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                    <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>
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COMPAS FAB v0.22.0</item>
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                    </item>
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                  </items>
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                    <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)
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COMPAS FAB v0.22.0</item>
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                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas_fab.robots import PlanningScene

from compas.artists import Artist
from compas.geometry import Frame
from compas.geometry import Transformation


scene = PlanningScene(robot)

collision_meshes = []
attached_collision_meshes = []

configuration = robot.zero_configuration()
scene = robot.client.get_planning_scene()

for co in scene.world.collision_objects:
    header = co.header
    frame_id = header.frame_id
    cms = co.to_collision_meshes()

    for cm in cms:
        if cm.frame != Frame.worldXY():
            t = Transformation.from_frame(cm.frame)
            mesh = cm.mesh.transformed(t)
        else:
            mesh = cm.mesh

        collision_meshes.append(mesh)

    for aco in scene.robot_state.attached_collision_objects:
        for acm in aco.to_attached_collision_meshes():
            frame_id = aco.object["header"]["frame_id"]
            frame = robot.forward_kinematics(configuration, options=dict(link=frame_id))
            t = Transformation.from_frame(frame)

            # Local CM frame
            if (acm.collision_mesh.frame and acm.collision_mesh.frame != Frame.worldXY()):
                t = t * Transformation.from_frame(acm.collision_mesh.frame)

            mesh = acm.collision_mesh.mesh.transformed(t)

            attached_collision_meshes.append(mesh)

a = []
for cm in collision_meshes + attached_collision_meshes:
    a.append(Artist(cm).draw_mesh())</item>
                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
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                    <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)
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COMPAS FAB v0.22.0</item>
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