiAgICAgICAgcm9ib3RfY2VsbCA9IHBsYW5uZXIucm9ib3RfY2VsbAogICAgICAgIHJvYm90X21vZGVsID0gcm9ib3RfY2VsbC5yb2JvdF9tb2RlbCBpZiByb2JvdF9jZWxsIGlzIG5vdCBOb25lIGVsc2UgTm9uZQoKICAgICAgICByZXR1cm4gKHJvYm90X2NlbGwsIHJvYm90X21vZGVsKQo=
- COMPAS FAB: Deconstruct Planner
- *.*.python
- 3.*
-
362
199
550
650
- c552a431-af5b-46a9-a8a4-0fcbc27ef596
- Group
- 1
-
198;255;255;255
- A group of Grasshopper objects
- 9ec232ad-61b0-4343-8981-85448d07657d
- b0b0ce71-9d18-44f5-8b2e-5455fe593403
- 542b1cc0-7d0f-4187-8184-20fc4ea2218a
- 7184451f-2658-411b-91ab-a87e5d378b1b
- de9fe2c9-aa84-4086-8034-b21badcf11a4
- 36d4fb80-9142-4c73-81a0-e837a9435e26
- fe685839-b290-47ef-9f9d-1a89ca3428b8
- 7
- 835b579b-a39b-4036-84bd-15034f7d6ea7
- Group
- Create example linear frames
- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Plan Cartesian Motion
- true
- 2
-
iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAGKADAAQAAAABAAAAGAAAAADB/VeXAAAB3ElEQVRIDWNgoDFgRDb/////IUB+/oOHj61//PiBIoesDhubg4Pjv4K87FGg3ERGRsY1MDVwQ4CGt924ebsSJkEJraGu2g60pApkBtgCkMuBhq+mxFB0vUBLQkE+YYFK5KMrIMQ/9e4zw+m3n8HKTIV5GcyEeNG1gMyEWAAKc3RZYvhTbj+DKLsNoXJUpRiygRgEYGYygTikRihID8jF171MGBz/fGIQv3wKJMQAtxDIhpkJtgAsSwZx7foNhrcrFzGIX4JYYAYMKnQAiwN0cbz823fuMuw/cIhh7/6DYHUv9czANJZ4YCDZApDhNfXNcAfU11Qw7GfhAwcPKLLRAUkWgIJk0dIVcDNaGmsZVFWUGb4AU5TZO6wpiXgfrFm3gWH12g1gw50d7RkcHezAhoMEQEFjZq4OtxiZQdAH6OEdGhzAEBIUgGwGXjZeC5DDW1FRgSEuOoJBS1MDr4HokjgtQA/v5IRYeJCgG4KPj9UC9PB2sLcly3CQxSgWUBre2HwCt4Aa4Y3TAlBlAZSE1w3khjeyBVAz4fXBYWB9YAPyBQiAMg+lAFgfHAHWB7awIJoINNCGGgYjOQxkJgO4NAXVPKBqDkmSIia0ygTXy/BwB5lIi0qfIpcSoxkASu6xu5pSL+4AAAAASUVORK5CYII=
- 73660c5f-e6df-4df6-932b-946df58cce1c
- true
- false
- true
- COMPAS FAB: Plan Cartesian Motion
- COMPAS FAB: Plan Cartesian Motion
- 3
- false
- false
- false
- false
-
3157
2061
173
144
-
3253
2133
- 7
- 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
- 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 planner that supports plan_cartesian_motion (e.g. MoveItPlanner, PyBulletPlanner, AnalyticalKinematicsPlanner).
- ebaa97de-e83f-4642-a34e-c6ea98c79371
- planner
- planner
- true
- 0
- 2
- true
- a40f4ab6-4cf9-40fb-a23e-c9ab5e03f7e5
- 1
- A planner that supports plan_cartesian_motion (e.g. MoveItPlanner, PyBulletPlanner, AnalyticalKinematicsPlanner).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3159
2063
79
20
-
3200
2073
- System.Private.CoreLib
- System.Object
- true
- FrameWaypoints or PointAxisWaypoints to interpolate through.
- 7c688f2d-822e-4141-a183-291e778538ce
- waypoints
- waypoints
- true
- 0
- 2
- true
- 28df960e-1cab-4f10-859e-6fe4a4d07915
- 1
- FrameWaypoints or PointAxisWaypoints to interpolate through.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3159
2083
79
20
-
3200
2093
- System.Private.CoreLib
- System.Object
- true
- Starting RobotCellState. The robot's configuration in this state is used as the seed.
- dfc0021e-f98f-4a91-b634-fbe5e506bbfc
- start_state
- start_state
- true
- 0
- 2
- true
- ee419e20-228d-43a6-af93-9a9de4d9d82a
- 1
- Starting RobotCellState. The robot's configuration in this state is used as the seed.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3159
2103
79
20
-
3200
2113
- System.Private.CoreLib
- System.Object
- true
- Planning group name. Defaults to the cell's main planning group.
- 32ada174-37c7-4fcb-b584-5631d1c2b066
- group
- group
- true
- 0
- 2
- true
- 0
- Planning group name. Defaults to the cell's main planning group.
- 3aceb454-6dbd-4c5b-9b6b-e71f8c1cdf88
-
3159
2123
79
20
-
3200
2133
- System.Private.CoreLib
- System.String
- true
- Maximum interpolation step in meters. Defaults to 0.01.
- 898ebefc-bf2b-4cad-9f14-18f728c0db84
- max_step
- max_step
- true
- 0
- 2
- true
- 0
- Maximum interpolation step in meters. Defaults to 0.01.
- 9d51e32e-c038-4352-9554-f4137ca91b9a
-
3159
2143
79
20
-
3200
2153
- System.Private.CoreLib
- System.Double
- true
- If True, the planner checks for collisions along the path. Defaults to True.
- a17954b1-3f90-4bf7-99dc-98a5445b6701
- avoid_collisions
- avoid_collisions
- true
- 0
- 2
- true
- 0
- If True, the planner checks for collisions along the path. Defaults to True.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
3159
2163
79
20
-
3200
2173
- System.Private.CoreLib
- System.Boolean
- true
- Trigger planning. Defaults to False so the canvas does not plan on every refresh.
- ca2364eb-231d-4963-8c3d-b1d44274c35f
- compute
- compute
- true
- 0
- 2
- true
- e2d200a1-284c-4ff6-b369-5c827ab14a96
- 1
- Trigger planning. Defaults to False so the canvas does not plan on every refresh.
- d60527f5-b5af-4ef6-8970-5f96fe412559
-
3159
2183
79
20
-
3200
2193
- System.Private.CoreLib
- System.Boolean
- false
- Resulting JointTrajectory (full or partial). The component is flagged red (with the backend error) when planning fails outright.
- b4bd187a-0f59-474c-95e6-763ef506687f
- trajectory
- trajectory
- false
- 0
- 2
- true
- 0
- Resulting JointTrajectory (full or partial). The component is flagged red (with the backend error) when planning fails outright.
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3268
2063
60
28
-
3298
2077
- System.Private.CoreLib
- System.Object
- false
- Fraction of the requested path that was achievable (0..1).
- 6d678be8-58d6-4e8b-9cb0-9678f5f79bca
- fraction
- fraction
- false
- 0
- 2
- true
- 0
- Fraction of the requested path that was achievable (0..1).
- 1c282eeb-dd16-439f-94e4-7d92b542fe8b
-
3268
2091
60
28
-
3298
2105
- 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.
- a936999c-1deb-4d31-b6c7-c9504fd494dd
- 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
-
3268
2119
60
28
-
3298
2133
- System.Private.CoreLib
- System.Object
- false
- Polyline connecting the plane origins in trajectory order. None when the trajectory has fewer than two points.
- f10307c3-8d9c-46ea-aded-d5b38822d0d4
- 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
-
3268
2147
60
28
-
3298
2161
- 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.
- d3d563d9-70b1-4f7f-a7fb-14e43598d821
- 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
-
3268
2175
60
28
-
3298
2189
- System.Private.CoreLib
- System.Object
- true
- false
- true
- 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- COMPAS FAB: Plan Cartesian Motion
- *.*.python
- 3.*
-
598
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- b6236720-8d88-4289-93c3-ac4c99f9b97b
- Relay
- 2
- A wire relay object
- 2b8d22b3-129f-42b1-9e64-7a6c72f0a722
- Relay
- false
- 62a67c9b-fa6f-48d7-9c18-84b0a651c340
- 1
-
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- c9b2d725-6f87-4b07-af90-bd9aefef68eb
- COMPAS FAB: Plan Motion
- true
- 2
-
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- 878ee4f3-dfc7-4c1e-ab8e-487124d32510
- true
- false
- true
- COMPAS FAB: Plan Motion
- COMPAS FAB: Plan Motion
- 3
- false
- false
- false
- false
-
2663
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214
164
-
2800
1481
- 8
- 08908df5-fa14-4982-9ab2-1aa0927566aa
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- 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
1401
120
20
-
2726.5
1411
- 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
1421
120
20
-
2726.5
1431
- 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
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120
20
-
2726.5
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- 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
1461
120
20
-
2726.5
1471
- 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
1481
120
20
-
2726.5
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- 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
1501
120
20
-
2726.5
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- 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
1521
120
20
-
2726.5
1531
- 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
1541
120
20
-
2726.5
1551
- 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
1401
60
40
-
2845
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- 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
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60
40
-
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- 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
1481
60
40
-
2845
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- 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
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-
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- true
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- true
- 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- COMPAS FAB: Plan Motion
- *.*.python
- 3.*
-
516
149
550
700
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- bdce4754-a6b0-47dc-ba0c-8fef4b701886
- Number Slider
- shoulder_pan_joint
- false
- 0
-
2149
371
223
20
- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- 0
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- 1f5db91c-2547-4781-939e-e813733713e9
- Number Slider
- shoulder_lift_joint
- false
- 0
-
2149
403
217
20
- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- 0
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- f3e86788-4a7f-40b7-a645-f63aa093cd29
- Number Slider
- elbow_joint
- false
- 0
-
2149
435
185
20
- 6
- 1
- 0
- 3.141593
- -3.141593
- 0
- 0
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- bceb6ccc-7107-4426-adca-c7aac74a5c46
- Number Slider
- wrist_1_joint
- false
- 0
-
2149
467
190
20
- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- 0
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- b23ab536-0229-4863-88bd-2042b8311bb5
- Number Slider
- wrist_2_joint
- false
- 0
-
2149
499
193
20
- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- 0
- 57da07bd-ecab-415d-9d86-af36d7073abc
- Number Slider
- Numeric slider for single values
- bef9677b-8a97-4c70-8d77-7a840d3a73fb
- Number Slider
- wrist_3_joint
- false
- 0
-
2149
531
192
20
- 6
- 1
- 0
- 6.283185
- -6.283185
- 0
- 0
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iVBORw0KGgoAAAANSUhEUgAAAJYAAABkCAYAAABkW8nwAAAAAXNSR0IArs4c6QAAADhlWElmTU0AKgAAAAgAAYdpAAQAAAABAAAAGgAAAAAAAqACAAQAAAABAAAAlqADAAQAAAABAAAAZAAAAAAGd2knAAAUJklEQVR4Ae1dW5MbuXU+3WTzOpyLZiRF65VWW5W4NlVxthzbtfuSvCaVvPo9fzBP+Qt58kteXC57XevateP1WFpppOEM7+zufN9Bg8SATYqjJWeGI0AadjeAxuXg63MOgAMgEpEcf8EFCmyUAlWmlucBWxul6geeWBRFosAiHV6+fPmBkyNUfxMUePTokSYTbyKxkEaggE+BACyfIuF5IxQIwNoIGUMiPgUCsHyKhOeNUCAAayNkDIn4FAjA8ikSnjdCgQCsjZAxJOJTIADLp0h43ggFArA2QsaQiE+BACyfIuF5IxQIwNoIGUMiPgUCsHyKhOeNUCAAayNkDIn4FAjA8ikSnjdCgQCsjZAxJOJTIADLp0h43ggFArA2QsaQiE+BmQWpH3AXnmHhutTdpjX1qnLZAt9m+WwZbvN6q8CaTkXSFEUAgCJJYXtvSMGGox1+miJCiaNNdb1RlXgL/JZlYLm0UCV50ytDubIsWxKKN1G+SmUFafWDufrVsOr0sVdLjEolQz2vxl3M2A0viLgYaeM+zClGXVlf362ovR91088RGmiCgllb+4+kWqmhwVJJ0WhTtO7b81el4InTTB53kjnBtV5u5ebERbVXFtxfSMI381EVb/E9/F0hWq6+3WFfxgxaljIwd9w5Lgg+L4tG16+n8LNfUrFQir5McziZyMV0jPtIjo4OpNlMli54SVORi4sB3jJlqye15eXSAmzuh4C66PXk/KI3A9fJyYlmcGvAYqEm066Me/+FQlXk9Nt/kP7lVE6Oj+XpRz+SHMSNwcVifvlX2gYPMQDYPsTVsKzJZCp5NtQK5QLCRg3cIx4abjwZm3sNnf+wTavVWJotkoDNyUwi/c3ROHFcAWuaSDQZSYxrjJAMrZhN4ScZOFJlaQNmObmZ4WgmZQeCBGpUsNoZaOfhOfwqUVVqyJ++hluxbOWO9RgC6HmeSoSHZr05a+TyNzbnSxq8+PN38tW334Eepk5ffPETzeAWgQWRM6nIb3//QAv1m1//Wv7w9TfyxT/9XJ4/+wSB+BTplKYuYXkPkrPhVURUEPUvUq/+t1TiVEa9zyUa/wxRADaIrPPRQKKE4HTT4GMu9XpLmnsPNBvNCICIAZze264Mzs/QUJlE1YZ0B0O5ePNCHnba8uzjp0X8ZRfwGXDdeNgVqbc10hw2S965WjQZjIf4pEyRs6yOO6bgRSqSIjYPDx8XYMKHAY/ymMULG7xEAJY0Xmv7EWSuuzVgacM2KvKLnz/EV5nL55/9iyTxEYgCcIAyea0h0Yhfva9IgeWDw1kXRRm40gP5/tW/gfyZPECLtOIXklcTmYKz8UOK+OMDiylPBxJfvMIdMyw4DDjk67M38qfT76WaQhw19uTrP/xOvv79b+QXP/2ZPP/bz6wSZovgXXPJkUYOrlMZXki6/3ghb++FhccE9YuL8sbgyr64Xnhh5sF63BSskGkOVC/J71aBVavvQaf6V/3CaoeGQ/Hb5DdHQfAo32PpZ2Rzb1yFMY7RiJWOfrW9RiK9fCp7+HITcA42CkXEQjrwyyvQXQCcnKKJYhUNmuPv2fMjef4QIE/qkjUO5Msvv0TaFIa5jAjf4VBygBKebpFm99R20sMnEl0CtMwnaS5tgNlLzk0joSg3Lo5H9vZOXknfFDovW811twYsFoKSLK6U9/wUCFrWqwV2C2/viZsoSrSdU+hD7LFlEHN5HRxLwVKmwucSQ8wRPDOiZFOA4UziQSb53gmAV1dxSOJRh6EjoNnJyJGHC24NxA/LkiT4LMAB80ZH4v4bSQksVqP8GylenQcyjXUdsR1B7JeVZd003jceafLkyYl0OpAu3kd2q8B63wq57+Vgx/VaT9on/wtANWQ6/CnEXzJryBjASgkM9yXcs/FY+Qg6mCrp6IVBO5es1ob4OgQOKD6NeHRfJcja7SPXa3bv0lbBWAUAwX2it6fyFmkrV5zFdm8iNA5VAuR5TcdX6nWqBwQ/X/Zres0Erxn9+LglDx+C6yNbt/47DywlJcCV5+ySY5hAe0dGB8vgP4XIArYWHHtu6RA6VL0uOURp1twXISdizCGptKqBysPIKU3jzrPLG/vQ9xqSnp/qmM88ZH6H1/AewUG29m4OPX8T3wLe7fcn8AIHRoemCiXaL4Mbfzv35N7sb6WCTr26ewAsVCo+lmn+7wqGqA2uU1CPBM765+ilLYrbPMPwQWsfwxbsuSGitgavxcvXvBAYZ2enSIZ5zcFRgf8RxLJJfzlHIqguL8+hr1CnMu+zSAcHbYhWdAa0fIuFylCPbvccAJtKA3rgYaPpxH3PynjZ+GLOCwbJqGpA/xxcijx/osH3AFiUMBwJ75n6OrRk87RbbYQZ/cgnSK2G6peIOz/eOs8kfqcDvcxLj+ItA0eUKQHjFK40UYDd0d0Mlla/w3zrGNagvhMDWFkCNYDyEXmSExv5BEqQpcwc0lyd7CwmMT7COBmBy/urDgoD0mlNMEDKMT8H/PcCWEnCGls+dbXqjQa4xSJFNNIyLnA1hfWf6vV5b859K+Xw+Dscy7K3h0Ffz7FXuKqcbMupghaiHeN20RhjcfiQIgyVED150oLeiM4DaQBRmVPvq6LDgh6x+nkfgpc9kogwANszKgV7z47LkU9j0JVo/xgdJYj8vPi4EedeAMvUdeFzUu91vnqHVsUtP+d1P+n526sAgFYtOKdfTirdpsF8bjdPefkdGdHh4SPABjf4n5FrMTorDnDFGEuLMHWWU4dE5GgyRE/1rYZzhiFHZyWHbqn1NcTyMsshjs00jRcgle4LyQ5/LFMAl7WK2WkqHJ9Bjzzsj2Upgiv1lk070ri03ZARwVGmxzA+pVpZmC0fmeFkwqEWNqXn4Me6ZKOexL032kHJMXbIYR7ODkQTdGzGfQPCZsfMFGhPBxkvKyyzAHjjHsboOLeLzslcnYjk6dMDLcs94lgeUX/A47utCd4n8ZKGf59krvEOLQ9O//qdfPvtHwFQcCtyLoDi449PpNnGEEGRVg7/zuVr2WsfSMppKIy7ZRyknXWnHaAhzWhMnQrGAm0XVEzMpnivROE1KP4BReUcXq2GSXWd1mpA/xqh90hhqcJTKcGB4LgRy6T1AAo/BnfB4SL0psmZqJMJBpEjzlKgM0BwxgP0Xvf/xryLXw4W+y5wLJ8i9+4ZPTdyK/yrJjHs2A7QjSv0LUy4V0ZdqbPnevadvI7/HmKMBMAPRCF7ennvDBP8DdlvYcpsdKl/WfsYovAMA9GRfPOXF/LN6Su955uffPIfvNwn5V3rE348CnCohWZFdHt7exglP0TvEYoZgJODm2XNB3IwOpPe8C37kDoVZZPIAbicU2PjkVR6r9EpgM7WhiJPccgJevQYx4O+9C57M7MZ+27gWJYS9/rKUfkYI/QjBdVMLwdjSgGS6eBCKn/3z9JpYrhjFjgnSKUDMQlrEZ2sd4cnOMrfQK8z+l4V9vkbgWO5tLiX97TKIKj4x56jMakuOhLUtTF1NW3DJg5Ke6MBxd0FTkERRpsNpSC9maMOhgd3UNeGBY5lKbHD11mjL9SBQxyw9CiUayMB7ZykicwR+xRjWTGmotTytUQRX0i28GDajUYD5tOHClw3XgCWS40dvAcjQq8P0ymWCc17/Kr3RNEIOhbMq5VrcbyLPTjbi4OuBHBwFqgKE+24immnElG4iiyffvpQ+Oe7ACyfIjv4PMY0juVaXB2kg6UAGDnU8fFj2e/A/BrAo7+1TXermWEEnvYR5qdAqBvB3q8IslHsNQDLUmJnr5Gcn2NRCkfQgZ4TWDfUaBqt2g8G0+FXJyAsJ1s09MCqJK7y8R0HKOxreJn/ITZXOepzIoZ7BWCtotTOhBldCgviJEFPjQq5dRZg9lnRMntYfqNrOiEmafYdI80J2N9brHiKKHsXHPOHyc6ROe6EwQFYC0TaPY8G7ParsFiooNFz2mOti54lVaVYfXP2ZxjuTaSNieWDFtYe6OJhzC8uEYdmAn0eGIC1hLi75D0a9aGgY0IZhW6lQ9j5l3EVBM5l22L1LCYKZrdPcQqgVtW8xka3kezz1atOaIsx/QnAukqbnXsid+lAOWdnTrkJALFaE1qviknBmogzppehZyndvy5/mXOIXEspH2mcAKzlpNqZEJ0LLLiU7R3+0MJfSceCDFM4WVbGtQA/rOFMO0HH+qF0vzPvU5dOkpKu3oZLWK1y5ThNr8sT5lBGFOmghUYIHKucTjvlW6mUcZFNV4HAWZ2mC7oArNW0CqEOBVzgON6lt0u6D6Vxg2egwNoUCBxrbVLd3Yhm3riQU7hch7Nsq1YBWNui7A2lS72n2x3oHlkcqGphuKGBWeUlOvb2S2UslsPI+/Ypvd0cyJ1o154Um5twmX0Eo7xNsy3lh+/Q3t0hisCxttvuN5A6tnzC6Hi9btb0JQCVNYpZzLwQlwwwSHGiwMMJdgI0cspVOdyctSwOh7GwWKPChReFC8CylNjRKy0KRlhV08e+CVzu/gCbnOiGs6gPxSFxYK+minya3ylObIRZUOGhgfjBYFl/gDy44UoJ1yKnqlZbcoSdBa0LwLKU2NErJ39r2P2woquZMfVCrgFxaOC0olJLNHzFUqGhGZxhdQ8WUkSYhI6x7xdB6zsCS71RFusCsCwldvRKjjUeX0qvj0UN+HcAkCW+8j7jRF4lFQjLAjkgiqVjXPKFeUBuxYRtDMtFoSYLcGG9oYjZOywAy6P1Lj5a5sPdXjgwafbHn3MW2lP5LkPctzDw4xIwfztck14sB0cfSYKHtHWE7aC6kg/foE+wOPSpghP7QXBNrMhzzSoAS8mw2z8E0pSbfWAB6Rss8XL1IILtRLfoZqsrBLSyXCKv++w7G3lYKhCSnGzmUnrsP66iVTsF2LnGTdvGJxArB4cycXY6DMCy1NnRK3WsFlY2N7Df6TKXcfjB04105c45zWDKRaEupcf+qRn3YgVyuAeXLg9blglTckyXA7BWEGpXgsw4lhluKCuzO740C59LypmXe8MdpdP9J4WybsBHzrSuC8Bal1J3PF4peFaU2Yi05Xt2Qf4t6F4rklsICsBaIMmH4UFgHR4W8y8lVWZ4mT5VErXUKwCrlCwfhicXsW7LbS/lbZU4pLsTFAgcayeaaVUhcbRLossdVkW68bAArBsn+eYzvBnT5OuVO4jC69ErxF6TAgFYaxIqRLseBQKwrkevEHtNCgRgrUmoEO16FAjAuh69Quw1KRCAtSahQrTVFPDmuMNiitXkuvuhnBi+xrahW6kQ5yntn80gjGNZSuzolWflmLN0jPBZMEB4t8d715xgMjsm0yrH7MpsEwvAspTY0SsniofFeYK0E23RWlRNYmgXihvKKNrAq6zybGXgZ+Kw8gxjfHvPR+5ZSgtTWKUCwLT90gNEadKsXMqci20mqw3X4tt0AViGDjv9m8ImfcrzCbGdY4wNQtSEBkZ3Ma0/KScBBIKDZ+Ho2Tg8ohgLW+m4azJBonhinMLwj/bz8XQo3/zp/2QwTeXZwyNpNnFKBUBaxYKNKYB2hnO0jdmzyxbN2b0BWEre3ftR8KDYFIXABWAQ6ekRXTT8Xg3nXDttrTbtMEWmmXEEMESTPv4AIpzwZc8rxNZXRFXBsSBWYT2a4nmUtGWKdWUZTq2IW9iGEiBWsPLQTR6CQgsJJy9LyQAsS4kduVq9hsW19lLG/IXiDotGyYl4HByAYrBStDoAlws4FY+M436iBAZOZo1gnkwz5AymzboSB7F0UQbPzsFGap99+kzTScH5gGE9o1CQfA5k5mOAtQRULFsAFqmwI46g4gFLqveozmQKPgUX4h6kCYBVx8KJFCJMnbIt2/JGXxriwKYuT14Fp9GQGhZI4BQwwVaQ5H6NalM6PIoX4i6HvfuEonLBgVfxuGAs4FjmArCWUeYO+rMH5oOKxazjhK4qDgGogFO9xoGWPBjc6ky2GlS8mziPsIq48QAretwIVYizCDvCI/1o2pfkxSucrwNdSUEF+LlyVRPEywt+NidzDcC6So87/2TFny0ouRgPVI+KI3e5f4LVvzROASD6VaC8c4flUucAJd3nXqLgcNjMlkfz5uBqBkiW+zHYDG+UpgXPAKxllLlj/gSGDypbRAMkI7JqUNyto7/9ox/F33hMpBEgDkgYqA7DCTiNPtt7hPfAvXgmIRaiRtgNOYfyTmVf3wNni6GD5dDTstnxvkUSxSUA6yo97uyTAc+7i8d4FJk2PsHo/pmzdrhUrIzjmJMogBjlUDo8AQU+gs4WD7DV9vBcOZguZAXI2ljAavPxSxaA5VNkR58toFh8AoncyedwjEPlvl7/0cpaWrCY98HZcOpFtv/Y9CKxl0Ol+1Kk81DazQOMh2ETEtuRQPrWBWBZSuzg1YKJPUVuuFYGpvetFtPksb/Uteh01B3XpHmEMTD0CLGglWJSFXzobkLdDn8iOG8aLgBLybBbP1bUkVGQq5ieYploe796Mb2vvvqdnJ6eKmCpV/3qV/8jZ2ev5D9/+Uv5/Cf/KKO6OdoEg2JGF+OY2PACGZpDBFSTI/JfvgR7C+7OUsBwEOpARsTxSpdieNydhN5EBQjWwWCAdOcHbPb7fd3F5ujoAYYt2mBU7viWIlyzfvrxvoI9cKxNtMSW0rCiziZPMJGbbNsx32azic1G5sr5AXaToVNueQVU9IVu5ehX9AnAIhXumLOijsWyHIqNzb+bcn5+5JjXcQFY16HWFuOyIQkoOqs3bTG7rScdgLV1Eq/OwAWU5U5lb6zmVuQmN8fNysrn+wVg+RS5oed1AWWLw/hWYbd+vHIVdByT07nKtBvjdu4DsG6B7laHWsWhyoplBiwXQ5b5L8a8OZ/ZcMPNZRlyuu8UINAVWPe9oqF+N0+B/wd/Biifq3fEeAAAAABJRU5ErkJggg==