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a/lecture_07/assignment_04/andrea_settimi/603_assembly_planning.py b/lecture_07/assignment_04/andrea_settimi/603_assembly_planning.py new file mode 100644 index 0000000..edc7956 --- /dev/null +++ b/lecture_07/assignment_04/andrea_settimi/603_assembly_planning.py @@ -0,0 +1,273 @@ +import math +import os + +from compas_fab.backends import RosClient +from compas_fab.robots import AttachedCollisionMesh +from compas_fab.robots import CollisionMesh +from compas_fab.robots import PlanningScene +from compas_fab.robots import Tool + +import compas +from compas.datastructures import Mesh +from compas.geometry import Box +from compas.geometry import Frame +from compas.geometry import Translation +from compas.topology import breadth_first_ordering + +HERE = os.path.dirname(__file__) + +# Load assembly +filename = os.path.join(HERE, '602_assembly_sequenced.json') +assembly = compas.json_load(filename) + + +def get_tool(): + current_folder = os.path.dirname(__file__) + mesh = Mesh.from_stl(os.path.join(current_folder, "vacuum_gripper.stl")) + frame = Frame([0, 0, 0.08], [1, 0, 0], [0, 1, 0]) + tool = Tool(mesh, frame, link_name="wrist_3_link") + return tool + + +def get_approach_vector(part_key): + return (0, 0, 0.05) + + +def get_pick_frame(part_key): + return Frame((0.3, 0.1, 0.02), (-1, 0, 0), (0, 1, 0)) + + +def get_place_frame(part_key): + part = assembly.graph.node_attribute(part_key, "part") + return part.frame + + +def prepare_scene(robot, part_key): + scene = PlanningScene(robot) + box = Box.from_diagonal([(-0.7, -0.7, 0), (0.7, 0.7, -0.02)]) + mesh = Mesh.from_shape(box) + scene.add_collision_mesh(CollisionMesh(mesh, "floor")) + + for k in get_part_sequence(): + if part_key == k: + break + + part = assembly.graph.node_attribute(k, "part") + mesh = Mesh.from_shape(part.shape) + scene.append_collision_mesh(CollisionMesh(mesh, "brick_wall", frame=part.frame)) + + +def get_start_configuration(robot): + config = robot.zero_configuration() + config.joint_values = (-0.306, 4.351, 2.231, -2.869, 4.712, 1.465) + return config + + +def get_part_shape(part_key): + part = assembly.graph.node_attribute(part_key, "part") + return part.shape + + +def get_part_sequence(): + root_part_key = "0" + sequence = breadth_first_ordering(assembly.graph.adjacency, root_part_key) + return sequence + + +def get_tolerance_joints(): + return [math.radians(1)] * 6 + + +def get_planner_id(): + return "TRRT" + + +# PICK & PLACE PROCEDURE + +def adjust_to_attached_tool(robot, frame): + if not robot.attached_tool: + return frame + return robot.from_tcf_to_t0cf([frame])[0] + + +client = RosClient("localhost") +client.run() + +robot = client.load_robot() + +start_configuration = get_start_configuration(robot) + +tool = get_tool() +if tool: + robot.attach_tool(tool) + +assembly.attributes['start_configuration'] = start_configuration.data +assembly.attributes['tool'] = tool.data + +#for part_key in get_part_sequence(): +for part_key in get_part_sequence()[0:21]: + part = assembly.graph.node_attribute(part_key, "part") + + scene = PlanningScene(robot) + scene.reset() + prepare_scene(robot, part_key) + + print("Part {}\n--------".format(part_key)) + print(" [ ] Pick frame + approach vector reachability\r", flush=True, end='') + pick_frame = adjust_to_attached_tool(robot, get_pick_frame(part_key)) + approach_pick_frame = pick_frame.transformed( + Translation.from_vector(get_approach_vector(part_key)) + ) + + approach_pick_config = robot.inverse_kinematics( + approach_pick_frame, start_configuration + ) + part.attributes["approach_pick_config"] = approach_pick_config + print(" [OK]") + + print(" [ ] Pick frame\r", flush=True, end='') + pick_config = robot.inverse_kinematics(pick_frame, approach_pick_config) + part.attributes["pick_config"] = pick_config + print(" [OK]") + + print(" [ ] Place frame + approach vector\r", flush=True, end='') + place_frame = adjust_to_attached_tool(robot, get_place_frame(part_key)) + approach_place_frame = place_frame.transformed( + Translation.from_vector(get_approach_vector(part_key)) + ) + + # we use the approach pick config as start, because we estimate is the closest + approach_place_config = robot.inverse_kinematics( + approach_place_frame, approach_pick_config + ) + part.attributes["approach_place_config"] = approach_place_config + print(" [OK]") + + print(" [ ] Place frame\r", flush=True, end='') + place_config = robot.inverse_kinematics(place_frame, approach_place_config) + part.attributes["place_config"] = place_config + print(" [OK]") + + print(" [ ] Pick path (before)\r", flush=True, end='') + frames = [approach_pick_frame, pick_frame] + pick_trajectory = robot.plan_cartesian_motion( + frames, + approach_pick_config, + options=dict( + max_step=0.01, + avoid_collisions=True, + ), + ) + + if pick_trajectory.fraction < 1.0: + raise Exception("Found a pick trajectory but it is not complete") + + print(" [OK]") + part.attributes["pick_trajectory"] = pick_trajectory + + print(" [ ] Pick path (after)\r", flush=True, end='') + frames = [pick_frame, approach_pick_frame] + + # Create ACM with shape + part_shape = get_part_shape(part_key) + part_mesh = Mesh.from_shape(part_shape) + + ee_link_name = robot.attached_tool.link_name + attach_frame = robot.attached_tool.frame.copy() + attach_frame.xaxis.x *= -1 + part_acms = [AttachedCollisionMesh(CollisionMesh(part_mesh, 'brick', attach_frame), ee_link_name)] + + pick_trajectory_after = robot.plan_cartesian_motion( + frames, + pick_trajectory.points[-1], + options=dict( + max_step=0.01, + avoid_collisions=True, + attached_collision_meshes=part_acms, + ), + ) + + if pick_trajectory_after.fraction < 1.0: + raise Exception("Found a pick trajectory (after) but it is not complete") + + print(" [OK]") + part.attributes["pick_trajectory_after"] = pick_trajectory_after + + print(" [ ] Place path (before)\r", flush=True, end='') + frames = [approach_place_frame, place_frame] + place_trajectory = robot.plan_cartesian_motion( + frames, + approach_place_config, + options=dict( + max_step=0.01, + avoid_collisions=True, + attached_collision_meshes=part_acms, + ), + ) + + if pick_trajectory.fraction < 1.0: + raise Exception("Found a place trajectory but it is not complete") + + print(" [OK]") + part.attributes["place_trajectory"] = place_trajectory + + print(" [ ] Place path (after)\r", flush=True, end='') + frames = [place_frame, approach_place_frame] + place_trajectory_after = robot.plan_cartesian_motion( + frames, + place_trajectory.points[-1], + options=dict( + max_step=0.01, + avoid_collisions=True, + ), + ) + + if place_trajectory_after.fraction < 1.0: + raise Exception("Found a place trajectory (after) but it is not complete") + + print(" [OK]") + part.attributes["place_trajectory_after"] = place_trajectory_after + + print(" [ ] Free space path\r", flush=True, end='') + goal_constraints = robot.constraints_from_configuration( + approach_place_config, + tolerances_above=get_tolerance_joints(), + tolerances_below=get_tolerance_joints(), + ) + + freespace_trajectory = robot.plan_motion( + goal_constraints, + approach_pick_config, + options=dict( + planner_id=get_planner_id(), + attached_collision_meshes=part_acms, + ), + ) + print(" [OK]") + part.attributes["freespace_trajectory"] = freespace_trajectory + + print(" [ ] Start config path\r", flush=True, end='') + goal_constraints = robot.constraints_from_configuration( + approach_pick_config, + tolerances_above=get_tolerance_joints(), + tolerances_below=get_tolerance_joints(), + ) + + start_trajectory = robot.plan_motion( + goal_constraints, start_configuration, options=dict(planner_id=get_planner_id()) + ) + print(" [OK]") + part.attributes["start_trajectory"] = start_trajectory + print() + + +scene = PlanningScene(robot) +scene.remove_collision_mesh("brick_wall") + +client.close() + +compas.json_dump( + assembly, + os.path.join(HERE, "603_assembly_planning.json"), + pretty=True, +) diff --git a/lecture_07/assignment_04/andrea_settimi/605_designer_viewer.ghx b/lecture_07/assignment_04/andrea_settimi/605_designer_viewer.ghx new file mode 100644 index 0000000..3cddaa6 --- /dev/null +++ b/lecture_07/assignment_04/andrea_settimi/605_designer_viewer.ghx @@ -0,0 +1,4268 @@ + + + + + + + + 0 + 2 + 2 + + + + + + + 1 + 0 + 7 + + + + + + c4f913db-409d-41a9-88e1-f6f90989047d + Shaded + 1 + + 100;150;0;0 + + + 100;0;150;0 + + + + + + 637527254194888879 + + 605_designer_viewer.ghx + + + + + 0 + + + + + + -635 + 179 + + 1.76470578 + + + + + 0 + + + + + + + 0 + + + + + 1 + + + + + GhPython, Version=7.11.21293.9001, Culture=neutral, PublicKeyToken=null + 7.11.21293.9001 + + 00000000-0000-0000-0000-000000000000 + + + + + + + + + 39 + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 47c152bc-c823-4835-aad3-3bf5c281e892 + Boolean Toggle + Connect + false + 0 + true + + + + + + 1696 + 191 + 110 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + d19cf29a-0512-4632-b4e0-ecc00c5b8487 + Boolean Toggle + Load robot + false + 0 + true + + + + + + 2029 + 176 + 124 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + bfe572e7-d997-4c3c-8488-4e03d01804ea + b278407c-79b3-49ef-a2c8-ee682b33d9ef + 6fe2e9d2-130c-4a02-b347-a1c6b831fc5a + 9a4be73c-3082-4c74-be27-41c7c1688c53 + 4 + 3dd78fb5-3c65-4715-b2db-b9489d44fd71 + Group + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 17028381-67dc-426c-b63d-aa99881b3b04 + Button + Refresh + false + 0 + + + + + + 2450 + 464 + 106 + 22 + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + d5ffda3e-a3ab-4688-9de8-1d9d9e2789e3 + 4b0a07e0-a378-4f92-8f0a-6c1f1fb427f2 + 1d31a79f-b7ba-423f-944c-23f606999dae + eaec99d4-5f03-4209-953f-02aee1235de3 + 4a5bf47a-b0af-4831-a451-6b776364bb7e + 5 + 5a4ca04f-0f26-4978-bcce-92edaa3c4b8e + Group + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 781a5de8-c54c-4805-927f-519a45da032f + 4b0a07e0-a378-4f92-8f0a-6c1f1fb427f2 + 1d31a79f-b7ba-423f-944c-23f606999dae + eaec99d4-5f03-4209-953f-02aee1235de3 + 4a5bf47a-b0af-4831-a451-6b776364bb7e + 20c7f0ab-fd13-4bd7-a130-c6fe893d2a0b + 47c152bc-c823-4835-aad3-3bf5c281e892 + d19cf29a-0512-4632-b4e0-ecc00c5b8487 + 2ceac33a-a5ff-4a42-8067-32e6a2c7fbee + ac227038-eb23-4cb5-94d8-f63bb92375a4 + b3787c61-219b-4ed9-b49f-1e7dd56236b1 + b395bfb0-5717-46c4-924c-a3ba167b1e0d + 12 + 8b8d6fbf-db19-4267-9188-c4fdd76620b6 + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Robot + + + + + """ +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 + + Load robot directly from ROS. +COMPAS FAB v0.22.0 + + 128 + 128 + + + 741 + 702 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAVtJREFUSEu9lMFRwzAQRVMCJaSElJASUgIlUAGTEhguXHPinBJSAiWkBDow/9n6ZmWtQzwYduaNpdVqtf5redN13Z+SOtckdS5B9iCeeKbrmXMJsrNg8CkOzXo1Gao5iYtg4z6uR2SP4iqY+Ans3Y5xk00sTjfsBcmOgbjOmMK2wvs/mgNKQL8o3sRzmb8Iy5BRySLbifHNpwsM3gWHvJY5ByAb44xKRtkoTz+vJkNiBn7CQXAIr29oqNd7OWTIhHxMrmNOD0oQb2EdSYL2VUUlDjlJ5kKQMDa8lahsdEPdNFfUHFLiiYsNJ766D9WG3lHLYy7TOCOjEArLi2gcQ7ATR2bvxC1yZ/7VjI1bQu4cXjt+KeaYxd8idQLJQmLDoelPbY7UaWTxCzGnLHaO1Glkv2546xhubUz2E8i2m+YxreP7Ji9htvmt4x8O4Ffhn9q93C/R2qTO9eg2XxfZxOCoCLXEAAAAAElFTkSuQmCC + + false + b3787c61-219b-4ed9-b49f-1e7dd56236b1 + true + true + ROS Robot + Robot + + + + + + 2185 + 155 + 124 + 44 + + + 2255 + 177 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ROS client. + a34ce3d4-7190-487d-b89c-7803fbd9040c + ros_client + ros_client + true + 0 + true + 51bb7217-0489-4cbc-a975-8105ed3ab446 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2187 + 157 + 53 + 20 + + + 2215 + 167 + + + + + + + + true + If True, loads the robot from ROS. Defaults to False. + ab79ae9f-675f-4a76-8274-91717421e6e2 + load + load + true + 0 + true + d19cf29a-0512-4632-b4e0-ecc00c5b8487 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2187 + 177 + 53 + 20 + + + 2215 + 187 + + + + + + + + The robot. + 3d7f53c1-306c-4029-a7cf-3d86c2b6f41a + robot + robot + false + 0 + + + + + + 2270 + 157 + 37 + 40 + + + 2288.5 + 177 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + Robot Visualize + + + + + """ +Visualizes the robot. + +COMPAS FAB v0.22.0 +""" +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=acm.link_name)) + T = Transformation.from_frame_to_frame(acm.collision_mesh.frame, frame) + mesh = acm.collision_mesh.mesh.transformed(T) + attached_meshes.append(MeshArtist(mesh).draw()) + + return (visual, collision, attached_meshes, frames, base_frame, ee_frame) + + Visualizes the robot. +COMPAS FAB v0.22.0 + + 102 + 102 + + + 625 + 625 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAdhJREFUSEu1lLFKA0EQhlUIQVBMOhGLgGAtxAcIYmmRJpWNrZ2dhSCWqURtxC6VRSofIYWlhS8QyBMEOzvP/zt2jtm9VSLEg+9ud2bnn9nZu1spiuJfyRqXSdb4F3ZvX1vigmfOXzP8FQm/iEJ8iH7qjyZUIUZiIgjseb9HvjMxE4jbE4jt2Lo0CGca0BOI3Ti8nzGFdYTFv9cShAWlUzyK6zC/E9aGHFFbND8Q1c5TBwHPgiQPYU4C2uZFPVEbNa/aA9wqg5wIE2RP6AuSsH2DAzV/2Q49aRPtwzYzTW5VBXKwC+sjIvQ+qiiso52IWSG00B941CKfwA7UDs0qqiUJ61nnD5z10ffALe2hb48x8Ws88lEIhWWLqBnC4jQBRIUsStYosdxbUx6croFgAJcWo6st5sE+ruw28EiMbfs3xbjBnxWKEw8quw1SEEvEgaQtCQydWJv1zjb3OpFoisT8G2KMJNINYlBWq8t2NfQakWCKxH48cAlNg+CT8AmPvUYkCArmq82JRmydnJeCa+sbX42dvfsgPk31ogko2L7kX9m+GpcJYLXR/AzjqD0QTUDBCyWA5v5hlSTQTfWiCSiQX4X91H5l8+jUzgHeUi2oGZZN1rg8ipVvhzuVIxcFIsQAAAAASUVORK5CYII= + + false + a87a6a0d-8bb4-497c-84b8-96df1f4bd217 + true + true + Robot Visualize + Robot Visualize + + + + + + 2452 + 157 + 261 + 204 + + + 2603 + 259 + + + + + + 10 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 6 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The robot. + f8e4d60b-5c7d-48dd-a884-0909c03623a0 + robot + robot + true + 0 + true + 68724473-d62b-4475-9e4e-77afe9861d0e + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2454 + 159 + 134 + 20 + + + 2522.5 + 169 + + + + + + + + true + The planning group used for end-effector and base visualization. + b8466ca5-a479-4a7d-bc9f-c907625ca08c + group + group + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 2454 + 179 + 134 + 20 + + + 2522.5 + 189 + + + + + + + + true + The robot's full configuration. + 1a217c48-22d0-4748-a222-62e7ec8ac096 + configuration + configuration + true + 0 + true + 4e83c647-4911-4d1c-bea9-72d49c075a5c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2454 + 199 + 134 + 20 + + + 2522.5 + 209 + + + + + + + + 1 + true + A list of attached collision meshes. + fa9fb850-b867-4fd7-8a04-25da1e35be1d + attached_collision_meshes + attached_collision_meshes + true + 1 + true + d0e4a4cd-00c4-462d-9a30-591affc5ac83 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2454 + 219 + 134 + 20 + + + 2522.5 + 229 + + + + + + + + true + Whether or not to show the robot's visual meshes. + 74f91ec4-391b-47ae-bc23-1a5eab8e22f8 + show_visual + show_visual + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2454 + 239 + 134 + 20 + + + 2522.5 + 249 + + + + + + + + true + Whether or not to show the robot's collision meshes. + 2e77b661-fdd0-494f-86fc-8f3473229556 + show_collision + show_collision + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2454 + 259 + 134 + 20 + + + 2522.5 + 269 + + + + + + + + true + Whether or not to show the robot's joint frames. + acd334bb-8389-47fa-b160-c03b63705bd2 + show_frames + show_frames + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2454 + 279 + 134 + 20 + + + 2522.5 + 289 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + true + + + + + + + + + + + true + Whether or not to show the robot's base frame. + ca2c657e-d173-47c4-9bef-e93f3f942442 + show_base_frame + show_base_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2454 + 299 + 134 + 20 + + + 2522.5 + 309 + + + + + + + + true + Whether or not to show the robot's end-effector frame. + 31d64b41-65c9-4c2c-b112-e7391fa918c3 + show_end_effector_frame + show_end_effector_frame + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2454 + 319 + 134 + 20 + + + 2522.5 + 329 + + + + + + + + true + Whether or not to show the attached collision meshes (if any). + 53598644-48b9-4a15-8136-36f6f57c32a0 + show_acm + show_acm + true + 0 + true + 0 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 2454 + 339 + 134 + 20 + + + 2522.5 + 349 + + + + + + 1 + + + + + 1 + {0} + + + + + Grasshopper.Kernel.Types.GH_Boolean + true + + + + + + + + + + + The robot's visual Rhino meshes (if any). + e926db46-928c-4569-b496-5cbf60627f54 + visual + visual + false + 0 + + + + + + 2618 + 159 + 93 + 33 + + + 2664.5 + 175.6667 + + + + + + + + The robot's collision Rhino meshes (if any). + 3ee5cd9a-7e9f-4cf5-81d0-f46f78d8ae15 + collision + collision + false + 0 + + + + + + 2618 + 192 + 93 + 33 + + + 2664.5 + 209 + + + + + + + + The attached collision Rhino meshes (if any). + 2de14ca4-26ad-4daf-ab2c-40b70bb439e8 + attached_meshes + attached_meshes + false + 0 + + + + + + 2618 + 225 + 93 + 34 + + + 2664.5 + 242.3333 + + + + + + + + The robot's joint frames as Rhino planes (if any). + b5f1fcfd-7f1f-4953-bfc1-7aff06160aec + frames + frames + false + 0 + + + + + + 2618 + 259 + 93 + 33 + + + 2664.5 + 275.6667 + + + + + + + + The robot's base frame as a Rhino plane (if any). + 09ba9e26-d9cb-45b0-9acb-acaa5af5f330 + base_frame + base_frame + false + 0 + + + + + + 2618 + 292 + 93 + 33 + + + 2664.5 + 309 + + + + + + + + The robot's end-effector frame as a Rhino plane (if any). + 995c1e6e-5fa2-4ff4-ab64-5421fb453a8f + ee_frame + ee_frame + false + 0 + + + + + + 2618 + 325 + 93 + 34 + + + 2664.5 + 342.3333 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + 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()) + GhPython provides a Python script component + + 128 + 128 + + + 625 + 625 + + true + true + false + 0f66c062-f420-491e-99bf-52f71c9dba1b + false + true + GhPython Script + Planning scene + + + + + + 2619 + 427 + 90 + 44 + + + 2676 + 449 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 949f1693-7b48-439c-954f-d2c3bd5155d0 + robot + robot + true + 0 + true + 68724473-d62b-4475-9e4e-77afe9861d0e + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2621 + 429 + 40 + 20 + + + 2642.5 + 439 + + + + + + + + true + Script input refresh. + a8991db6-0e94-49be-a9c2-5f275b0f191c + refresh + refresh + true + 0 + true + 17028381-67dc-426c-b63d-aa99881b3b04 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2621 + 449 + 40 + 20 + + + 2642.5 + 459 + + + + + + + + Script output a. + 61fc884b-93ba-46f6-bb4a-68e3c2da4761 + a + a + false + 0 + + + + + + 2691 + 429 + 16 + 40 + + + 2699 + 449 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + ROS Connect + + + + + """ +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) + + Connect or disconnect to ROS. +COMPAS FAB v0.22.0 + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDAAACwwBP0AiyAAAAdZJREFUSEu1lD2O4kAQRrkBcwP2BnADfARuABEhcAMcEEyCQKuVCCEkY27A3ADCyUAimQyHm/V+r9bNNp5iSLwtPWF/9dvdZRohhP+KK9aJK9aJK9aJKzpk4k08W4XYiB/CYquJPJbX6zVMp9PQbrcV0XhIt9sN6/VaIVZoQLyXMGVC8piYXwp5jMfj0Gq1zK/f7yvUVsdLGnkRBV0RlHT2/g2WHH+KonmJI4PD4ZA6HwVFPd9IR1hTzWZTj76Tcjay1Wr1QWIKnE6n0Ov17DnhXeSiWnTJbvHZ7/d3BkNrg3E2m/2OBbiH4XCITkLg+YhNnMVtakRuib0CWgMMYlMUxetutzPH8vwZ00f+HB8auznHe6CxagDdnMt3ztPOkunAWYsiPcF3YYxGo19ZloXtdvtT78d4b9yDVpEmf8Eg8qiJt7gLCi0WC9v2IxjV6Mu9aU3SAh2MYhI1wZaPBMcZfwadl8n5oqX8Sya7OZkhgSJoge1Xu04pE/Ot3E4hTUQBmyDB+d7ZBIU4f4INBmE+n3/meR4ul8tS2pe4+5e/91CURRjH7BuYIIYCX/vf8fgqaKYFHxEvz6CZh8nBFUGLQl7nN7y4Kq5YJ65YJ65YJ65YH6HxB7b14P1B22tpAAAAAElFTkSuQmCC + + false + b395bfb0-5717-46c4-924c-a3ba167b1e0d + true + true + ROS Connect + ROS + + + + + + 1849 + 150 + 153 + 64 + + + 1912 + 182 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + The ip address ROS. Defaults to 127.0.0.1. + 31f19737-dc6f-48d5-8f79-458e28a219a9 + ip + ip + true + 0 + true + 0 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1851 + 152 + 46 + 20 + + + 1875.5 + 162 + + + + + + + + true + The port of ROS. Defaults to 9090. + 0b8ffd50-d934-4b0e-b890-3dc6198aead1 + port + port + true + 0 + true + 0 + 48d01794-d3d8-4aef-990e-127168822244 + + + + + + 1851 + 172 + 46 + 20 + + + 1875.5 + 182 + + + + + + + + true + If True, connects to ROS. If False, disconnects from ROS. Defaults to False. + a7bcd195-8f9e-46e5-8ee0-d2963e6d5dfc + connect + connect + true + 0 + true + 47c152bc-c823-4835-aad3-3bf5c281e892 + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1851 + 192 + 46 + 20 + + + 1875.5 + 202 + + + + + + + + The ROS client. + 51bb7217-0489-4cbc-a975-8105ed3ab446 + ros_client + ros_client + false + 0 + + + + + + 1927 + 152 + 73 + 30 + + + 1963.5 + 167 + + + + + + + + True if connection established. + 36631ff9-a50d-4724-a685-339a8c579060 + is_connected + is_connected + false + 0 + + + + + + 1927 + 182 + 73 + 30 + + + 1963.5 + 197 + + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 17028381-67dc-426c-b63d-aa99881b3b04 + a87a6a0d-8bb4-497c-84b8-96df1f4bd217 + 0f66c062-f420-491e-99bf-52f71c9dba1b + 24f41d33-f070-475f-99f9-e07c643f6eed + b525d8c3-b33c-445b-903a-126952f48b7f + 5 + b0ec1c4b-87fd-4843-ab7a-bbcb3aeba8ba + Group + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 1fb2a096-9295-492c-91de-e94ed5ea700c + Number Slider + + false + 0 + + + + + + 1933 + 370 + 160 + 20 + + + 1933.632 + 370.0449 + + + + + + 3 + 1 + 1 + 100 + 0 + 0 + 0 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + trajectory_keys = ("start_trajectory", + "pick_trajectory", + "pick_trajectory_after", + "freespace_trajectory", + "place_trajectory", + "place_trajectory_after",) + +# NOTE: Replace this with assembly.find_by_key after this is merged: +# https://github.com/compas-dev/compas/pull/1032 +part = assembly.graph.node_attribute(str(int(part)), "part") + +lbound = 0 +ubound = 0 +i = int(i) +total = sum([len(part.attributes[traj_name].points) for traj_name in trajectory_keys]) +if i >= total: + raise Exception('Max number of trajectory points is ' + str(total)) + +for traj_name in trajectory_keys: + traj = part.attributes[traj_name] + ubound += len(traj.points) + + if i >= ubound: + lbound = ubound + continue + + config = traj.points[i - lbound] + acms = traj.attached_collision_meshes + break + + GhPython provides a Python script component + + 748 + 266 + + + 741 + 702 + + true + true + false + ef427d3d-0cb8-46a8-b3fe-e2deabea2dae + false + true + GhPython Script + Load plans + + + + + + 2185 + 308 + 126 + 64 + + + 2254 + 340 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 3 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Load plans + f9670fe3-5d33-44a7-bd7a-05eae705257b + assembly + assembly + true + 0 + true + a65a6ff1-9bfb-4c9f-9544-9e05fbd0d1e5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2187 + 310 + 52 + 20 + + + 2214.5 + 320 + + + + + + + + true + Script input part. + 2e5da8b0-9317-449b-b596-4d8331ebae16 + part + part + true + 0 + true + b79b95f5-0c50-4cab-8538-5398e294941a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2187 + 330 + 52 + 20 + + + 2214.5 + 340 + + + + + + + + true + Script input i. + 4282fb34-6b43-482c-bd4e-55819b9314b1 + i + i + true + 0 + true + 1fb2a096-9295-492c-91de-e94ed5ea700c + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2187 + 350 + 52 + 20 + + + 2214.5 + 360 + + + + + + + + Script output total. + d5d3b17a-66b6-4c92-9497-754a9b23e3ee + total + total + false + 0 + + + + + + 2269 + 310 + 40 + 20 + + + 2289 + 320 + + + + + + + + Script output config. + 4e83c647-4911-4d1c-bea9-72d49c075a5c + config + config + false + 0 + + + + + + 2269 + 330 + 40 + 20 + + + 2289 + 340 + + + + + + + + Script output acms. + d0e4a4cd-00c4-462d-9a30-591affc5ac83 + acms + acms + false + 0 + + + + + + 2269 + 350 + 40 + 20 + + + 2289 + 360 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + b79b95f5-0c50-4cab-8538-5398e294941a + Number Slider + + false + 0 + + + + + + 1933 + 344 + 160 + 20 + + + 1933.614 + 344.4849 + + + + + + 3 + 1 + 1 + 100 + 0 + 0 + 4 + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + 33b94531-ff8d-4894-a4b1-ba64445ccb98 + File Path + Path + false + 0 + + + + + + 1933 + 273 + 50 + 24 + + + 1958.68 + 285.189 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\COMPAS-II-FS2022\lecture_07\603_assembly_planning.json + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 150;170;135;255 + + A group of Grasshopper objects + 1fb2a096-9295-492c-91de-e94ed5ea700c + ef427d3d-0cb8-46a8-b3fe-e2deabea2dae + b79b95f5-0c50-4cab-8538-5398e294941a + 33b94531-ff8d-4894-a4b1-ba64445ccb98 + 8ec671f1-7f26-45e5-89b2-b17fb67f7612 + 0cf48ac9-cb12-4bc6-b576-c465cfcf7f8d + 6 + d821fd6f-d64c-4e6f-823a-f00a785c74c4 + Group + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + import compas +from compas_fab.robots import Tool + +assembly = compas.json_load(filename) +if 'tool' in assembly.attributes: + tool = Tool.from_data(assembly.attributes['tool']) + robot.attach_tool(tool) + + GhPython provides a Python script component + + 1179 + -663 + + + 741 + 702 + + true + true + false + 8ec671f1-7f26-45e5-89b2-b17fb67f7612 + false + true + GhPython Script + Load + + + + + + 2007 + 272 + 138 + 64 + + + 2073 + 304 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 131048d9-1bdd-4982-9cb4-d411ffabd072 + filename + filename + true + 0 + true + 33b94531-ff8d-4894-a4b1-ba64445ccb98 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2009 + 274 + 49 + 20 + + + 2035 + 284 + + + + + + + + true + Script input robot. + d4db18e4-f019-44c1-9c1c-3283c14b5f92 + robot + robot + true + 0 + true + 3d7f53c1-306c-4029-a7cf-3d86c2b6f41a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2009 + 294 + 49 + 20 + + + 2035 + 304 + + + + + + + + true + Script input reload. + 34d23e95-862a-47a2-8acd-0c53b82b54ed + reload + reload + true + 0 + true + 0cf48ac9-cb12-4bc6-b576-c465cfcf7f8d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + 2 + + + + + + 2009 + 314 + 49 + 20 + + + 2035 + 324 + + + + + + + + Script output robot. + 68724473-d62b-4475-9e4e-77afe9861d0e + robot + robot + false + 0 + + + + + + 2088 + 274 + 55 + 30 + + + 2115.5 + 289 + + + + + + + + Script output assembly. + a65a6ff1-9bfb-4c9f-9544-9e05fbd0d1e5 + assembly + assembly + false + 0 + + + + + + 2088 + 304 + 55 + 30 + + + 2115.5 + 319 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.artists import Artist +from compas.topology import breadth_first_ordering + +a = [] + +root_part_key = "0" +sequence = breadth_first_ordering(assembly.graph.adjacency, root_part_key) +current_part = str(int(current_part)) + +for part_key in sequence: + part = assembly.graph.node_attribute(part_key, "part") + if only_until_current and str(part_key) == current_part: + break + mesh = part.geometry + artist = Artist(mesh) + a.append(artist.draw()) + + GhPython provides a Python script component + + 1474 + -644 + + + 741 + 702 + + true + true + false + 24f41d33-f070-475f-99f9-e07c643f6eed + false + true + GhPython Script + Built assembly + + + + + + 2569 + 572 + 143 + 64 + + + 2679 + 604 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + b54a35b5-ba7a-4a54-aba0-0dd65f4cd112 + assembly + assembly + true + 0 + true + a65a6ff1-9bfb-4c9f-9544-9e05fbd0d1e5 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2571 + 574 + 93 + 20 + + + 2619 + 584 + + + + + + + + true + Script input current_part. + 8fd875c5-22a2-433f-9d25-d1eeae9c1e1d + current_part + current_part + true + 0 + true + b79b95f5-0c50-4cab-8538-5398e294941a + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2571 + 594 + 93 + 20 + + + 2619 + 604 + + + + + + + + true + Script input only_until_current. + baf9f35b-fe4d-444f-a2e6-20abe40fb25a + only_until_current + only_until_current + true + 0 + true + b525d8c3-b33c-445b-903a-126952f48b7f + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 2571 + 614 + 93 + 20 + + + 2619 + 624 + + + + + + + + Script output a. + 4e584763-ed58-4db9-9320-cb59266598f7 + a + a + false + 0 + + + + + + 2694 + 574 + 16 + 60 + + + 2702 + 604 + + + + + + + + + + + + + + a8b97322-2d53-47cd-905e-b932c3ccd74e + Button + + + + + Button object with two values + False + True + 0cf48ac9-cb12-4bc6-b576-c465cfcf7f8d + Button + Button + false + 0 + + + + + + 1884 + 313 + 103 + 22 + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + b525d8c3-b33c-445b-903a-126952f48b7f + Boolean Toggle + Toggle + false + 0 + true + + + + + + 2436 + 626 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.artists import Artist +from compas.datastructures import Assembly +from compas.datastructures import Part +from compas.geometry import Box +from compas.geometry import Polyhedron +from compas.geometry import Frame +from compas.geometry import Transformation +from compas.geometry import Translation +from compas.geometry import NurbsCurve +from compas_rhino.conversions import RhinoPoint + +# Create Wall as Assembly instance +wall = Assembly("exercise-wall") + +# Create wall curve +points = [RhinoPoint.from_guid(p).to_compas() for p in points] +curve = NurbsCurve.from_interpolation(points) + +HGAP = 0.005 +VGAP = 0.002 +divisions = curve.divide_by_length(part_shape.width + HGAP) + +# Create brick frames +frames = [] +key = 0 +for row in range(int(rows)): + Trow = Translation.from_vector((0, 0, part_shape.height / 2. + (part_shape.height + VGAP) * row)) + + for div, i in zip(divisions, range(len(divisions))): + point = curve.point_at(div) + xaxis = curve.tangent_at(div) + yaxis = xaxis.cross((0, 0, 1)) + frame = Frame(point, xaxis, yaxis) + + # Create bricks as parts + width, height, depth = part_shape.width, part_shape.height, part_shape.depth + brick_type = 'half' + if row % 2 == 1 and i % len(divisions) == 0: + brick_type = 'half' + if row % 2 == 0 and i % (len(divisions)) == len(divisions)-1: + brick_type = 'half' + + if brick_type == 'half': + width = width / 2. + xoffset = width / 2. + else: + xoffset = width / 2. if row % 2 == 0 else 0 + + shape = Box.from_width_height_depth(width, height, depth) + shape = Polyhedron(*shape.to_vertices_and_faces()) + + Tb = Translation.from_vector((xoffset, 0, 0)) + Tf = Transformation.from_frame(frame) + frame = Frame.from_transformation(Trow * Tf * Tb) + frames.append(frame) + + part = Part(frame=frame, shape=shape) + wall.add_part(part, key=str(key)) + key += 1 + + +frames = [Artist(f).draw() for f in frames] +curve = Artist(curve).draw() +bricks = [Artist(brick.geometry).draw() for brick in wall.parts()] + + + GhPython provides a Python script component + + 576 + 164 + + + 1064 + 947 + + true + true + true + false + 22bf2aa6-d04e-4f52-ae35-d44793e8e0c8 + false + true + GhPython Script + Assembly + + + + + + 703 + 260 + 137 + 84 + + + 780 + 302 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + 1 + true + Script variable Python + ac487cbf-186b-411b-ad00-97acb1d179b2 + points + points + true + 1 + true + dff1eb18-5961-4720-b28b-01fac481cb49 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 705 + 262 + 60 + 26 + + + 736.5 + 275.3333 + + + + + + + + true + Script input rows. + e2f7f05c-1613-4ee8-8db5-a7cddb672be1 + rows + rows + true + 0 + true + 9ee8710b-8701-4937-ab39-c1e50aa01459 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 705 + 288 + 60 + 27 + + + 736.5 + 302 + + + + + + + + true + Script input part_shape. + 2ff90fe7-1e96-493d-911e-2991ed9f948d + part_shape + part_shape + true + 0 + true + 68e4d605-763e-4de5-85a6-4bbb319ad786 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 705 + 315 + 60 + 27 + + + 736.5 + 328.6667 + + + + + + + + Script output frames. + 903fb57e-0527-4aa6-8072-595fba6228ea + frames + frames + false + 0 + + + + + + 795 + 262 + 43 + 20 + + + 816.5 + 272 + + + + + + + + Script output curve. + e80e0da7-26b5-48e2-b7c0-ced5a38bc58e + curve + curve + false + 0 + + + + + + 795 + 282 + 43 + 20 + + + 816.5 + 292 + + + + + + + + Script output bricks. + e84dc803-02cd-4c76-abb5-48384e1e5816 + bricks + bricks + false + 0 + + + + + + 795 + 302 + 43 + 20 + + + 816.5 + 312 + + + + + + + + Script output wall. + 8537f6f1-1e71-4135-abca-8d2d00557f00 + wall + wall + false + 0 + + + + + + 795 + 322 + 43 + 20 + + + 816.5 + 332 + + + + + + + + + + + + + + fbac3e32-f100-4292-8692-77240a42fd1a + Point + + + + + Contains a collection of three-dimensional points + dff1eb18-5961-4720-b28b-01fac481cb49 + Point + Pt + false + ebd4184f-00cf-4cab-8408-eae580b4c233 + 1 + + + + + + 623 + 263 + 50 + 24 + + + 648.8342 + 275.6479 + + + + + + 1 + + + + + 3 + {0} + + + + + + + -0.108421153378441 + 0.344152279384208 + 0 + + + + + + + + 0.254882755609648 + 0.402766718188973 + 0 + + + + + + + + 0.373167749233677 + 0.370555179746715 + 0 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 075b4f35-398e-4ba9-8c63-cab731ef41bb + Number Slider + + false + 0 + + + + + + 160 + 284 + 160 + 20 + + + 160.3181 + 284.4389 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.06 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 17c1151d-f642-4bbe-8f07-76d874ba7767 + Number Slider + + false + 0 + + + + + + 158 + 304 + 162 + 20 + + + 158.3552 + 304.3474 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.03 + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + from compas.geometry import Box +from compas.artists import Artist + +part = Box.from_diagonal([(width / -2., depth / -2., 0), (width / 2., depth / 2., height)]) +a = Artist(part).draw() + + GhPython provides a Python script component + + 102 + 102 + + + 625 + 625 + + true + true + true + false + 5c7c7ec9-7cad-4598-83d1-66788a806d48 + false + true + GhPython Script + Part + + + + + + 347 + 281 + 102 + 64 + + + 402 + 313 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + afb206b9-7faf-4d29-a5f2-aa0f05cac65f + width + width + true + 0 + true + 075b4f35-398e-4ba9-8c63-cab731ef41bb + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 349 + 283 + 38 + 20 + + + 369.5 + 293 + + + + + + + + true + Script input depth. + 786e9ed1-1dc3-45b2-8f18-6edc0bb057c7 + depth + depth + true + 0 + true + 17c1151d-f642-4bbe-8f07-76d874ba7767 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 349 + 303 + 38 + 20 + + + 369.5 + 313 + + + + + + + + true + Script input height. + 348f40a7-742d-4bf5-a9a4-5feefbed93cf + height + height + true + 0 + true + 63cc0dfe-29f1-459c-ae84-a0626464189d + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 349 + 323 + 38 + 20 + + + 369.5 + 333 + + + + + + + + Script output a. + e5f90ad8-f88d-47e0-ba5b-94e0b957398d + a + a + false + 0 + + + + + + 417 + 283 + 30 + 30 + + + 432 + 298 + + + + + + + + Script output part. + 68e4d605-763e-4de5-85a6-4bbb319ad786 + part + part + false + 0 + + + + + + 417 + 313 + 30 + 30 + + + 432 + 328 + + + + + + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 63cc0dfe-29f1-459c-ae84-a0626464189d + Number Slider + height + false + 0 + + + + + + 156 + 324 + 164 + 20 + + + 156.026 + 324.0174 + + + + + + 2 + 1 + 0 + 0.1 + 0.02 + 0 + 0.02 + + + + + + + + + 57da07bd-ecab-415d-9d86-af36d7073abc + Number Slider + + + + + Numeric slider for single values + 9ee8710b-8701-4937-ab39-c1e50aa01459 + Number Slider + + false + 0 + + + + + + 514 + 291 + 160 + 20 + + + 514.2142 + 291.6854 + + + + + + 3 + 1 + 1 + 20 + 1 + 0 + 5 + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + d82856da-705f-4c99-bd1f-a61ed442349f + Geometry + Geo + false + 903fb57e-0527-4aa6-8072-595fba6228ea + 1 + + + + + + 881 + 261 + 50 + 24 + + + 906.6544 + 273.1787 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + e76c4d7d-d788-4bd4-b931-ee931aefe3f3 + Geometry + Geo + false + e80e0da7-26b5-48e2-b7c0-ced5a38bc58e + 1 + + + + + + 882 + 281 + 50 + 24 + + + 907.0352 + 293.2602 + + + + + + + + + + ac2bc2cb-70fb-4dd5-9c78-7e1ea97fe278 + Geometry + + + + + Contains a collection of generic geometry + c33903c3-2356-420a-9dfb-90f52f627465 + Geometry + Geo + false + e84dc803-02cd-4c76-abb5-48384e1e5816 + 1 + + + + + + 881 + 300 + 50 + 24 + + + 906.5873 + 312.8547 + + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + f4e3ad1b-5fdb-4759-afd1-bdb1916c7687 + File Path + Path + false + 0 + + + + + + 1037 + 340 + 50 + 24 + + + 1062.546 + 352.6029 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\COMPAS-II-FS2022\lecture_07\601_assembly_design.json + + + + + + + + + + + + + 2e78987b-9dfb-42a2-8b76-3923ac8bd91a + Boolean Toggle + + + + + Boolean (true/false) toggle + 780f798d-6ba8-4f54-8a81-b2e91ec971cd + Boolean Toggle + Toggle + false + 0 + true + + + + + + 982 + 361 + 104 + 22 + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + To JSON + + + + + """ +Serializes COMPAS objects to JSON. +""" +from ghpythonlib.componentbase import executingcomponent as component + +import compas + + +class CompasInfo(component): + def RunScript(self, data, filepath, pretty): + json = filepath + + if filepath: + compas.json_dump(data, filepath, pretty) + else: + json = compas.json_dumps(data, pretty) + + return json + + Serializes COMPAS objects to JSON. + + 859 + 380 + + + 835 + 874 + + true + true + 2 + + iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDgAACw4BQL7hQQAAA/hJREFUSEu1VFtoY1UUPemMOoNJW3WUqdb+qTD+CCIKfqhQRRQZ7AvmqyD+CMIIBXH+/JB+qEUYEFTUjlrnoymYGamhjU3bNH2m6btpm8Q0k0fTR9KkeU2eXZ6905s0nU7nZ+bAuvfcs/dZa529D1cAeKAoTeT0fuJYgcMjl8shlUohkUhgb28PoVAI29vb2NjYgMfjwfr6OhwOB1ZWVrC4uIi5uTlMT09jYmLi3gL7+/uwWCyorKzk5HA4jJ2dHbS0tKC5uRlutxtOp5NjGo0G3d3dsFqtmJqawtjY2L0FyH1VVRUnRyIRdr+1tcXkTU1NcLlcsNvtsNls0Gq1UKvVbIjcm83mkwXy+TxvJvfRaBS7u7tcmkAgAK/Xy6Uh96urq1haWsL8/DwL6HQ6jI6OwmQynSyQzWY5oa2tjd0Hg0Fsbm7C7/ez+4aGBqytrbH7hYUFzMzMoLW1lfeMjIxgcHDw7gJUmnQ6zZvpBIp7pbGNjY28mRpL7pXG0gl6enowPDyMgYGBooAcqjKBTCaDZDKJWCzGAuSG3Pt8vrLGLi8vc2nIfVdXFwso7g0Gw90F6FrG43G+lkNDQ8VbRO6psTRXruXs7Cx/E3lnZyfnk/u+vj5el1BJVJQJkHulsXQtlcYq7g83lq7l5OQk3zRqrNFoRH9/P/R6vSJw5g6B+4xqiZLAIaE3CUfXD2J0bMIpiYckyKVagsiekHhK4rxEjcTTEqUeHBC89LAQaQLNj8SOkp+VqJQg4hpZ+8ZwPGmPpnJZmc9Drpc1uVpa8bwtj0egOa0diheaVk7+pERtOJa0yxwks3mMexP4YTqI78a3aUkyHRDIM958TojstdMCvz0i8HyFyD6mEjeVuBxEflqCysLkHR0dryXSuYyM48ZqBJ/2evGR7hY+7/fDHkrRckFArRJXzqhE/ieNwJ/VAtcfF/jlnMBZuaapEFc4sVAaWT2uOZWlNi7JE5k8vjD4cEnrKuL3uSCR0ygIyJ1xuYFYoK0V6Kkr3YZTKhHnxIJ7Kg01tGY3fttJDJ/pPbh43VGGn607FKJREFAgB3QvCNy4UCA/EqPaPypxjhpKwUxuH1+bN1B/baUMfc4ITO4opdwp0PuywD+vlE5wDM4Howl7LJ1Dm96NQCwDe/A2PvnbhVd/XOQ3xeo7bccLGN4Q+PctgYF6AeM7AoPvCgy9JzD8QVHgmVAik9XZQrhwdZbx/WQAUUlK7ylfjN+0fqyAQma6KH+/HwqYmwRGWwTGLxUF6mjnx3858Ow3liJevDqDX61b8EfT+NLo4W/mpIeCA4IT0d7e/jrtfP+PZVR9NV5E3bcWeCIpXO79D+ZbeyzEnPR4cID4H16JTadLIAk6AAAAAElFTkSuQmCC + + false + 9b78813d-151f-4dfe-91a4-52d72c6b1018 + true + true + To JSON + To JSON + + + + + + 1125 + 320 + 108 + 64 + + + 1186 + 352 + + + + + + 3 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 1 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + COMPAS data objects to serialize. + ff5106e3-685a-40af-837c-4a8a766cb51b + data + data + true + 0 + true + 8537f6f1-1e71-4135-abca-8d2d00557f00 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1127 + 322 + 44 + 20 + + + 1150.5 + 332 + + + + + + + + true + File path where to store the JSON file. If empty, it will not store to disk but instead return the JSON string. + f5c05f69-f2c0-4e84-b22b-a2cda8f9dbd2 + filepath + filepath + true + 0 + true + f4e3ad1b-5fdb-4759-afd1-bdb1916c7687 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1127 + 342 + 44 + 20 + + + 1150.5 + 352 + + + + + + + + true + If True, JSON data will be formatted with indentation and key sorting. + cdd38dac-5ce9-476a-933c-4179f9e1dfdc + pretty + pretty + true + 0 + true + 780f798d-6ba8-4f54-8a81-b2e91ec971cd + 1 + d60527f5-b5af-4ef6-8970-5f96fe412559 + + + + + + 1127 + 362 + 44 + 20 + + + 1150.5 + 372 + + + + + + + + JSON file path or JSON string. + 1a2817ed-4368-42f1-b273-4b780d5486c6 + json + json + false + 0 + + + + + + 1201 + 322 + 30 + 60 + + + 1216 + 352 + + + + + + + + + + + + + + 410755b1-224a-4c1e-a407-bf32fb45ea7e + 00000000-0000-0000-0000-000000000000 + GhPython Script + + + + + +import compas +from compas.utilities import pairwise + + +# Load assembly +assembly = compas.json_load(filename) + +# Define connectivity as a linear sequence of integers +linear_sequence = sorted(assembly.parts(), key=lambda p: int(p.key)) +for a, b in pairwise(linear_sequence): + assembly.add_connection(a, b) + +print([part.key for part in linear_sequence]) + +# Save assembly +json = filepath +compas.json_dump(assembly, filepath, pretty=True) + + GhPython provides a Python script component + + 337 + 300 + + + 835 + 874 + + true + false + false + 3284860b-4021-42f4-9b2a-e5af3cc86448 + false + true + GhPython Script + Python + + + + + + 1380 + 341 + 113 + 44 + + + 1446 + 363 + + + + + + 2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 84fa917c-1ed8-4db3-8be1-7bdc4a6495a2 + 2 + 3ede854e-c753-40eb-84cb-b48008f14fd4 + 8ec86459-bf01-4409-baee-174d0d2b13d0 + + + + + true + Script variable Python + 739c6d33-c1ab-453d-8e70-0259776fb5a4 + filename + filename + true + 0 + true + 1a2817ed-4368-42f1-b273-4b780d5486c6 + 1 + 37261734-eec7-4f50-b6a8-b8d1f3c4396b + + + + + + 1382 + 343 + 49 + 20 + + + 1408 + 353 + + + + + + + + true + Script input filepath. + 9cecd5b3-9c79-4baf-ad21-d9bae5ab8311 + x + filepath + true + 0 + true + 51c15bec-c2e5-4bdb-88e9-ba1ee9f2a660 + 1 + 87f87f55-5b71-41f4-8aea-21d494016f81 + + + + + + 1382 + 363 + 49 + 20 + + + 1408 + 373 + + + + + + + + The execution information, as output and error streams + 945d2605-5625-42c0-9e3b-88ea8c277a62 + out + out + false + 0 + + + + + + 1461 + 343 + 30 + 20 + + + 1476 + 353 + + + + + + + + Script output json. + 8dce6677-84fb-4bb4-a234-476f26e6f93f + a + json + false + 0 + + + + + + 1461 + 363 + 30 + 20 + + + 1476 + 373 + + + + + + + + + + + + + + 06953bda-1d37-4d58-9b38-4b3c74e54c8f + File Path + + + + + Contains a collection of file paths + false + All files|*.* + 51c15bec-c2e5-4bdb-88e9-ba1ee9f2a660 + File Path + Path + false + 0 + + + + + + 1311 + 362 + 50 + 24 + + + 1336.718 + 374.1819 + + + + + + 1 + + + + + 1 + {0} + + + + + false + C:\COMPAS-II-FS2022\lecture_07\602_assembly_sequenced.json + + + + + + + + + + + + + c552a431-af5b-46a9-a8a4-0fcbc27ef596 + Group + + + + + 1 + + 255;198;173;255 + + A group of Grasshopper objects + 3284860b-4021-42f4-9b2a-e5af3cc86448 + 51c15bec-c2e5-4bdb-88e9-ba1ee9f2a660 + 2 + cbf7daa0-ef3d-4b78-85b1-f87e49ab9955 + Group + Sequence generator + + + + + + + + + + d5967b9f-e8ee-436b-a8ad-29fdcecf32d5 + Curve + + + + + Contains a collection of generic curves + edb93ab8-070f-47dc-ad5a-63b60a53f1fe + Curve + Crv + false + 0 + + + + + + 417 + 151 + 50 + 24 + + + 442.7961 + 163.4398 + + + + + + 1 + + + + + 1 + {0} + + + + + -1 + + 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kJB4kLKzc/bzi3R09HB0VPn4hDs7e7q7B6hUQSUlTUPeYi5FRQ2pqfnJybmwCKbJyTngTktUlJYjuIM4fcrLt8TFaWbNmknogh3lMdlFBNPV1dVE1Ww58ePxefPmiW+GeRxmg5bHH38cX0/IzpyA8ssvvwzWBPF0OHbsGM+7dOnSiIgIZTGK/b8n6ugY+MPNGCfTRRQg9gykYlNZHgzJgQMHiDtjYmIwG7hCECQkePTRR998800XFxcnJydszC9/+UssJaslOrDe77//PssP2R/fFLkFWCxcuCAyMq68HDtaO6SUlDRjOP391enphtjYdNhKScFNF4NdYmJ2QkLmhg31Q94yuGCGoZDCOBwNho20FBc3UREv6cOppCQdidC1a9d4wIH4wyg2m6jQSFiJ08d2Qh7BAPdM5Z133vntb39LtrRs2TI2J75+06ZNBKnk9Rx5XvYkQa05gn9QsmB048bGe1IaGnBAxaSNSsgKh4gZx8yzcoRoOH38mthX/f39zs7ODz300MMPP/yjH/2II+4SoMVZSCW1Z10JZFm2wSJgPXLkcFJSOnZ0MF7mkptbCYgCNQGZeEmFkp9fM6T/3RYGSUvLPnSonQTJ9JDDhDfAHOJGeGQiH1JJSOVIXr9y5co1a9bMnDmTHcuSgSntZEslWPimJiX89NaC0TNnLpJRnDt36dy5LyjGl2yjz+62MEJHRxeLyg42XefuBUwYv9uIDqOWGIEFwz8SU27cuJG1wS0StGFdZsyYMWfOHBaJRk7RgdXKysoa8fMdY/7RQdZCZJmXVz285OfXAuKQxuEF2gopA16+1qKx0GRozRaXlsEDwmhyso59Inji6cSNDRaMYkqJR/FvLPR33333/fff/+1vf9NoNGxFAlZMKbG4+LNzJP6cok7/L27x/2ndT1kwunHj1paW3SUlNRUVOJda439Hs3/btj3btu29q9Lauq+xkaS1GnNlus5dioXHdOGUsXPDRXtv7wlRGbVEiCk+H0X4ejw7wRwLA5EcyeLFKUTKjI1hyw1fMG6V2CYlJQN0cnOrRldALTOzJDurKC01W5e+gZfGxprMzNKkpBy9vpRCJSOD7L5Uo8nPyioXfSi4/vDw2EWLFvJE3CG+i3ja6OQH3D2QIcIApmvt2rX4BNq5Z8w/ZpWUKC4ujtiUIzF6fHz89evXOYvo5uXl9c8s4r2SBaMqVbC/fxSJ5Jo1rg4OKicnT52uCPNgtAQjFzYxxohtPaQ9O7usoKCQvWu6zt2IWcaAlZWV19XVj1gwbRpNamNjo3Bbt9FtOnAJ/B2B1x0Kg0pSPDx6YTmxYTDKPOTkVI6iYBrzcksd3SKt3TbYBB2eZZ2WoTcUGhoL8mvJ61mR9esD1q3zdnPzd3X1++AD15UrHQhkzZdjtjErgYEBJOakOOTyeHDSI1JDyEtMTExOTs7OziZnop1gWvzDRvbnq6++6ujomJGRQV6fm5sronC8PGmT0RT04DoWLlzIfh7uPe6nLBj18gpjOsg3fX0jAwOjRS5J5CRczLAykHuyp3NyKqgMOVVSshF3qdWmsolNl7oz4ar6+/sKCjaQqHR1neruJsXpM1e6u/sPH+7t6ekvKiplf+OPxF8/ZfcLUf/mm294lhs3bvCSTYLBEKeE6DC4/z8UnbkEo7G0xAaMBpQDn1zc1JUrX3788UdqdQJPnZ1dcasCTEbLN+CdzbZTVBIS8oL91dPn+b00v8BO+8MM22If53VJUSn5BXXkW5GRuONwD48gpjooKDY4OA5qsa8MKEbGfpPXz5z5Hvk7aRwbDydADIP5J3rhngGUU0uWLPHz8yPJA1C0f//+P/zhDyBIYhQUFJSUlIS7f+WVV3CdROoACpppaWlkVIQHPKZpeR6ELBjFHAIcDoWJ4+GZRBHRcxwI8w11hsLKEkNVkQHLOtCC31mx4gPmkdTSaErNpTYnp5zEkBBHBI6mq92B6Hz6dL9eT3Rfm5ycGx+vj43VkQLj6ThGRWm5KDRoNLqjR3uYTZwXE8qkM6eEB2Q5mAoWY9euXfi+zMxMsnIMA2eZa7rR2VxBkIdoEZUu43/JhxgK0Y0WwlCGpTMLhmWiTosQl9i+ffusWTNDQqJgBRd8q0Iun5Agcvms1NQCCnWOebll/iEGG/9u6/CTNrGfOBb88O7KtM6In+isn07R1cC0ke8BlKlwZFGoZGaWmUdmtsPCYuvr69hO5HA4enN2b/b1bDOeBatJkI2lJKRhflxdXSdOnAiaKpVq1apVTz31lKenJ+0i4BF//WX4X3q7/xrKKEVAKQozQgHHlJS8mITCmNRNnmG1UTFZYIrtTEvbgAOCJJZH9LxZILh27ty5rOgo7CghvlabyfJg19eu9eAStrZO8+YtW7HC3tbWMTQ0kVPx8SlkKnDT3t4OlOKLZiqABaDkqswvXGJCMCTAtMf4d1IPHDjAEdGfFowKLchcYRBRoUX0pwLlDEuF5OnPf/4zI5uFBXr99TeCggKLi6uysipE4Di8ABm7iwhKpQohiFq61G7JElteengEF+aXeQTWvulydYVLRmysKjx8rT7kzz8UT8i1/X1CahUsDhlqeGHwhIQ04o3bfIpCGH358mXCG+wrgXWb8T9v52F9fX3d3Nzc3d3FlxcYV9DkLH2KiooIA+BeWTmTiG8o7FcA5SjqOVnFHu6Bf3wn+F23zhmqT5fZhmZk1eaa8CWZxfqa3nizVOl0Br0+cxQf/8IolKakpGu1hujodIqvrzoiIoXwAzop4eEpGRmlUVEJBw8eMH4uZPGXTcGR2Scmw7xhAgkiCUlpNJ3+RxoymlmMwPrNnz8/PT0dz4D5FMJCw+6cObP9/cOZB1zQiAXUsJpqdWpAQAyP4OcX6ekZEhaWxENtKCi1WmP431OPxHjO+6Htf97Y+N//WvzfPouYkDT7/ySmYTsr9foyMQI4CvPJS+rmwekTG6s5ceI4Bs/4ccUIYk5hFKNIIETOTubOcrNRPTw8AgICfHx8pk2bRthKI6fEWXwLSSTBkrIYxRwKI8pE4IagLT+/WpNS6OJZsMqjfJ5bi0PaBRvNN27Ws4qcn4kLjc0rqMfvjFQqtdoC4qFRfLrGbJ49eyYqKl6t1iUl5VGSkwuSk/NTUgo5ipaEhNyAgLA9ewb+NrQwe2ZB0qFDhzB7HKkLwqiYTo9WDMIC4yixKyy5iEQRdda+vf0A3hY7ikO/VRGciUJPZsnIXHl2VqmPb9pbsyI1zq/8sOG/VKt+E2I1yWvRnEh378zsKoDGTYFpbGxGamphfHxmVFQaQ+HBzCPjVXx8QtavdyPyYdsMxCjDxMSSxUMkHHPbhAT0xPWTuZMYkdcHBgaCKRsbv8dDETDwyHZ2dkwdncXSPChZMMq29vGJCAqKM+aPbi4uvnp9sSY5d5n3sbkBl2xCtttHb52xtrBR/dgF9YSw9d45BY3mebcs5cQGpaWlly6NJpRhgpqamoOCIkJD1WFhUcNLaGiUn18Ak8u83x8RM3DEMJMwme7ypkReHx2dDEnp6UV3W9LSDNnZpamZlQm2z57ynpA7b4LD64/FaKuz8mqxFI6Ons7O3vb26wl4qJAtESRgg3mp05WIEbiuTpfv7Ew4NI/UJ2qYYmJiYHHGjBlYDR6BEAgKSZX+9Kc/cUxNTSU3QlOnTiU8A3QsKATjHyIiIhwcHJT1XaiTk9fq1S7r1vlQIcFnUmJj0xLi86bYnXpjWf2erOfP1P77har/9UP9/+hynxC8zjs7v97scSzLwId5JSWjZBTfwt7FQZE83aoQD+Bn75tYOQw8OI74+SgBQmRkAtBotRtGUcA0Pb04JCBC5eTi4+QS5B2sTRtgF0Pr7h7EcmAyAgKisRqECiSppPkODh4aTQF9eDuMxsWlLl68mLASi0gQOUQkjikpKbNnz8abw+jhw4dJ+whafve735EtRUZGwnFoaCihtrOzM/kigQ2BPiGTvb09wb2yGCVmUqmC1WptcnJeXJweL6NLN8TH5/5hWuYrU30/K/j52Yz/ujl44oY1v06e+Wt1QBTOyOxxBhcwJXstLi4ZHaNCA3GpkmS6rWESjEZExMMZ7njURZdRpsus0mVV6fQEWgMt8JeSQniTA4uihVnFcCYm5tDOWdEIoyRvWm0qMJE2cT/DRUCyY8cOwnTzfzSANcWyPvvss7a2th988MHkyZOnTJkCl0BMBzDdvHkz/dmTxAamR31AsmAU+8cUQJjgjKPwJmlphSpnx76QCX1hE0KnP+qwwiFOW5OuK2buzH3EGxnBaBWKYmN11dUDv7Z84BH3v1qY/L6+U+HhcWlpRQIaUcx2joqxXmSmanARZ29V6DD4XaLO0TwshZEjIhKOHz96m8CRVQBToi9ydhHE49ArKip+85vfPPHEE88999xjjz2WkMAgx0XsTu5YU1Ozbds23qWsnIk5FdMqjuaizywPD4mJWPZizLIX1k19Osg7SJ9FVjRwij3NrLGteQs5OAm4kWmDRpM3f/6ClpaW69evD3xSN05FhnHx4kVXVxcXFy/2p5gKwROTQH5DlsMsUSeLpy5O3WQL6/h31G5fjMMyTtGQdopWawgPjyevv81nTwiCMaXi8/wNRpECxsfHh4eHE3fi7mkxn0KEDdjUB25EkQWjuHgmlLkm4zGiNmAYTBORVhSbUh6dXJaYVq7FqRm3b2Rk6gcfrCeEd3HxW7XKec0aNycnb1wPgxjXQzt9+l94/nEs1njBggUwqtFk6nSlJJ329u7knQT0zIm1tT1ZDrNHnUDf1taJl2vXDvxUmRCT6aLCDDPttypG1uFywHaS2gcHxwtHP7gPMYabm29SUuK1a9fYM5dura+++kp8oQ+v4oiZvHLlCkECIlUVjeIsQ9HIPjS9+cHJglEfn8igoFg/PzXkcWSiMY1ME5NCEbCKwkvmLjg4wcbGgQXguHq1a1BQPOG8mFNCWwcHR1vblbiM8vKB75zGpWpra9Vq9YIF80NCojMzK8hvbG2dYXHx4pWk5J6eoWQ5zBXpDkSSAC1fvmbRIpvlyz9wcFAtWbLK0zMsJaUgKSl3xAJ/Xl5h9AR6lSpk7Vp3a+u1MTE642dwf++GfcXXL11qFRgYWF1dXXxbYTvvXKb3PGhZMIotZH5XrnRgEtnuy5atiY7WMYmDd625MPX4MtaAOWJzixYqzBpv4ZSrqxv5I9vUtB3GqQhmcnKynZ1V5PW+vuqAgNj4+Gy1Gi+fxWwEBsZ6e+NJ03EsCQnZ7HlOrV8fQEpKB0wj00W3EQtO3MHB87335sP9kiW2AArorEhSUt7gbsx2XJzW0ZFVW67VajHt40wWjOK73dwCrKxWBQXFUffzI0pJGzIjgwunzFyKub55zMPEVlRUXb364L+l+FeLrLm390RgoDoxURi2gekS85CQYJ4Q00vRh/3MS1EA91aFszExGWq1llUIDU3iaGQ9a0g3bISjo4eHhzsbBt8tds6YEOHE1atXuWchXhp/AETMMvCjHyITWmi3YJSnjY3Vs1Op4NA5mr/auauSnFwQHJyYl5dPdGRayfErGO3sPOTpGZSUVACF97YYmRZTav6ObWgfruvlFUzOREBpuqexIPFxXn19fUVFZVVVNaW2tq60tEyvz8zKytaT1gz8OLOuqqrKglEvr3AfHzUOi4qXV8Soi7d3JE6qurrmn/l8dKxIfHgaF5fk6Rns5xd+/wvXjY6OP326/8yY+rNWZGb79u2rrq775JPzJ0709/bicc8nJiYvXbp04cKFTz31lJXVsk8//ay31zKvLy+vuCeF3dDU1MR93Oaj7/EkIxynOzoOdXZ23P/CdVleJXxIdFfCiefm5hQXVx46dHzPHh7jeElJ9Zw5cyZPnvyMUY8++mhKiq67u8+CUVzzPSpffP755/9JABXiYY1f6DwYjbmphpCioqIZM6ZrtbnGf8pRm5dXNXnyVCurJaGhoW+//banp+cTTzz+5JP/NzOz1IJR0wBSUv9ikRKpVKrg4KDMTINeX56ZWZaUlPPrX//76tV2NjY2dnZ2AQEBP/3pTzGlwcGWeb1pACmpUUn86u9OhB3t6upatGhhWFh8dnalTleSk1M9Y8ac3//+SSsrq2nTpr3++usPP/zQ/PlLc3IscybTpaSk7l6EHJ2dnTt27Gi7A+3cuZMwuqam2tMzKC5OHx098KVxUFDs7373+L/92yO/+MUvHnnkkeeffyEwMIZ2yajUPRCAHjx4wGAobm3d2dLS2tKynbJ1a+vgItoHv9y+vS0iQu3q6kZxcnJev96d4uLiapSbu7uHh4dq/fr1klGpe6CLFy82Nze1tOw4e/bSqVNnjx3rP3789CeffHb69AWOolDv7SW7u9jff54+fX3nTp484+nphccnAIVFe3v7BQsWLB4kXi5cuEAyKnUPBKObN2/Oyytpbm5ratoZGZmYnJxpMNSUlNTn55cXFFRu2FCl1eZoNFmFhZUVFU0NDdsbGlpra7euWWM/efIby5cvDwwMtLa2JmGCVCorVqwgMKXdyclJMip1DwSjW7Zsjo7WZmSUZmVVBgbGqlQDv4azsXFcu9bDysrOyclr+fI1NjYOixatDA9Pycwc+MfcqamGhQutpkyZ/Nprr7m4uLz66qsQCZqLFi3C2VN3d3f38vKSjErdAwk7GhGRDHkU8Q96AwKig4PjHBxU4t/G2dmtCw1NFD9WTDP+Ujk1tXD27LmvvPIyjC5btoxcft68eXPnzp00adLChQvnzJnz5ptv0iIZlboH+vxz4tFmEvP09GKNZuA3r5T09BJeRkZqExNzo6LSExNzjP/QA/O5QfwilsrkyW/9x3889/zzzz/99FMcn3nmmWeffcZYeZo6p6hIRqXugc6fP9/e3u7tHeTvrx5SADcwMDooKIbj8FPz51tNnfrOW2/drkhGpe6Nzp07d/jw4Z07d+za1XbnZf/+/QcPth+8rSSjUvdMYPrZv0CSUSmlSzIqpXRJRqWULsmolNIlGZVSuiSjUkqXZFRK6ZKMSildklEppUsyKqV0SUallC7JqJTSJRmVUroko1JKl2RUSumSjEopXZJRKaVLMiqldElGpZQuyaiU0iUZlVK6JKNSSpdkVErpkoxKKV2SUSmly4JRKSllysSolJRyNWHC/wdMRa/bwWsbugAAAABJRU5ErkJggg== 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