├── .bumpversion.cfg ├── .deepsource.toml ├── .editorconfig ├── .github ├── CODE_OF_CONDUCT.md ├── ISSUE_TEMPLATE │ ├── bug_report.md │ └── feature_request.md ├── pull_request_template.md └── workflows │ ├── build.yml │ ├── docs.yml │ ├── integration.yml │ ├── ironpython.yml │ ├── pr-checks.yml │ ├── publish_yak.yml │ └── release.yml ├── .gitignore ├── AUTHORS.rst ├── CHANGELOG.md ├── CONTRIBUTING.rst ├── LICENSE ├── MANIFEST.in ├── README.md ├── conftest.py ├── docs ├── _images │ └── compas_fab.png ├── _static │ └── compas_icon_white.png ├── api.rst ├── api │ ├── compas_fab.backends.rst │ ├── compas_fab.blender.rst │ ├── compas_fab.ghpython.rst │ ├── compas_fab.rhino.rst │ ├── compas_fab.robots.rst │ ├── compas_fab.rst │ ├── compas_fab.sensors.rst │ └── compas_fab.utilities.rst ├── authors.rst ├── backends.rst ├── backends │ ├── files │ │ ├── abb-irb120-demo │ │ │ └── docker-compose.yml │ │ ├── abb-irb120t-demo │ │ │ └── docker-compose.yml │ │ ├── abb-irb1600-demo │ │ │ └── docker-compose.yml │ │ ├── abb-irb4600_40_255-demo │ │ │ └── docker-compose.yml │ │ ├── abb-irb4600_60_205-demo │ │ │ └── docker-compose.yml │ │ ├── base │ │ │ └── docker-compose.yml │ │ ├── panda-demo │ │ │ └── docker-compose.yml │ │ ├── rfl-demo │ │ │ └── docker-compose.yml │ │ ├── ur10-demo │ │ │ └── docker-compose.yml │ │ ├── ur10e-demo │ │ │ └── docker-compose.yml │ │ ├── ur3-demo │ │ │ └── docker-compose.yml │ │ ├── ur3e-demo │ │ │ └── docker-compose.yml │ │ ├── ur5-demo │ │ │ └── docker-compose.yml │ │ └── ur5e-demo │ │ │ └── docker-compose.yml │ ├── pybullet.rst │ ├── ros.rst │ └── web_x11_gui.rst ├── changelog.rst ├── conf.py ├── contributing.rst ├── developer │ ├── backends.rst │ └── grasshopper.rst ├── doc_versions.txt ├── examples.rst ├── examples │ ├── 01_fundamentals.rst │ ├── 01_fundamentals │ │ ├── 01_frame_and_transformation.rst │ │ ├── 02_coordinate_frames.rst │ │ └── files │ │ │ └── 02_coordinate_frames.jpg │ ├── 02_description_models.rst │ ├── 02_description_models │ │ ├── 01_kinematic_model.rst │ │ ├── 02_robot.rst │ │ ├── 03_robot_instances.rst │ │ ├── 03_targets.rst │ │ └── files │ │ │ ├── 01_robot_links_and_joints.jpg │ │ │ ├── 01_robot_model.jpg │ │ │ ├── 02_robot_from_disk.py │ │ │ ├── 02_robot_from_github.py │ │ │ ├── 02_robot_from_ros.py │ │ │ ├── 02_robot_from_ros_with_cache.py │ │ │ ├── 03_robot_blender.py │ │ │ ├── 03_robot_grasshopper.ghx │ │ │ ├── 03_robot_grasshopper_from_ros.ghx │ │ │ ├── 03_robot_rhino.py │ │ │ └── 03_robot_rhino_from_ros.py │ ├── 03_backends_ros.rst │ ├── 03_backends_ros │ │ ├── 01_ros_examples.rst │ │ ├── 02_robot_models.rst │ │ ├── 03_forward_and_inverse_kinematics.rst │ │ ├── 04_plan_motion.rst │ │ ├── 05_collision_objects.rst │ │ ├── 06_ros_in_grasshopper.rst │ │ ├── 07_ros_create_urdf_ur5_with_measurement_tool.rst │ │ ├── 08_ros_create_moveit_package_from_custom_urdf.rst │ │ ├── 09_ros_create_urdf_ur10_on_tower.rst │ │ └── files │ │ │ ├── 01_ros_hello_world_listener.py │ │ │ ├── 01_ros_hello_world_talker.py │ │ │ ├── 02_robot_model.py │ │ │ ├── 03_forward_and_inverse_kinematics.jpg │ │ │ ├── 03_forward_kinematics.py │ │ │ ├── 03_forward_kinematics_urdf.py │ │ │ ├── 03_inverse_kinematics.py │ │ │ ├── 03_iter_inverse_kinematics.py │ │ │ ├── 04_plan_cartesian_motion.py │ │ │ ├── 04_plan_motion.py │ │ │ ├── 05_add_collision_mesh.py │ │ │ ├── 05_append_collision_meshes.py │ │ │ ├── 05_attach_ee.py │ │ │ ├── 05_collision_objects.jpg │ │ │ ├── 05_collision_objects_append.jpg │ │ │ ├── 05_collision_objects_attached.jpg │ │ │ ├── 05_collision_objects_attached_empty.jpg │ │ │ ├── 05_grasshopper_collision_objects.ghx │ │ │ ├── 05_grasshopper_collision_objects.jpg │ │ │ ├── 06_ros_in_grasshopper.jpg │ │ │ ├── 07_urdf_tool_00.jpg │ │ │ ├── 07_urdf_tool_01.jpg │ │ │ ├── 08_ros_create_moveit_package_00.jpg │ │ │ ├── 08_ros_create_moveit_package_01.jpg │ │ │ ├── 08_ros_create_moveit_package_02.jpg │ │ │ ├── 08_ros_create_moveit_package_03.jpg │ │ │ ├── 08_ros_create_moveit_package_04.jpg │ │ │ ├── 08_ros_create_moveit_package_05.jpg │ │ │ ├── 08_ros_create_moveit_package_06.jpg │ │ │ ├── 08_ros_create_moveit_package_07.jpg │ │ │ ├── 08_ros_create_moveit_package_08.jpg │ │ │ ├── 08_ros_create_moveit_package_09.jpg │ │ │ ├── 08_ros_create_moveit_package_10.jpg │ │ │ ├── 09_ur10_tower_urdf_00-1.jpg │ │ │ ├── 09_ur10_tower_urdf_00-2.jpg │ │ │ ├── 09_ur10_tower_urdf_00.jpg │ │ │ ├── 09_ur10_tower_urdf_01.jpg │ │ │ ├── 09_ur10_tower_urdf_02.jpg │ │ │ ├── 09_ur10_tower_urdf_03.jpg │ │ │ ├── 09_ur10_tower_urdf_04.jpg │ │ │ ├── 09_ur10_tower_urdf_06.jpg │ │ │ ├── 09_ur10_tower_urdf_07.jpg │ │ │ ├── 09_ur10_tower_urdf_08.jpg │ │ │ ├── gh_forward_kinematics.py │ │ │ ├── gh_inverse_kinematics.py │ │ │ ├── gh_plan_cartesian_motion.py │ │ │ ├── gh_plan_motion.py │ │ │ ├── gh_robot_visualisation.py │ │ │ └── robot-playground.ghx │ ├── 05_backends_pybullet.rst │ ├── 05_backends_pybullet │ │ ├── 01_pybullet_examples.rst │ │ ├── 02_forward_and_inverse_kinematics.rst │ │ └── files │ │ │ ├── 01_add_attached_collision_mesh.py │ │ │ ├── 01_add_collision_mesh.py │ │ │ ├── 02_forward_kinematics.py │ │ │ ├── 02_inverse_kinematics.py │ │ │ └── 02_iter_inverse_kinematics.py │ ├── 06_backends_kinematics.rst │ ├── 06_backends_kinematics │ │ ├── 01_ik_and_cartesian.rst │ │ └── files │ │ │ ├── 01_iter_ik.py │ │ │ ├── 02_iter_ik_pybullet.py │ │ │ ├── 03_iter_ik_analytic_pybullet.py │ │ │ └── 04_cartesian_path_analytic_pybullet.py │ ├── 07_reachability_map.rst │ ├── 07_reachability_map │ │ ├── 01_reachability_map.rst │ │ ├── 02_vector_generators.rst │ │ ├── 03_rp_2D.rst │ │ └── files │ │ │ ├── 00_robot_halfsphere.jpg │ │ │ ├── 01_example_1D.py │ │ │ ├── 01_robot_map1D.jpg │ │ │ ├── 02_example_2D_deviation_vectors.py │ │ │ ├── 02_robot_frames_at_ik.jpg │ │ │ ├── 03_example_2D_sphere_points.py │ │ │ ├── 03_ortho_vectors.jpg │ │ │ ├── 04_devi_vectors.jpg │ │ │ ├── 05_devi_vectors_2.jpg │ │ │ ├── 06_devi_frames.jpg │ │ │ ├── 07_example_02.jpg │ │ │ ├── 08_example_03_spheres.jpg │ │ │ ├── 09_example_03_frames.jpg │ │ │ ├── 09_example_03_result.jpg │ │ │ ├── 10_example_03_result_override.jpg │ │ │ ├── adaptive_detailing.png │ │ │ ├── workshop_sjsu_1.png │ │ │ └── workshop_sjsu_2.jpg │ ├── conftest.py │ └── ros_setup_ur.txt ├── getting_started.rst ├── index.rst ├── license.rst ├── requirements.txt └── spelling_wordlist.txt ├── pyproject.toml ├── requirements-dev.txt ├── requirements.txt ├── scripts └── extract_robot_package_from_ros.py ├── setup.cfg ├── setup.py ├── src └── compas_fab │ ├── __init__.py │ ├── __main__.py │ ├── __version__.py │ ├── backends │ ├── __init__.py │ ├── exceptions.py │ ├── interfaces │ │ ├── __init__.py │ │ ├── backend_features.py │ │ └── client.py │ ├── kinematics │ │ ├── __init__.py │ │ ├── analytical_inverse_kinematics.py │ │ ├── analytical_plan_cartesian_motion.py │ │ ├── exceptions.py │ │ ├── solvers │ │ │ ├── __init__.py │ │ │ ├── offset_wrist.py │ │ │ ├── offset_wrist_kinematics.py │ │ │ ├── spherical_wrist.py │ │ │ └── spherical_wrist_kinematics.py │ │ └── utils.py │ ├── pybullet │ │ ├── __init__.py │ │ ├── backend_features │ │ │ ├── __init__.py │ │ │ ├── pybullet_add_attached_collision_mesh.py │ │ │ ├── pybullet_add_collision_mesh.py │ │ │ ├── pybullet_append_collision_mesh.py │ │ │ ├── pybullet_forward_kinematics.py │ │ │ ├── pybullet_inverse_kinematics.py │ │ │ ├── pybullet_remove_attached_collision_mesh.py │ │ │ └── pybullet_remove_collision_mesh.py │ │ ├── client.py │ │ ├── const.py │ │ ├── conversions.py │ │ ├── exceptions.py │ │ ├── planner.py │ │ └── utils.py │ ├── ros │ │ ├── __init__.py │ │ ├── backend_features │ │ │ ├── __init__.py │ │ │ ├── helpers.py │ │ │ ├── move_it_add_attached_collision_mesh.py │ │ │ ├── move_it_add_collision_mesh.py │ │ │ ├── move_it_append_collision_mesh.py │ │ │ ├── move_it_forward_kinematics.py │ │ │ ├── move_it_inverse_kinematics.py │ │ │ ├── move_it_plan_cartesian_motion.py │ │ │ ├── move_it_plan_motion.py │ │ │ ├── move_it_planning_scene.py │ │ │ ├── move_it_remove_attached_collision_mesh.py │ │ │ ├── move_it_remove_collision_mesh.py │ │ │ └── move_it_reset_planning_scene.py │ │ ├── client.py │ │ ├── direct_ur_action_client.py │ │ ├── exceptions.py │ │ ├── fileserver_loader.py │ │ ├── messages │ │ │ ├── __init__.py │ │ │ ├── actionlib_msgs.py │ │ │ ├── control_msgs.py │ │ │ ├── direct_ur.py │ │ │ ├── geometry_msgs.py │ │ │ ├── moveit_msgs.py │ │ │ ├── object_recognition_msgs.py │ │ │ ├── octomap_msgs.py │ │ │ ├── ros_releases.py │ │ │ ├── sensor_msgs.py │ │ │ ├── services.py │ │ │ ├── shape_msgs.py │ │ │ ├── std_msgs.py │ │ │ └── trajectory_msgs.py │ │ ├── planner.py │ │ └── service_description.py │ └── tasks.py │ ├── blender │ ├── __init__.py │ └── scene.py │ ├── data │ ├── planning_scene │ │ ├── cone.stl │ │ ├── floor.stl │ │ ├── timber_beam.obj │ │ └── timber_structure.obj │ └── robot_library │ │ ├── abb_irb4600_40_255 │ │ ├── abb_irb4600_40_255 │ │ │ └── meshes │ │ │ │ ├── collision │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ │ │ └── visual │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ ├── robot_description_semantic.srdf │ │ └── urdf │ │ │ └── robot_description.urdf │ │ ├── rfl │ │ ├── abb_irb4600_40_255 │ │ │ └── meshes │ │ │ │ ├── collision │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ │ │ └── visual │ │ │ │ ├── base_link.stl │ │ │ │ ├── link_1.stl │ │ │ │ ├── link_2.stl │ │ │ │ ├── link_3.stl │ │ │ │ ├── link_4.stl │ │ │ │ ├── link_5.stl │ │ │ │ └── link_6.stl │ │ ├── rfl_description │ │ │ └── meshes │ │ │ │ ├── collision │ │ │ │ ├── group1_xy_cart.stl │ │ │ │ ├── group1_z_axis.stl │ │ │ │ ├── group2_xy_cart.stl │ │ │ │ ├── group2_z_axis.stl │ │ │ │ ├── rfl_floor_and_columns.stl │ │ │ │ ├── x_rail.stl │ │ │ │ └── y_gantry.stl │ │ │ │ └── visual │ │ │ │ ├── group1_xy_cart.stl │ │ │ │ ├── group1_z_axis.stl │ │ │ │ ├── group2_xy_cart.stl │ │ │ │ ├── group2_z_axis.stl │ │ │ │ ├── rfl_floor_and_columns.stl │ │ │ │ ├── x_rail.stl │ │ │ │ └── y_gantry.stl │ │ ├── robot_description_semantic.srdf │ │ └── urdf │ │ │ └── robot_description.urdf │ │ ├── ur10e_robot │ │ ├── robot_description_semantic.srdf │ │ ├── ur_description │ │ │ └── meshes │ │ │ │ └── ur10e │ │ │ │ ├── collision │ │ │ │ ├── base.stl │ │ │ │ ├── forearm.stl │ │ │ │ ├── shoulder.stl │ │ │ │ ├── upperarm.stl │ │ │ │ ├── wrist1.stl │ │ │ │ ├── wrist2.stl │ │ │ │ └── wrist3.stl │ │ │ │ └── visual │ │ │ │ ├── base.dae │ │ │ │ ├── base.dae.obj │ │ │ │ ├── forearm.dae │ │ │ │ ├── forearm.dae.obj │ │ │ │ ├── shoulder.dae │ │ │ │ ├── shoulder.dae.obj │ │ │ │ ├── upperarm.dae │ │ │ │ ├── upperarm.dae.obj │ │ │ │ ├── wrist1.dae │ │ │ │ ├── wrist1.dae.obj │ │ │ │ ├── wrist2.dae │ │ │ │ ├── wrist2.dae.obj │ │ │ │ ├── wrist3.dae │ │ │ │ └── wrist3.dae.obj │ │ └── urdf │ │ │ └── robot_description.urdf │ │ └── ur5_robot │ │ ├── robot_description_semantic.srdf │ │ ├── ur_description │ │ └── meshes │ │ │ └── ur5 │ │ │ ├── collision │ │ │ ├── base.stl │ │ │ ├── forearm.stl │ │ │ ├── shoulder.stl │ │ │ ├── upperarm.stl │ │ │ ├── wrist1.stl │ │ │ ├── wrist2.stl │ │ │ └── wrist3.stl │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── base.dae.obj │ │ │ ├── forearm.dae │ │ │ ├── forearm.dae.obj │ │ │ ├── shoulder.dae │ │ │ ├── shoulder.dae.obj │ │ │ ├── upperarm.dae │ │ │ ├── upperarm.dae.obj │ │ │ ├── wrist1.dae │ │ │ ├── wrist1.dae.obj │ │ │ ├── wrist2.dae │ │ │ ├── wrist2.dae.obj │ │ │ ├── wrist3.dae │ │ │ └── wrist3.dae.obj │ │ └── urdf │ │ └── robot_description.urdf │ ├── ghpython │ ├── __init__.py │ ├── components │ │ ├── Cf_AttachTool │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_AttachedCollisionMesh │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_CollisionMesh │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_ConfigMerge │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_ConfigZero │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_ConfigurationTarget │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_ForwardKinematics │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_FrameTargetFromPlane │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_InverseKinematics │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_PlanCartesianMotion │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_PlanMotion │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_PlanningScene │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_PointAxisTarget │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_RosConnect │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_RosRobot │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_RosTopicPublish │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_RosTopicSubscribe │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_VisualizeRobot │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ ├── Cf_VisualizeTrajectory │ │ │ ├── code.py │ │ │ ├── icon.png │ │ │ └── metadata.json │ │ └── __init__.py │ ├── install.py │ ├── reachabilitymapobject.py │ └── scene.py │ ├── rhino │ ├── __init__.py │ ├── install.py │ ├── reachabilitymapobject.py │ └── scene.py │ ├── robots │ ├── __init__.py │ ├── conftest.py │ ├── constraints.py │ ├── inertia.py │ ├── planning_scene.py │ ├── reachability_map │ │ ├── __init__.py │ │ ├── reachability_map.py │ │ └── vector_generators.py │ ├── robot.py │ ├── robot_library.py │ ├── semantics.py │ ├── targets.py │ ├── time_.py │ ├── tool.py │ ├── trajectory.py │ ├── units.py │ └── wrench.py │ ├── sensors │ ├── __init__.py │ ├── base.py │ ├── baumer.py │ └── exceptions.py │ └── utilities │ ├── __init__.py │ ├── file_io.py │ ├── filesystem.py │ ├── lazy_loader.py │ ├── numbers.py │ └── transformation.py ├── tasks.py ├── temp └── .gitkeep └── tests ├── api ├── compas_fab_api.json ├── compas_fab_api_ipy.json ├── test_api_completeness.py └── test_api_stability.py ├── backends ├── kinematics │ ├── test_inverse_kinematics.py │ └── test_kinematics.py ├── ros │ ├── messages │ │ └── test_std_msgs.py │ └── test_local_cache_info.py └── test_tasks.py ├── integration_setup └── docker-compose.yml ├── ipy_test_runner.py └── robots ├── fixtures ├── map.json ├── panda.urdf └── panda_semantics.srdf ├── test_duration.py ├── test_reachability.py ├── test_robot.py ├── test_robot_library.py ├── test_semantics.py ├── test_targets.py ├── test_trajectory.py └── test_wrench.py /.bumpversion.cfg: 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