From ddda58312eec7002ca5f6da268a03d2104defc78 Mon Sep 17 00:00:00 2001
From: wenjun-dbt <wenjun@dbt-ethz.ch>
Date: Mon, 21 Mar 2022 16:46:42 +0100
Subject: [PATCH] SOLVED

---
 .../Wenjun Liu/assignment-03.gif              |  Bin 0 -> 411903 bytes
 .../Wenjun Liu/assignment-03.json             |    1 +
 .../assignment_03/Wenjun Liu/assignment_03.py |   94 +
 .../Wenjun Liu/solution_viewer.ghx            | 1824 +++++++++++++++++
 4 files changed, 1919 insertions(+)
 create mode 100644 lecture_04/assignment_03/Wenjun Liu/assignment-03.gif
 create mode 100644 lecture_04/assignment_03/Wenjun Liu/assignment-03.json
 create mode 100644 lecture_04/assignment_03/Wenjun Liu/assignment_03.py
 create mode 100644 lecture_04/assignment_03/Wenjun Liu/solution_viewer.ghx

diff --git a/lecture_04/assignment_03/Wenjun Liu/assignment-03.gif b/lecture_04/assignment_03/Wenjun Liu/assignment-03.gif
new file mode 100644
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GIT binary patch
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diff --git a/lecture_04/assignment_03/Wenjun Liu/assignment-03.json b/lecture_04/assignment_03/Wenjun Liu/assignment-03.json
new file mode 100644
index 0000000..273792f
--- /dev/null
+++ b/lecture_04/assignment_03/Wenjun Liu/assignment-03.json	
@@ -0,0 +1 @@
+[{"dtype": "compas.robots/Configuration", "value": {"joint_values": [-6.0636094922272195, 4.187176626902659, -2.125189870934173, 5.792009185209975, -4.696058345228733, 1.79790631238704], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [0.01240008447220296, 4.2845706699419654, -2.370814973134062, 5.948072284989481, -4.729403371100378, 1.582326790417698], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-0.29753737009962045, 4.343436213133126, -2.481419734085892, 5.986300862029157, -4.716036524726565, 1.272674697787544], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [5.609826463493053, 4.324444360421428, -2.4591374643863033, 6.001442647284475, -4.703762012652165, 0.8809427602808998], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [5.233071224265763, 4.268550244309271, -2.316820106064135, 5.899165847797696, -4.7210522518758244, 0.5090542698460556], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-1.3895585088618847, 4.181933924916302, -2.1084702086757003, 5.7728162036184685, -4.719709729779042, 0.19132727363993843], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-1.684754072962214, 4.0915734901061995, -1.916108822054683, 5.6694050679286985, -4.729893745355812, -0.11325806613479349], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-1.960437609016056, 4.0271115729347144, -1.7866569801980183, 5.6173616326538935, -4.7182649889008355, -0.38616564189431113], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-2.2127708092765475, -2.2983087589668427, -1.6849433877197537, 5.553794274665422, -4.720614852527842, -0.6247421191834107], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-2.457806605528404, 3.927959723211486, -1.5757451111987182, 5.50923817423025, -4.73001918384491, -0.873957860364332], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-2.6950471006081744, 3.8498881334835455, -1.3951662205573625, 5.393049462281264, -4.713467571224014, -1.1263691673269804], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}]
\ No newline at end of file
diff --git a/lecture_04/assignment_03/Wenjun Liu/assignment_03.py b/lecture_04/assignment_03/Wenjun Liu/assignment_03.py
new file mode 100644
index 0000000..9640007
--- /dev/null
+++ b/lecture_04/assignment_03/Wenjun Liu/assignment_03.py	
@@ -0,0 +1,94 @@
+"""Assignment 03: Using inverse kinematics
+"""
+import os
+import compas
+from compas_fab.backends import RosClient
+from compas_fab.robots import Configuration
+
+from compas.geometry import Frame
+from compas.geometry import Point
+from compas.geometry import Vector
+
+import math
+
+# Step 1: Inside this function, complete the main part of the solution for the assignment:
+#  - Taking a robot and a list of frames as parameter, calculate a feasible configuration for each of the frames
+#  - Try to find an optimal start_configuration for each so that the motion from one config to the next is minimized
+def calculate_ik_for_frames(robot, frames):
+    # 1. Used inverse_kinematics with set start_configuration, but found it still jumping randomly from frames
+    """
+    configs = []
+    start_config = robot.zero_configuration()
+    start_config.joint_values =(-6.058, 4.186, -2.128, 5.796, -4.712, 1.796)
+    for frame in frames:
+        config = robot.inverse_kinematics(frame, start_config)
+        configs.append(config)
+        start_config = config
+    return configs
+    """
+
+    # 2. Searching for better control to minimze the motion through motion plan
+    configs = []
+    group = robot.main_group_name
+    tolerance_position = 0.001
+    tolerance_axes = [math.radians(1)] * 3
+    start_configuration = robot.zero_configuration()
+    start_configuration.joint_values = (-6.058, 4.186, -2.128, 5.796, -4.712, 1.796)
+
+    for frame in frames:
+        goal_constraints = robot.constraints_from_frame(frame, tolerance_position, tolerance_axes, group)
+        config_check = []
+        motion_steps = []
+
+        # collect possible motion paths
+        for i in range(100): # Unstable results for 20 or 50, 100 should be satisfactory
+            trajectory = robot.plan_motion(goal_constraints, start_configuration, group, options=dict(planner_id="RRT"))
+            motion_step = len(trajectory.points)
+            motion_steps.append(motion_step)
+            config = robot.zero_configuration()
+            config.joint_values = trajectory.points[-1].joint_values
+            config_check.append(config)
+
+        # pick path with minimun motion
+        minimun_step_id = motion_steps.index(min(motion_steps))
+        print(min(motion_steps))
+        config = config_check[minimun_step_id]
+        start_configuration = config
+        configs.append(config)
+
+    return configs
+
+# Step 2: store all found configurations in a JSON file using compas.json_dump or compas.json_dumps
+def store_configurations(configurations, filename):
+    compas.json_dump(configurations,filename)
+    pass
+
+# Use the following to test from the command line
+# Or copy solution_viewer.ghx next to the folder where you created assignment_03.py to visualize the same in Grasshopper
+if __name__ == '__main__':
+
+    frames = [
+        Frame(Point(-0.329, 0.059, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.260, 0.129, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.186, 0.194, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.106, 0.252, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.020, 0.299, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.074, 0.329, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.172, 0.330, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.263, 0.295, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.339, 0.233, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.400, 0.155, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.448, 0.070, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000))]
+
+    # Loads the robot from ROS
+    with RosClient('localhost') as client:
+        robot = client.load_robot()
+
+        # Step 1: calculate IK solutions for each frame
+        configurations = calculate_ik_for_frames(robot, frames)
+        print("Found {} configurations".format(len(configurations)))
+
+        # Step 2: store all configurations in a JSON file
+        filename = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'assignment-03.json')
+        store_configurations(configurations, filename)
+        print("Stored results in {}".format(filename))
diff --git a/lecture_04/assignment_03/Wenjun Liu/solution_viewer.ghx b/lecture_04/assignment_03/Wenjun Liu/solution_viewer.ghx
new file mode 100644
index 0000000..984ddf4
--- /dev/null
+++ b/lecture_04/assignment_03/Wenjun Liu/solution_viewer.ghx	
@@ -0,0 +1,1824 @@
+<?xml version="1.0" encoding="utf-8" standalone="yes"?>
+<Archive name="Root">
+  <!--Grasshopper archive-->
+  <!--Grasshopper and GH_IO.dll are copyrighted by Robert McNeel & Associates-->
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+              </items>
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+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
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+              </chunks>
+            </chunk>
+            <chunk name="Object" index="3">
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+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
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+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="12">
+                    <item name="CodeInput" type_name="gh_string" type_code="10"># NOTE: Don't write you solution here!
+# Write the code in the assignment_03.py and if
+# the file is located in the same folder as this GH file
+# then Grasshopper will find it and import it
+from compas_ghpython import unload_modules
+unload_modules('assignment_03')
+
+try:
+    from assignment_03 import calculate_ik_for_frames
+except ImportError:
+    raise Exception("Please make sure you have the file assignment_03.py in the same location as this GH file")
+
+from compas_fab.ghpython.components import coerce_frame
+
+frames = [coerce_frame(f) for f in frames]
+configuration = calculate_ik_for_frames(robot, frames)
+</item>
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+                                </item>
+                              </items>
+                            </chunk>
+                            <chunk name="Item" index="7">
+                              <items count="1">
+                                <item name="plane" type_name="gh_plane" type_code="72">
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+                                </item>
+                              </items>
+                            </chunk>
+                            <chunk name="Item" index="8">
+                              <items count="1">
+                                <item name="plane" type_name="gh_plane" type_code="72">
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+                                </item>
+                              </items>
+                            </chunk>
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+                              </items>
+                            </chunk>
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+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="7">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;170;135;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">205c786a-b8cf-4a07-8455-eea7b91954d2</item>
+                    <item name="ID" index="1" type_name="gh_guid" type_code="9">7198f137-5adf-40bd-9365-ce004651bcdf</item>
+                    <item name="ID" index="2" type_name="gh_guid" type_code="9">9c88f1df-80d2-4fc0-a569-528fab1a8314</item>
+                    <item name="ID" index="3" type_name="gh_guid" type_code="9">716141ca-3bd8-4b27-8dca-290a69e4a2eb</item>
+                    <item name="ID_Count" type_name="gh_int32" type_code="3">4</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">a10ab389-c3a2-495c-979b-e89e0f6f17c4</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes" />
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="8">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">ROS Connect</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
+Connect or disconnect to ROS.
+
+COMPAS FAB v0.22.0
+"""
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.backends import RosClient
+from compas_fab.ghpython.components import create_id
+
+
+class ROSConnect(component):
+    def RunScript(self, ip, port, connect):
+        ros_client = None
+
+        ip = ip or '127.0.0.1'
+        port = port or 9090
+
+        key = create_id(self, 'ros_client')
+        ros_client = st.get(key, None)
+
+        if ros_client:
+            st[key].close()
+        if connect:
+            st[key] = RosClient(ip, port)
+            st[key].run(5)
+
+        ros_client = st.get(key, None)
+        is_connected = ros_client.is_connected if ros_client else False
+        return (ros_client, is_connected)
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Connect or disconnect to ROS.
+COMPAS FAB v0.22.0</item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
+                      <bitmap length="564">iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDwAACw8BkvkDpQAAAdZJREFUSEu1lD2O4kAQRrkBcwP2BnADfARuABEhcAMcEEyCQKuVCCEkY27A3ADCyUAimQyHm/V+r9bNNp5iSLwtPWF/9dvdZRohhP+KK9aJK9aJK9aJKzpk4k08W4XYiB/CYquJPJbX6zVMp9PQbrcV0XhIt9sN6/VaIVZoQLyXMGVC8piYXwp5jMfj0Gq1zK/f7yvUVsdLGnkRBV0RlHT2/g2WHH+KonmJI4PD4ZA6HwVFPd9IR1hTzWZTj76Tcjay1Wr1QWIKnE6n0Ov17DnhXeSiWnTJbvHZ7/d3BkNrg3E2m/2OBbiH4XCITkLg+YhNnMVtakRuib0CWgMMYlMUxetutzPH8vwZ00f+HB8auznHe6CxagDdnMt3ztPOkunAWYsiPcF3YYxGo19ZloXtdvtT78d4b9yDVpEmf8Eg8qiJt7gLCi0WC9v2IxjV6Mu9aU3SAh2MYhI1wZaPBMcZfwadl8n5oqX8Sya7OZkhgSJoge1Xu04pE/Ot3E4hTUQBmyDB+d7ZBIU4f4INBmE+n3/meR4ul8tS2pe4+5e/91CURRjH7BuYIIYCX/vf8fgqaKYFHxEvz6CZh8nBFUGLQl7nN7y4Kq5YJ65YJ65YJ65YH6HxB7b14P1B22tpAAAAAElFTkSuQmCC</bitmap>
+                    </item>
+                    <item name="InputIsPath" type_name="gh_bool" type_code="1">false</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">eccb9686-8536-4332-975d-684efb918cee</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">ROS Connect</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">ROS</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>178</X>
+                          <Y>187</Y>
+                          <W>153</W>
+                          <H>64</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
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+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="7">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">2</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                        <item name="OutputId" index="1" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="5">
+                        <chunk name="InputParam" index="0">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The ip address ROS. Defaults to 127.0.0.1.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">cbcceb8e-d113-460c-8c91-6474031ab1a7</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ip</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ip</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">37261734-eec7-4f50-b6a8-b8d1f3c4396b</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
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+                                  <Y>189</Y>
+                                  <W>46</W>
+                                  <H>20</H>
+                                </item>
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+                                  <X>204.5</X>
+                                  <Y>199</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The port of ROS. Defaults to 9090.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">23ab18d4-0816-4280-b382-e2cbdab4caa9</item>
+                            <item name="Name" type_name="gh_string" type_code="10">port</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">port</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">48d01794-d3d8-4aef-990e-127168822244</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>180</X>
+                                  <Y>209</Y>
+                                  <W>46</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>204.5</X>
+                                  <Y>219</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">If True, connects to ROS. If False, disconnects from ROS. Defaults to False.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">da4e32db-96ba-40c4-b661-67c91677a2ed</item>
+                            <item name="Name" type_name="gh_string" type_code="10">connect</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">connect</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">c7d255bb-e9cf-4deb-b4de-248fedfcc9fd</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">d60527f5-b5af-4ef6-8970-5f96fe412559</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>180</X>
+                                  <Y>229</Y>
+                                  <W>46</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>204.5</X>
+                                  <Y>239</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The ROS client.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">20b3b82c-7d50-4449-b49c-d0195f7b838a</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>256</X>
+                                  <Y>189</Y>
+                                  <W>73</W>
+                                  <H>30</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>292.5</X>
+                                  <Y>204</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">True if connection established.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">f636540e-bf52-4933-9f75-bdfdc23e479c</item>
+                            <item name="Name" type_name="gh_string" type_code="10">is_connected</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">is_connected</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>256</X>
+                                  <Y>219</Y>
+                                  <W>73</W>
+                                  <H>30</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>292.5</X>
+                                  <Y>234</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="9">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">ROS Robot</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
+Load robot directly from ROS.
+
+COMPAS FAB v0.22.0
+"""
+from compas_ghpython.artists import RobotModelArtist
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.ghpython.components import create_id
+
+
+class ROSRobot(component):
+    def RunScript(self, ros_client, load):
+        key = create_id(self, 'robot')
+
+        if ros_client and ros_client.is_connected and load:
+            # Load URDF from ROS
+            st[key] = ros_client.load_robot(load_geometry=True, precision='12f')
+            st[key].artist = RobotModelArtist(st[key].model)
+
+        robot = st.get(key, None)
+        if robot:  # client sometimes need to be restarted, without needing to reload geometry
+            robot.client = ros_client
+        return robot
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Load robot directly from ROS.
+COMPAS FAB v0.22.0</item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
+                      <bitmap length="441">iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDwAACw8BkvkDpQAAAVtJREFUSEu9lMFRwzAQRVMCJaSElJASUgIlUAGTEhguXHPinBJSAiWkBDow/9n6ZmWtQzwYduaNpdVqtf5redN13Z+SOtckdS5B9iCeeKbrmXMJsrNg8CkOzXo1Gao5iYtg4z6uR2SP4iqY+Ans3Y5xk00sTjfsBcmOgbjOmMK2wvs/mgNKQL8o3sRzmb8Iy5BRySLbifHNpwsM3gWHvJY5ByAb44xKRtkoTz+vJkNiBn7CQXAIr29oqNd7OWTIhHxMrmNOD0oQb2EdSYL2VUUlDjlJ5kKQMDa8lahsdEPdNFfUHFLiiYsNJ766D9WG3lHLYy7TOCOjEArLi2gcQ7ATR2bvxC1yZ/7VjI1bQu4cXjt+KeaYxd8idQLJQmLDoelPbY7UaWTxCzGnLHaO1Glkv2546xhubUz2E8i2m+YxreP7Ji9htvmt4x8O4Ffhn9q93C/R2qTO9eg2XxfZxOCoCLXEAAAAAElFTkSuQmCC</bitmap>
+                    </item>
+                    <item name="InputIsPath" type_name="gh_bool" type_code="1">false</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">ed6dd17e-9615-4209-9f27-8c842a439b86</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">ROS Robot</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Robot</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>384</X>
+                          <Y>224</Y>
+                          <W>124</W>
+                          <H>54</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>454</X>
+                          <Y>251</Y>
+                        </item>
+                      </items>
+                    </chunk>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
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+                            <item name="Name" type_name="gh_string" type_code="10">ros_client</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">If True, loads the robot from ROS. Defaults to False.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">28374d3d-390d-4b67-88a5-0746309c0629</item>
+                            <item name="Name" type_name="gh_string" type_code="10">load</item>
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+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">d4bae7b0-750f-4b86-a929-7bf58d55c307</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="10">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">Robot Visualize</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
+Visualizes the robot.
+
+COMPAS FAB v0.22.0
+"""
+from compas.geometry import Frame
+from compas.geometry import Transformation
+from compas_ghpython.artists import FrameArtist
+from compas_ghpython.artists import MeshArtist
+from ghpythonlib.componentbase import executingcomponent as component
+
+
+class RobotVisualize(component):
+    def RunScript(self, robot, group, configuration, attached_collision_meshes, show_visual, show_collision,
+                  show_frames, show_base_frame, show_end_effector_frame, show_acm):
+
+        visual = None
+        collision = None
+        attached_meshes = None
+        frames = None
+        base_frame = None
+        ee_frame = None
+
+        if robot:
+            show_visual = True if show_visual is None else show_visual
+            configuration = configuration or robot.zero_configuration()
+
+            robot.update(configuration, visual=show_visual, collision=show_collision)
+            compas_frames = robot.transformed_frames(configuration, group)
+
+            if show_visual:
+                visual = robot.artist.draw_visual()
+
+            if show_collision:
+                collision = robot.artist.draw_collision()
+
+            if show_base_frame:
+                base_compas_frame = compas_frames[0]
+                artist = FrameArtist(base_compas_frame)
+                base_frame = artist.draw()
+
+            if show_end_effector_frame:
+                ee_compas_frame = robot.forward_kinematics(configuration, group, options=dict(solver='model'))
+                artist = FrameArtist(ee_compas_frame)
+                ee_frame = artist.draw()
+
+            if show_frames:
+                frames = []
+                for compas_frame in compas_frames[1:]:
+                    artist = FrameArtist(compas_frame)
+                    frame = artist.draw()
+                    frames.append(frame)
+
+            if show_acm:
+                attached_meshes = []
+                for acm in attached_collision_meshes:
+                    frame = robot.forward_kinematics(configuration, options=dict(solver='model', link_name=acm.link_name))
+                    T = Transformation.from_frame_to_frame(Frame.worldXY(), frame)
+                    mesh = acm.collision_mesh.mesh.transformed(T)
+                    attached_meshes.append(MeshArtist(mesh).draw())
+
+        return (visual, collision, attached_meshes, frames, base_frame, ee_frame)
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Visualizes the robot.
+COMPAS FAB v0.22.0</item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
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+                    </item>
+                    <item name="InputIsPath" type_name="gh_bool" type_code="1">false</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">10a49928-eb17-4269-a1f5-98ee19233fed</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Robot Visualize</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Robot Visualize</item>
+                  </items>
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+                        </item>
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+                    </chunk>
+                    <chunk name="ParameterData">
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+                        <item name="OutputId" index="5" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="16">
+                        <chunk name="InputParam" index="0">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The robot.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">5665115c-dc6f-4b96-b649-90363f6f156d</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The planning group used for end-effector and base visualization.</item>
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+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The robot's full configuration.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">1fca49ea-0635-4a0a-b95b-c9f257682b15</item>
+                            <item name="Name" type_name="gh_string" type_code="10">configuration</item>
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+                            <item name="Access" type_name="gh_int32" type_code="3">1</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Whether or not to show the robot's visual meshes.</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
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+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Whether or not to show the robot's joint frames.</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Whether or not to show the robot's base frame.</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Whether or not to show the robot's end-effector frame.</item>
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+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Whether or not to show the attached collision meshes (if any).</item>
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+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot's visual Rhino meshes (if any).</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">d172c507-69c0-458a-97b9-642920bb140f</item>
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+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot's collision Rhino meshes (if any).</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">d53f0b28-0a87-4e89-932c-575be550c6f7</item>
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+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The attached collision Rhino meshes (if any).</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">2069798a-a5d1-4168-afa3-d64cf6264cd8</item>
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+                        <chunk name="OutputParam" index="3">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot's joint frames as Rhino planes (if any).</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">8913b320-9e60-4c95-b721-c90ef3174981</item>
+                            <item name="Name" type_name="gh_string" type_code="10">frames</item>
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+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot's base frame as a Rhino plane (if any).</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">ba6264fe-2f01-4ec7-abb3-24d0af02a5c3</item>
+                            <item name="Name" type_name="gh_string" type_code="10">base_frame</item>
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+                        <chunk name="OutputParam" index="5">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot's end-effector frame as a Rhino plane (if any).</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">cc6cd5a6-9a99-4006-be91-e55a54aacf7e</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ee_frame</item>
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\ No newline at end of file