025_robot_artist_grasshopper.ghx

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                    <item name="CodeInput" type_name="gh_string" type_code="10">from scriptcontext import sticky as st

import compas

from compas_fab.robots.ur5 import Robot
from compas_ghpython.artists import RobotModelArtist

# Robot meshes are usually in meters
# Set a high percision to prevent parsing errors
# and configure Rhino itself in meters
compas.PRECISION = '12f'

# Store robot in component-based key
robot_key = 'robot_{}'.format(str(ghenv.Component.InstanceGuid))

if robot_key not in st:
    st[robot_key] = None

if load:
    robot = Robot(load_geometry=True)
    robot.artist = RobotModelArtist(robot.model)
    st[robot_key] = robot

robot = st[robot_key]
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                    <item name="CodeInput" type_name="gh_string" type_code="10">"""Visualizes a robot.
    Inputs:
        robot: The robot
        configuration: :class:`compas_fab.robots.Configuration`
            The robot's full configuration to display.
        show_visual: bool
           Whether or not to show the robot's visual meshes.
        show_collision: bool
           Whether or not to show the robot's collision meshes.
        show_frames: bool
           Whether or not to show the robot's joint frames.
        show_base_frame: bool
           Whether or not to show the robot's base frame.
        show_end_effector_frame: bool
            Whether or not to show the robot's end-effector frame.
    Output:
        visual: The robot's visual meshes.
        collision: The robot's collision meshes.
        frames: The robot's joint frames.
        base_frame: The robot's base frame.
        ee_frame: The robot's end-effector frame.
"""
from __future__ import print_function

if robot and configuration:
    group = robot.main_group_name

    robot.update(configuration, group, visual=show_visual, collision=show_collision)

    if show_visual:
        visual = robot.artist.draw_visual()

    if show_collision:
        collision = robot.artist.draw_collision()

    if show_frames:
        axes = robot.transformed_axes(configuration, group)
        frames = robot.transformed_frames(configuration, group)

    if show_base_frame:
        base_frame = robot.transformed_frames(configuration, group)[0]

    if show_end_effector_frame:
        ee_frame = robot.forward_kinematics(configuration, group)
        print("End-effector", ee_frame)
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                        <item name="Description" type_name="gh_string" type_code="10">Vector to display</item>
                        <item name="InstanceGuid" type_name="gh_guid" type_code="9">6d469dd0-5614-4ab0-a3bc-77afa6c88ce1</item>
                        <item name="Name" type_name="gh_string" type_code="10">Vector</item>
                        <item name="NickName" type_name="gh_string" type_code="10">V</item>
                        <item name="Optional" type_name="gh_bool" type_code="1">true</item>
                        <item name="Source" index="0" type_name="gh_guid" type_code="9">cd31acf4-5674-4ec5-ad47-0097ad0aa353</item>
                        <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
                      </items>
                      <chunks count="1">
                        <chunk name="Attributes">
                          <items count="2">
                            <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
                              <X>1527</X>
                              <Y>224</Y>
                              <W>17</W>
                              <H>20</H>
                            </item>
                            <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
                              <X>1537</X>
                              <Y>234</Y>
                            </item>
                          </items>
                        </chunk>
                      </chunks>
                    </chunk>
                    <chunk name="param_input" index="2">
                      <items count="7">
                        <item name="Description" type_name="gh_string" type_code="10">Colour of vector</item>
                        <item name="InstanceGuid" type_name="gh_guid" type_code="9">ad755136-e955-4973-8dea-db14987c36da</item>
                        <item name="Name" type_name="gh_string" type_code="10">Colour</item>
                        <item name="NickName" type_name="gh_string" type_code="10">C</item>
                        <item name="Optional" type_name="gh_bool" type_code="1">true</item>
                        <item name="Source" index="0" type_name="gh_guid" type_code="9">fbcdfdbb-6f4b-4edd-9b95-6159dc933eed</item>
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                          <items count="2">
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                              <X>1527</X>
                              <Y>244</Y>
                              <W>17</W>
                              <H>20</H>
                            </item>
                            <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
                              <X>1537</X>
                              <Y>254</Y>
                            </item>
                          </items>
                        </chunk>
                        <chunk name="PersistentData">
                          <items count="1">
                            <item name="Count" type_name="gh_int32" type_code="3">1</item>
                          </items>
                          <chunks count="1">
                            <chunk name="Branch" index="0">
                              <items count="2">
                                <item name="Count" type_name="gh_int32" type_code="3">1</item>
                                <item name="Path" type_name="gh_string" type_code="10">{0}</item>
                              </items>
                              <chunks count="1">
                                <chunk name="Item" index="0">
                                  <items count="1">
                                    <item name="color" type_name="gh_drawing_color" type_code="36">
                                      <ARGB>255;0;0;0</ARGB>
                                    </item>
                                  </items>
                                </chunk>
                              </chunks>
                            </chunk>
                          </chunks>
                        </chunk>
                      </chunks>
                    </chunk>
                    <chunk name="param_input" index="3">
                      <items count="7">
                        <item name="Description" type_name="gh_string" type_code="10">Width of vector lines</item>
                        <item name="InstanceGuid" type_name="gh_guid" type_code="9">8fd4dc7a-1508-4ff7-b371-72c7fbb53e3c</item>
                        <item name="Name" type_name="gh_string" type_code="10">Width</item>
                        <item name="NickName" type_name="gh_string" type_code="10">W</item>
                        <item name="Optional" type_name="gh_bool" type_code="1">true</item>
                        <item name="Source" index="0" type_name="gh_guid" type_code="9">091dc77a-7d7b-494c-8f2f-7f67066494e8</item>
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            <chunk name="Object" index="27">
              <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">GhPython Script</item>
              </items>
              <chunks count="1">
                <chunk name="Container">
                  <items count="12">
                    <item name="CodeInput" type_name="gh_string" type_code="10">from System.Drawing import Color
from compas_ghpython.utilities import draw_frame

red = Color.FromArgb(255, 0, 0)
green = Color.FromArgb(0, 255, 0)
blue = Color.FromArgb(0, 0, 255)

P = []
V = []
C = []

scale = float(scale)

for frame in frames:
    if not frame:
        continue
    plane = draw_frame(frame)
    P += [plane.Origin] * 3
    V.append(plane.XAxis * scale)
    V.append(plane.YAxis * scale)
    V.append(plane.ZAxis * scale)
    C += [red, green, blue]

W = 3</item>
                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
                    <item name="EditorLocation" type_name="gh_drawing_point" type_code="30">
                      <X>1768</X>
                      <Y>319</Y>
                    </item>
                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
                      <W>741</W>
                      <H>702</H>
                    </item>
                    <item name="Hidden" type_name="gh_bool" type_code="1">true</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="InstanceGuid" type_name="gh_guid" type_code="9">448d489f-722b-4da6-8882-d81ca274524a</item>
                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">false</item>
                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
                    <item name="NickName" type_name="gh_string" type_code="10">draw</item>
                  </items>
                  <chunks count="2">
                    <chunk name="Attributes">
                      <items count="2">
                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
                          <X>1401</X>
                          <Y>202</Y>
                          <W>94</W>
                          <H>84</H>
                        </item>
                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
                          <X>1458</X>
                          <Y>244</Y>
                        </item>
                      </items>
                    </chunk>
                    <chunk name="ParameterData">
                      <items count="8">
                        <item name="InputCount" type_name="gh_int32" type_code="3">2</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="OutputCount" type_name="gh_int32" type_code="3">4</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>
                        <item name="OutputId" index="2" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
                        <item name="OutputId" index="3" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
                      </items>
                      <chunks count="6">
                        <chunk name="InputParam" index="0">
                          <items count="14">
                            <item name="Access" type_name="gh_int32" type_code="3">1</item>
                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
                            <item name="Description" type_name="gh_string" type_code="10">Script input frames.</item>
                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">eec433ee-04ee-44b1-88b3-51d0d3e8a402</item>
                            <item name="Name" type_name="gh_string" type_code="10">frames</item>
                            <item name="NickName" type_name="gh_string" type_code="10">frames</item>
                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">1</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">fcf52c48-b348-44c8-8168-f596c1f13a08</item>
                            <item name="Source" index="1" type_name="gh_guid" type_code="9">8c31d28a-9214-410c-8897-ecc67128bf0f</item>
                            <item name="Source" index="2" type_name="gh_guid" type_code="9">8898e1bb-d548-44fc-8810-ab6da150eda7</item>
                            <item name="SourceCount" type_name="gh_int32" type_code="3">3</item>
                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
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                                  <X>1403</X>
                                  <Y>204</Y>
                                  <W>40</W>
                                  <H>40</H>
                                </item>
                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
                                  <X>1424.5</X>
                                  <Y>224</Y>
                                </item>
                              </items>
                            </chunk>
                          </chunks>
                        </chunk>
                        <chunk name="InputParam" index="1">
                          <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">Script input scale.</item>
                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">00019900-9928-4462-8f95-15a9654838fd</item>
                            <item name="Name" type_name="gh_string" type_code="10">scale</item>
                            <item name="NickName" type_name="gh_string" type_code="10">scale</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>
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                              <items count="1">
                                <item name="Count" type_name="gh_int32" type_code="3">1</item>
                              </items>
                              <chunks count="1">
                                <chunk name="Branch" index="0">
                                  <items count="2">
                                    <item name="Count" type_name="gh_int32" type_code="3">1</item>
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                                  </items>
                                  <chunks count="1">
                                    <chunk name="Item" index="0">
                                      <items count="2">
                                        <item name="TypeName" type_name="gh_string" type_code="10">Grasshopper.Kernel.Types.GH_Number</item>
                                        <item name="number" type_name="gh_double" type_code="6">0.1</item>
                                      </items>
                                    </chunk>
                                  </chunks>
                                </chunk>
                              </chunks>
                            </chunk>
                          </chunks>
                        </chunk>
                        <chunk name="OutputParam" index="0">
                          <items count="6">
                            <item name="Description" type_name="gh_string" type_code="10">Script output P.</item>
                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">4f2593bb-a71c-4f92-b3ba-02867b6b0863</item>
                            <item name="Name" type_name="gh_string" type_code="10">P</item>
                            <item name="NickName" type_name="gh_string" type_code="10">P</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>1473</X>
                                  <Y>204</Y>
                                  <W>20</W>
                                  <H>20</H>
                                </item>
                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
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                                  <Y>214</Y>
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                            </chunk>
                          </chunks>
                        </chunk>
                        <chunk name="OutputParam" index="1">
                          <items count="6">
                            <item name="Description" type_name="gh_string" type_code="10">Script output V.</item>
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                            <item name="Name" type_name="gh_string" type_code="10">V</item>
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                                  <W>20</W>
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                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
                                  <X>1483</X>
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                          </chunks>
                        </chunk>
                        <chunk name="OutputParam" index="2">
                          <items count="6">
                            <item name="Description" type_name="gh_string" type_code="10">Script output C.</item>
                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">fbcdfdbb-6f4b-4edd-9b95-6159dc933eed</item>
                            <item name="Name" type_name="gh_string" type_code="10">C</item>
                            <item name="NickName" type_name="gh_string" type_code="10">C</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">
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                                  <X>1473</X>
                                  <Y>244</Y>
                                  <W>20</W>
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                                  <X>1483</X>
                                  <Y>254</Y>
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                            </chunk>
                          </chunks>
                        </chunk>
                        <chunk name="OutputParam" index="3">
                          <items count="6">
                            <item name="Description" type_name="gh_string" type_code="10">Script output W.</item>
                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">091dc77a-7d7b-494c-8f2f-7f67066494e8</item>
                            <item name="Name" type_name="gh_string" type_code="10">W</item>
                            <item name="NickName" type_name="gh_string" type_code="10">W</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>1473</X>
                                  <Y>264</Y>
                                  <W>20</W>
                                  <H>20</H>
                                </item>
                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
                                  <X>1483</X>
                                  <Y>274</Y>
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              </items>
              <chunks count="1">
                <chunk name="Container">
                  <items count="6">
                    <item name="Description" type_name="gh_string" type_code="10">Numeric slider for single values</item>
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                    <item name="Name" type_name="gh_string" type_code="10">Number Slider</item>
                    <item name="NickName" type_name="gh_string" type_code="10"></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>
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                          <X>1402</X>
                          <Y>178</Y>
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                        <item name="Digits" type_name="gh_int32" type_code="3">1</item>
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                        <item name="Interval" type_name="gh_int32" type_code="3">0</item>
                        <item name="Max" type_name="gh_double" type_code="6">1</item>
                        <item name="Min" type_name="gh_double" type_code="6">0</item>
                        <item name="SnapCount" type_name="gh_int32" type_code="3">0</item>
                        <item name="Value" type_name="gh_double" type_code="6">0.1</item>
                      </items>
                    </chunk>
                  </chunks>
                </chunk>
              </chunks>
            </chunk>
          </chunks>
        </chunk>
      </chunks>
    </chunk>
    <chunk name="Thumbnail">
      <items count="1">
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</bitmap>
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