From 839d84e4557d45e3e6c2166e11334075d2a858b8 Mon Sep 17 00:00:00 2001
From: as-ling <ling@arch.ethz.ch>
Date: Wed, 21 Apr 2021 00:31:51 +0200
Subject: [PATCH] Assignment_05

---
 .../assignment_05/asling/Assignment_05.3dm    |   Bin 0 -> 3948003 bytes
 .../assignment_05/asling/Assignment_05.ghx    | 15092 ++++++++++++++++
 lecture_06/assignment_05/asling/assembly.json |  9817 ++++++++++
 .../assignment_05/asling/vacuum_gripper.stl   |   Bin 0 -> 9884 bytes
 4 files changed, 24909 insertions(+)
 create mode 100644 lecture_06/assignment_05/asling/Assignment_05.3dm
 create mode 100644 lecture_06/assignment_05/asling/Assignment_05.ghx
 create mode 100644 lecture_06/assignment_05/asling/assembly.json
 create mode 100644 lecture_06/assignment_05/asling/vacuum_gripper.stl

diff --git a/lecture_06/assignment_05/asling/Assignment_05.3dm b/lecture_06/assignment_05/asling/Assignment_05.3dm
new file mode 100644
index 0000000000000000000000000000000000000000..de3397b36498f78fd228477b289ad578caa01bc3
GIT binary patch
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diff --git a/lecture_06/assignment_05/asling/Assignment_05.ghx b/lecture_06/assignment_05/asling/Assignment_05.ghx
new file mode 100644
index 0000000..a4e465f
--- /dev/null
+++ b/lecture_06/assignment_05/asling/Assignment_05.ghx
@@ -0,0 +1,15092 @@
+<?xml version="1.0" encoding="utf-8" standalone="yes"?>
+<Archive name="Root">
+  <!--Grasshopper archive-->
+  <!--Grasshopper and GH_IO.dll are copyrighted by Robert McNeel & Associates-->
+  <!--Archive generated by GH_IO.dll file utility library {0.2.0002}-->
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+            <item name="Description" type_name="gh_string" type_code="10"></item>
+            <item name="Name" type_name="gh_string" type_code="10">Assignment_05.ghx</item>
+          </items>
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+              </items>
+            </chunk>
+            <chunk name="Views">
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+              </items>
+            </chunk>
+          </chunks>
+        </chunk>
+        <chunk name="RcpLayout">
+          <items count="1">
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+          </items>
+        </chunk>
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+                <item name="Name" type_name="gh_string" type_code="10"></item>
+                <item name="Version" type_name="gh_string" type_code="10"></item>
+              </items>
+            </chunk>
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+          <items count="1">
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+          </items>
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+                <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="7">
+                    <item name="Description" type_name="gh_string" type_code="10">Boolean (true/false) toggle</item>
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+                    <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Connect</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>
+                    <item name="ToggleValue" type_name="gh_bool" type_code="1">true</item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes">
+                      <items count="1">
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+                          <X>27</X>
+                          <Y>85</Y>
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+                        </item>
+                      </items>
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+                  </chunks>
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+                <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="7">
+                    <item name="Description" type_name="gh_string" type_code="10">Boolean (true/false) toggle</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">d19cf29a-0512-4632-b4e0-ecc00c5b8487</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Load robot</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>
+                    <item name="ToggleValue" type_name="gh_bool" type_code="1">true</item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes">
+                      <items count="1">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>29</X>
+                          <Y>134</Y>
+                          <W>119</W>
+                          <H>22</H>
+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="2">
+              <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">import Grasshopper
+import System
+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 SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "ip", "ip", "The ip address of ROS master. Defaults to 127.0.0.1")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Integer()
+        self.SetUpParam(p, "port", "port", "The port of ROS master. Defaults to 9090.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Boolean()
+        self.SetUpParam(p, "connect", "connect", "If `True`, connect to ROS. If `False`, disconnect from ROS. Defaults to False.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        result = self.RunScript(p0, p1, p2)
+
+        if result is not None:
+            self.marshal.SetOutput(result, DA, 0, True)
+
+    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)
+        self.Message = 'Connected' if ros_client and ros_client.is_connected else 'Not connected'
+        return ros_client
+</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>229</X>
+                      <Y>390</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>684</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">3ed3a5e2-d78a-43c5-99e3-a602e5221e79</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">ROS Connect</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
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+                          <X>211</X>
+                          <Y>86</Y>
+                          <W>127</W>
+                          <H>89</H>
+                        </item>
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+                          <X>270</X>
+                          <Y>131</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="6">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">1</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="4">
+                        <chunk name="InputParam" index="0">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">39f76aa4-b4b1-4eff-8540-c659df1e991b</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ip</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ip</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
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+                                  <Y>88</Y>
+                                  <W>42</W>
+                                  <H>28</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>235.5</X>
+                                  <Y>102.1667</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input port.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">745e0055-1456-4b6f-8e8f-d5f74af38e8d</item>
+                            <item name="Name" type_name="gh_string" type_code="10">port</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">port</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
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+                                  <Y>116</Y>
+                                  <W>42</W>
+                                  <H>28</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>235.5</X>
+                                  <Y>130.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input connect.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">140a303b-ef70-4b59-a913-724c0d0505cb</item>
+                            <item name="Name" type_name="gh_string" type_code="10">connect</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">connect</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">47c152bc-c823-4835-aad3-3bf5c281e892</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">35915213-5534-4277-81b8-1bdc9e7383d2</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
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+                                </item>
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+                                  <X>235.5</X>
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+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output ros_client.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">54922ac8-ee9c-400b-ac86-feaf21cb04a2</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
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+                                  <X>285</X>
+                                  <Y>88</Y>
+                                  <W>51</W>
+                                  <H>85</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>310.5</X>
+                                  <Y>130.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="3">
+              <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">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+import compas
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components.icons import ros_robot_icon
+from compas_ghpython.artists import RobotModelArtist
+
+
+class ROSRobot(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "ros_client", "ros_client", "The ROS client.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Boolean()
+        self.SetUpParam(p, "load", "load", "If `True`, loads the robot from ROS. Defaults to False.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        result = self.RunScript(p0, p1)
+
+        if result is not None:
+            self.marshal.SetOutput(result, DA, 0, True)
+
+    def get_Internal_Icon_24x24(self):
+        return ros_robot_icon
+
+    def RunScript(self, ros_client, load):
+        self.Message = "Loading..."
+        compas.PRECISION = '12f'
+
+        key = create_id(self, 'robot')
+
+        if ros_client and ros_client.is_connected and load:
+            # Load URDF from ROS
+            robot = ros_client.load_robot(load_geometry=True)
+            robot.artist = RobotModelArtist(robot.model)
+            self.Message = "{} loaded".format(robot.name)
+            st[key] = robot
+        else:
+            if st.get(key):
+                self.Message = "{} loaded".format(st.get(key).name)
+            else:
+                self.Message = "No robot"
+
+        robot = st.get(key, None)
+        if robot:  # client sometimes need to be restarted, without needing to reload geometry
+            robot.client = ros_client
+        return robot
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
+                    <item name="EditorLocation" type_name="gh_drawing_point" type_code="30">
+                      <X>234</X>
+                      <Y>234</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
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+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">1cb74eb0-a053-4919-a55e-3175350e261c</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Load robot</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>631</X>
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+                        </item>
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+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="5">
+                        <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">1</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="3">
+                        <chunk name="InputParam" index="0">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">fcf0c1b8-fa76-4032-92b0-ef2ada751e62</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">54922ac8-ee9c-400b-ac86-feaf21cb04a2</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" type_name="gh_int32" type_code="3">1</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
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+                                  <X>633</X>
+                                  <Y>100</Y>
+                                  <W>48</W>
+                                  <H>35</H>
+                                </item>
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+                                  <X>658.5</X>
+                                  <Y>117.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input load.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">4b059742-6fce-4e6a-b6b0-cd2e2ccfdb08</item>
+                            <item name="Name" type_name="gh_string" type_code="10">load</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">load</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">d19cf29a-0512-4632-b4e0-ecc00c5b8487</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" 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>633</X>
+                                  <Y>135</Y>
+                                  <W>48</W>
+                                  <H>35</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>658.5</X>
+                                  <Y>152.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output robot.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <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>711</X>
+                                  <Y>100</Y>
+                                  <W>31</W>
+                                  <H>70</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>726.5</X>
+                                  <Y>135</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="4">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="12">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;170;135;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">3ed3a5e2-d78a-43c5-99e3-a602e5221e79</item>
+                    <item name="ID" index="1" type_name="gh_guid" type_code="9">47c152bc-c823-4835-aad3-3bf5c281e892</item>
+                    <item name="ID" index="2" type_name="gh_guid" type_code="9">d19cf29a-0512-4632-b4e0-ecc00c5b8487</item>
+                    <item name="ID" index="3" type_name="gh_guid" type_code="9">1cb74eb0-a053-4919-a55e-3175350e261c</item>
+                    <item name="ID" index="4" type_name="gh_guid" type_code="9">052e844a-59bc-4346-a9d3-a1965fe01a5c</item>
+                    <item name="ID_Count" type_name="gh_int32" type_code="3">5</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">8f601091-89b0-4be9-9194-7191c9078d9e</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes" />
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="5">
+              <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">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas.geometry import Frame
+from compas.geometry import Transformation
+from compas_ghpython.artists import MeshArtist
+from compas_ghpython import draw_frame
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components.icons import robot_visualize_icon
+
+class RobotVisualize(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group used for end-effector and base visualization.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "configuration", "configuration", "The robot's full configuration.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Boolean()
+        self.SetUpParam(p, "reload_scene", "reload_scene", "Whether or not to reload the scene information from the client.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "visual", "visual", "The robot's visual meshes.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "frames", "frames", "The robot's joint frames.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "attached_collision_meshes", "attached_collision_meshes", "Attached collision meshes in the scene.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "collision_meshes", "collision_meshes", "Collision meshes in the scene.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        p3 = self.marshal.GetInput(DA, 3)
+        result = self.RunScript(p0, p1, p2, p3)
+
+        if result is not None:
+            if not hasattr(result, '__getitem__'):
+                self.marshal.SetOutput(result, DA, 0, True)
+            else:
+                self.marshal.SetOutput(result[0], DA, 0, True)
+                self.marshal.SetOutput(result[1], DA, 1, True)
+                self.marshal.SetOutput(result[2], DA, 2, True)
+                self.marshal.SetOutput(result[3], DA, 3, True)
+
+    def get_Internal_Icon_24x24(self):
+        return robot_visualize_icon
+
+    def RunScript(self, robot, group, configuration, reload_scene):
+
+        visual = None
+        frames = None
+        collision_meshes = []
+        attached_collision_meshes = []
+
+        if robot:
+            configuration = configuration or robot.zero_configuration()
+
+            robot.update(configuration, visual=True, collision=False)
+            frames = [draw_frame(f) for f in robot.transformed_frames(configuration, group)]
+
+            visual = robot.artist.draw_visual()
+            
+        scene_key = create_id(self, 'scene')
+
+        if robot and (reload_scene or scene_key not in st):
+            st[scene_key] = robot.client.get_planning_scene()
+        
+        scene = st.get(scene_key, None)
+
+        if scene:
+            scene_key_co = scene_key + '_co'
+            if reload_scene or scene_key_co not in st:
+                for co in scene.world.collision_objects:
+                    # HACK: Little workaround to a bug in to_collision_meshes()
+                    header = co.header
+                    frame_id = header.frame_id
+                    co.header = dict(frame_id=frame_id)
+                    cms = co.to_collision_meshes()
+                    # HACK: Restore proper header
+                    co.header = header
+                
+                    for cm in cms:
+                        if frame_id != '/world':
+                            raise NotImplementedException('Only world-referenced collision meshes are supported')
+                
+                        if cm.frame != Frame.worldXY():
+                            t = Transformation.from_frame(cm.frame)
+                            mesh = cm.mesh.transformed(t)
+                        else:
+                            mesh = cm.mesh
+                
+                        rhino_mesh = MeshArtist(mesh).draw()
+                        collision_meshes.append(rhino_mesh)
+                st[scene_key_co] = collision_meshes
+
+            collision_meshes = st.get(scene_key_co, None)
+            
+            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)
+            
+                    rhino_mesh = MeshArtist(mesh).draw()
+                    attached_collision_meshes.append(rhino_mesh)
+
+        return (visual, frames, attached_collision_meshes, collision_meshes)
+</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>776</X>
+                      <Y>53</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>821</W>
+                      <H>880</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
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+                <item name="GUID" type_name="gh_guid" type_code="9">fbac3e32-f100-4292-8692-77240a42fd1a</item>
+                <item name="Name" type_name="gh_string" type_code="10">Point</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="6">
+                    <item name="Description" type_name="gh_string" type_code="10">Contains a collection of three-dimensional points</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">34e985cd-859f-4d13-a639-0f4a1845fc21</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Point</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Pt Pick</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="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
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+                          <Y>535</Y>
+                          <W>50</W>
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+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>154.8627</X>
+                          <Y>545.0902</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">
+                              <!--GH_Point only stores data which exists, test the existence of data fields prior to reading.-->
+                              <chunks count="1">
+                                <chunk name="ReferenceData">
+                                  <items count="5">
+                                    <item name="RefID" type_name="gh_guid" type_code="9">6e5f3eb2-34c1-41bc-840b-a63224d35c01</item>
+                                    <item name="RefIndex" type_name="gh_int32" type_code="3">-1</item>
+                                    <item name="RefParam" index="0" type_name="gh_double" type_code="6">0</item>
+                                    <item name="RefParam" index="1" type_name="gh_double" type_code="6">0</item>
+                                    <item name="RefType" type_name="gh_string" type_code="10">point_object</item>
+                                  </items>
+                                </chunk>
+                              </chunks>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="10">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="12">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.backends import RosValidationError
+
+class InverseKinematics(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "plane", "plane", "The plane or frame to calculate the inverse kinematic for.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration",
+                        "If passed, the inverse will be calculated such that the calculated joint positions \
+                         differ the least from the start_configuration. Defaults to the zero configuration.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group used for calculation. Defaults to the robot's main planning group.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "a", "configuration", "The planning group's configuration.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        p3 = self.marshal.GetInput(DA, 3)
+        result = self.RunScript(p0, p1, p2, p3)
+
+        if result is not None:
+            self.marshal.SetOutput(result, DA, 0, True)
+
+    def get_Internal_Icon_24x24(self):
+        return inverse_kinematics_icon
+
+    def RunScript(self, robot, plane, start_configuration, group):
+        configuration = None
+        self.Message = ''
+        if robot and robot.client and robot.client.is_connected and plane:
+            frame = coerce_frame(plane)
+            try:
+                configuration = robot.inverse_kinematics(frame, start_configuration, group)
+            except RosValidationError as e:
+                self.Message = 'No solution found'
+                raise
+        
+        if configuration:
+            self.Message = 'Solution found'
+        return configuration
+</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>416</X>
+                      <Y>248</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>684</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">e4f9217d-c7c3-49af-9a83-834638eb0d4d</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">IK</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
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+                          <Y>1995</Y>
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+                        </item>
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+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="7">
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+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
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+                        <item name="OutputCount" type_name="gh_int32" type_code="3">1</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="5">
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+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">29fc4f93-58c2-4192-8f02-3ecdf4a1be23</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
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+                            </chunk>
+                          </chunks>
+                        </chunk>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input plane.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">c75f16a9-ac28-43bf-a9b6-95a50d2b00f1</item>
+                            <item name="Name" type_name="gh_string" type_code="10">plane</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">plane</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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+                          </chunks>
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+                        </chunk>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input group.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">14fc99fc-0ac5-4bf2-9d18-9cfab5caf53b</item>
+                            <item name="Name" type_name="gh_string" type_code="10">group</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">group</item>
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+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output configuration.</item>
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+                            <item name="NickName" type_name="gh_string" type_code="10">configuration</item>
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+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
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+                <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+              </items>
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+                    <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                    <item name="ToggleValue" type_name="gh_bool" type_code="1">true</item>
+                  </items>
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+                        </item>
+                      </items>
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+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="12">
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+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
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+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas.geometry import Box
+from compas.datastructures import Mesh
+from compas_ghpython.artists import MeshArtist
+
+shape = Box.from_width_height_depth(w, h, d)
+brick = Mesh.from_shape(shape)
+
+mesh = MeshArtist(brick).draw()</item>
+                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
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+                    </item>
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+                    </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">7ab9dd8f-ef96-4fa7-83c6-73bbfa8256ad</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>
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+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
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+                <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>
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+                    <item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.ghpython.components.icons import plan_cartesian_motion_icon
+
+class PlanCartesianMotion(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "planes", "planes", "The planes or frames through which the path is defined.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.list
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration",
+                        "The robot's full configuration, i.e. values for all configurable joints of the entire robot, at the starting position. Defaults to the all-zero configuration.")  # noqa E501
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group used for calculation. Defaults to the robot's main planning group.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+#        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+#        self.SetUpParam(p, "attached_collision_meshes", "attached_collision_meshes", "A list of attached collision meshes to be included for planning.")
+#        p.Access = Grasshopper.Kernel.GH_ParamAccess.list
+#        self.Params.Input.Add(p)
+
+#        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+#        self.SetUpParam(p, "path_constraints", "path_constraints",
+#                        "Optional constraints that can be imposed along the solution path. Note that path calculation won't work if the start_configuration violates these constraints. Defaults to None.")  # noqa E501
+#        p.Access = Grasshopper.Kernel.GH_ParamAccess.list
+#        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "max_step", "max_step", "The approximate distance between the calculated points. (Defined in the robot's units.) Defaults to 0.01.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Boolean()
+        self.SetUpParam(p, "compute", "compute", "If `True`, calculates a trajectory.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "trajectory", "trajectory", "The calculated trajectory.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        p3 = self.marshal.GetInput(DA, 3)
+        p4 = self.marshal.GetInput(DA, 4)
+        p5 = self.marshal.GetInput(DA, 5)
+#        p6 = self.marshal.GetInput(DA, 6)
+#        p7 = self.marshal.GetInput(DA, 7)
+#        result = self.RunScript(p0, p1, p2, p3, p4, p5, p6, p7)
+        result = self.RunScript(p0, p1, p2, p3, p4, p5)
+
+        if result is not None:
+            self.marshal.SetOutput(result, DA, 0, True)
+
+    def get_Internal_Icon_24x24(self):
+        return plan_cartesian_motion_icon
+
+    def RunScript(self, robot, planes, start_configuration, group, max_step, compute):
+
+        key = create_id(self, 'trajectory')
+
+        max_step = float(max_step) if max_step else 0.01
+        # NOTE: Read from scene
+        attached_collision_meshes = None
+        path_constraints = None
+        attached_collision_meshes = list(attached_collision_meshes) if attached_collision_meshes else None
+
+        if robot and robot.client and robot.client.is_connected and start_configuration and planes and compute:
+            frames = [coerce_frame(plane) for plane in planes]
+            st[key] = robot.plan_cartesian_motion(frames,
+                                                  start_configuration=start_configuration,
+                                                  group=group,
+                                                  options=dict(
+                                                      max_step=max_step,
+                                                      path_constraints=path_constraints,
+                                                      attached_collision_meshes=attached_collision_meshes
+                                                  ))
+
+        trajectory = st.get(key, None)
+
+        if trajectory and trajectory.fraction &lt; 1.0:
+            raise Exception('Incomplete trajectory. Fraction={}'.format(trajectory.fraction))
+
+        return trajectory</item>
+                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
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+                    <item name="IconDisplay" type_name="gh_int32" type_code="3">1</item>
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+                    <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">Plan Cartesian Motion</item>
+                  </items>
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+                      </items>
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+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input max_step.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">1b61a588-493b-4f4f-aeda-ffa9b7c1a1d6</item>
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+                            <item name="Name" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">trajectory</item>
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+              </items>
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+                <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">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.ghpython.components.icons import plan_cartesian_motion_icon
+
+class PlanCartesianMotion(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "planes", "planes", "The planes or frames through which the path is defined.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.list
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration",
+                        "The robot's full configuration, i.e. values for all configurable joints of the entire robot, at the starting position. Defaults to the all-zero configuration.")  # noqa E501
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group used for calculation. Defaults to the robot's main planning group.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+#        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+#        self.SetUpParam(p, "attached_collision_meshes", "attached_collision_meshes", "A list of attached collision meshes to be included for planning.")
+#        p.Access = Grasshopper.Kernel.GH_ParamAccess.list
+#        self.Params.Input.Add(p)
+
+#        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+#        self.SetUpParam(p, "path_constraints", "path_constraints",
+#                        "Optional constraints that can be imposed along the solution path. Note that path calculation won't work if the start_configuration violates these constraints. Defaults to None.")  # noqa E501
+#        p.Access = Grasshopper.Kernel.GH_ParamAccess.list
+#        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "max_step", "max_step", "The approximate distance between the calculated points. (Defined in the robot's units.) Defaults to 0.01.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Boolean()
+        self.SetUpParam(p, "compute", "compute", "If `True`, calculates a trajectory.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "trajectory", "trajectory", "The calculated trajectory.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        p3 = self.marshal.GetInput(DA, 3)
+        p4 = self.marshal.GetInput(DA, 4)
+        p5 = self.marshal.GetInput(DA, 5)
+#        p6 = self.marshal.GetInput(DA, 6)
+#        p7 = self.marshal.GetInput(DA, 7)
+#        result = self.RunScript(p0, p1, p2, p3, p4, p5, p6, p7)
+        result = self.RunScript(p0, p1, p2, p3, p4, p5)
+
+        if result is not None:
+            self.marshal.SetOutput(result, DA, 0, True)
+
+    def get_Internal_Icon_24x24(self):
+        return plan_cartesian_motion_icon
+
+    def RunScript(self, robot, planes, start_configuration, group, max_step, compute):
+
+        key = create_id(self, 'trajectory')
+
+        max_step = float(max_step) if max_step else 0.01
+        # NOTE: Read from scene
+        attached_collision_meshes = None
+        path_constraints = None
+        attached_collision_meshes = list(attached_collision_meshes) if attached_collision_meshes else None
+
+        if robot and robot.client and robot.client.is_connected and start_configuration and planes and compute:
+            frames = [coerce_frame(plane) for plane in planes]
+            st[key] = robot.plan_cartesian_motion(frames,
+                                                  start_configuration=start_configuration,
+                                                  group=group,
+                                                  options=dict(
+                                                      max_step=max_step,
+                                                      path_constraints=path_constraints,
+                                                      attached_collision_meshes=attached_collision_meshes
+                                                  ))
+
+        trajectory = st.get(key, None)
+
+        if trajectory and trajectory.fraction &lt; 1.0:
+            raise Exception('Incomplete trajectory. Fraction={}'.format(trajectory.fraction))
+
+        return trajectory</item>
+                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
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+                    <item name="IconDisplay" type_name="gh_int32" type_code="3">1</item>
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+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Plan Cartesian Motion</item>
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+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
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+                        </chunk>
+                        <chunk name="InputParam" index="4">
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input max_step.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">0f1faba3-ea01-41f5-910a-d48118bef748</item>
+                            <item name="Name" type_name="gh_string" type_code="10">max_step</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">max_step</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
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+                          <chunks count="1">
+                            <chunk name="Attributes">
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+                                  <W>94</W>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input compute.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">0a27b8d5-ba01-4b82-8eab-e296cf91f0d1</item>
+                            <item name="Name" type_name="gh_string" type_code="10">compute</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">compute</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
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+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output trajectory.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">706ebe2f-4fa1-47c4-a7bb-388260bfe9f8</item>
+                            <item name="Name" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">trajectory</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">
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+                                  <Y>2000</Y>
+                                  <W>52</W>
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+                                </item>
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+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
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+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">f31d8d7a-7536-4ac8-9c96-fde6ecda4d0a</item>
+                <item name="Name" type_name="gh_string" type_code="10">Cluster</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="7">
+                    <item name="ClusterDocument" type_name="gh_bytearray" type_code="20">
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+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">Contains a cluster of Grasshopper components</item>
+                    <item name="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">87380de2-badc-4b2b-a438-aac8de443f24</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Cluster</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">T0CF</item>
+                    <item name="PreviewDocument" type_name="gh_bool" type_code="1">false</item>
+                  </items>
+                  <chunks count="3">
+                    <chunk name="ParamMap">
+                      <items count="7">
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+                    <chunk name="ParameterData">
+                      <items count="5">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">2</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">4f8984c4-7c7a-4d69-b0a2-183cbb330d20</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">3e8ca6be-fda8-4aaf-b5c0-3c54c8bb7312</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">1</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">4f8984c4-7c7a-4d69-b0a2-183cbb330d20</item>
+                      </items>
+                      <chunks count="3">
+                        <chunk name="InputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Contains a collection of three-dimensional axis-systems</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">e6827551-bd5f-4777-9cc2-97e2a1cf285e</item>
+                            <item name="Name" type_name="gh_string" type_code="10">Plane</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">tcf_point</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
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+                            <chunk name="Attributes">
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+                                  <X>224</X>
+                                  <Y>2011</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="7">
+                            <item name="Description" type_name="gh_string" type_code="10">Contains a collection of floating point numbers</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">499c6afc-e204-4b10-aed8-ccc3ae4a7d31</item>
+                            <item name="Name" type_name="gh_string" type_code="10">Number</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">z_offset</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="WireDisplay" type_name="gh_int32" type_code="3">1</item>
+                          </items>
+                          <chunks count="2">
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+                                </item>
+                              </items>
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+                            <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="number" type_name="gh_double" type_code="6">0.07</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">Contains a collection of three-dimensional axis-systems</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">348f98ef-5f46-4a58-885f-0470a6d4f1f8</item>
+                            <item name="Name" type_name="gh_string" type_code="10">Plane</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">t0cf_frame</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">
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+                                </item>
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+                                </item>
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+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="34">
+              <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="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">import os
+from compas.geometry import Frame
+from compas.datastructures import Mesh
+from compas_fab.robots import PlanningScene
+from compas_fab.robots import Tool
+from compas_ghpython.artists import MeshArtist
+
+HERE = os.path.dirname(ghenv.Component.OnPingDocument().FilePath)
+
+# create tool from mesh and frame
+mesh = Mesh.from_stl(os.path.join(HERE, 'vacuum_gripper.stl'))
+frame = Frame([z_offset, 0, 0], [0, 0, 1], [0, 1, 0])
+tool = Tool(mesh, frame, name='vacuum_gripper')
+tool_at_origin = MeshArtist(mesh).draw()
+
+if robot and robot.client and robot.client.is_connected:
+    scene = PlanningScene(robot)
+    if attached:
+        robot.attach_tool(tool)
+        scene.add_attached_tool()
+    else:
+        if robot.attached_tool:
+            scene.remove_attached_tool()
+            scene.remove_collision_mesh('attached_tool_link_collision_0')
+            robot.detach_tool()
+</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>456</X>
+                      <Y>244</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>558</W>
+                      <H>571</H>
+                    </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">bfe572e7-d997-4c3c-8488-4e03d01804ea</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">Attach tool</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>227</X>
+                          <Y>280</Y>
+                          <W>148</W>
+                          <H>76</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>289</X>
+                          <Y>318</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="6">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">1</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="4">
+                        <chunk name="InputParam" index="0">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">6e80e6d6-8757-4819-8351-1a7c5da7f996</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" 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>229</X>
+                                  <Y>282</Y>
+                                  <W>45</W>
+                                  <H>24</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>253</X>
+                                  <Y>294</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 attached.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">404a4436-fc31-4bbd-846f-0b582b5ffd9c</item>
+                            <item name="Name" type_name="gh_string" type_code="10">attached</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">attached</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">b278407c-79b3-49ef-a2c8-ee682b33d9ef</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>229</X>
+                                  <Y>306</Y>
+                                  <W>45</W>
+                                  <H>24</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>253</X>
+                                  <Y>318</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input z_offset.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">b7e50fd9-4f43-49fe-8c0a-b5a025756216</item>
+                            <item name="Name" type_name="gh_string" type_code="10">z_offset</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">z_offset</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a4be73c-3082-4c74-be27-41c7c1688c53</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>229</X>
+                                  <Y>330</Y>
+                                  <W>45</W>
+                                  <H>24</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>253</X>
+                                  <Y>342</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output tool_at_origin.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">ec3d9765-86ad-4ef4-bb37-6e2408651259</item>
+                            <item name="Name" type_name="gh_string" type_code="10">tool_at_origin</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">tool_at_origin</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>304</X>
+                                  <Y>282</Y>
+                                  <W>69</W>
+                                  <H>72</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>338.5</X>
+                                  <Y>318</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="35">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">2e78987b-9dfb-42a2-8b76-3923ac8bd91a</item>
+                <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="7">
+                    <item name="Description" type_name="gh_string" type_code="10">Boolean (true/false) toggle</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">b278407c-79b3-49ef-a2c8-ee682b33d9ef</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Boolean Toggle</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Attach</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>
+                    <item name="ToggleValue" type_name="gh_bool" type_code="1">true</item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes">
+                      <items count="1">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>32</X>
+                          <Y>307</Y>
+                          <W>98</W>
+                          <H>22</H>
+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="36">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;170;135;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">bfe572e7-d997-4c3c-8488-4e03d01804ea</item>
+                    <item name="ID" index="1" type_name="gh_guid" type_code="9">b278407c-79b3-49ef-a2c8-ee682b33d9ef</item>
+                    <item name="ID" index="2" type_name="gh_guid" type_code="9">6fe2e9d2-130c-4a02-b347-a1c6b831fc5a</item>
+                    <item name="ID" index="3" type_name="gh_guid" type_code="9">9a4be73c-3082-4c74-be27-41c7c1688c53</item>
+                    <item name="ID_Count" type_name="gh_int32" type_code="3">4</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">3dd78fb5-3c65-4715-b2db-b9489d44fd71</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes" />
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="37">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe</item>
+                <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="13">
+                    <item name="Bold" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Ca" type_name="gh_drawing_pointf" type_code="31">
+                      <X>32.62092</X>
+                      <Y>250.852</Y>
+                    </item>
+                    <item name="Cb" type_name="gh_drawing_pointf" type_code="31">
+                      <X>112.3988</X>
+                      <Y>250.852</Y>
+                    </item>
+                    <item name="Cc" type_name="gh_drawing_pointf" type_code="31">
+                      <X>112.3988</X>
+                      <Y>280.6811</Y>
+                    </item>
+                    <item name="Cd" type_name="gh_drawing_pointf" type_code="31">
+                      <X>32.62092</X>
+                      <Y>280.6811</Y>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A quick note</item>
+                    <item name="Font" type_name="gh_string" type_code="10">Arial</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">6fe2e9d2-130c-4a02-b347-a1c6b831fc5a</item>
+                    <item name="Italic" type_name="gh_bool" type_code="1">false</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="Size" type_name="gh_single" type_code="5">41</item>
+                    <item name="Text" type_name="gh_string" type_code="10">Tool</item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>27.62092</X>
+                          <Y>245.852</Y>
+                          <W>89.77783</W>
+                          <H>39.82909</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>32.62092</X>
+                          <Y>250.852</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="38">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">57da07bd-ecab-415d-9d86-af36d7073abc</item>
+                <item name="Name" type_name="gh_string" type_code="10">Number Slider</item>
+              </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>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">9a4be73c-3082-4c74-be27-41c7c1688c53</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Number Slider</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">z_offset</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="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>32</X>
+                          <Y>330</Y>
+                          <W>170</W>
+                          <H>20</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>32.6893</X>
+                          <Y>330.5383</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="Slider">
+                      <items count="7">
+                        <item name="Digits" type_name="gh_int32" type_code="3">3</item>
+                        <item name="GripDisplay" type_name="gh_int32" type_code="3">1</item>
+                        <item name="Interval" type_name="gh_int32" type_code="3">0</item>
+                        <item name="Max" type_name="gh_double" type_code="6">0.2</item>
+                        <item name="Min" type_name="gh_double" type_code="6">-0.1</item>
+                        <item name="SnapCount" type_name="gh_int32" type_code="3">0</item>
+                        <item name="Value" type_name="gh_double" type_code="6">0.07</item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="39">
+              <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="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">import os
+from compas.geometry import Frame
+from compas.datastructures import Mesh
+from compas_fab.robots import PlanningScene
+from compas_fab.robots import CollisionMesh
+from compas_ghpython.artists import MeshArtist
+from compas_rhino.geometry import RhinoMesh
+
+if robot and robot.client and robot.client.is_connected:
+    static_cm_name = 'static_objects'
+    scene = PlanningScene(robot)
+    scene.remove_collision_mesh(static_cm_name)
+    if meshes:
+        for mesh in meshes:
+            mesh = RhinoMesh.from_geometry(mesh).to_compas()
+            cm = CollisionMesh(mesh, static_cm_name)
+            scene.append_collision_mesh(cm)
+</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>156</X>
+                      <Y>156</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>558</W>
+                      <H>571</H>
+                    </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">67e77c02-1764-4e11-bf1d-4203f550692e</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">Python</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>165</X>
+                          <Y>438</Y>
+                          <W>71</W>
+                          <H>52</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>222</X>
+                          <Y>464</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="4">
+                        <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">0</item>
+                      </items>
+                      <chunks count="2">
+                        <chunk name="InputParam" index="0">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">d8842ce0-d92a-4fcf-8634-a387177ebe33</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" 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>167</X>
+                                  <Y>440</Y>
+                                  <W>40</W>
+                                  <H>24</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>188.5</X>
+                                  <Y>452</Y>
+                                </item>
+                              </items>
+                            </chunk>
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+                    <item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_ghpython import draw_frame
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.ghpython.components.icons import trajectory_visualize_icon
+
+class TrajectoryVisualize(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group for which this trajectory was planned.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "trajectory", "trajectory", "The calculated trajectory.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration", "The start configuration of the trajectory.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "configurations", "configurations", "The full configurations along the trajectory.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "fraction", "fraction", "Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "time", "time", "The time which is needed to execute that trajectory at full speed.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Plane()
+        self.SetUpParam(p, "planes", "planes", "The planes of the robot's end-effector.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        result = self.RunScript(p0, p1, p2)
+
+        if result is not None:
+            if not hasattr(result, '__getitem__'):
+                self.marshal.SetOutput(result, DA, 0, True)
+            else:
+                self.marshal.SetOutput(result[0], DA, 0, True)
+                self.marshal.SetOutput(result[1], DA, 1, True)
+                self.marshal.SetOutput(result[2], DA, 2, True)
+                self.marshal.SetOutput(result[3], DA, 3, True)
+                self.marshal.SetOutput(result[4], DA, 4, True)
+
+    def get_Internal_Icon_24x24(self):
+        return trajectory_visualize_icon
+
+    def RunScript(self, robot, group, trajectory):
+        start_configuration = None
+        configurations = []
+        fraction = 0.
+        time = 0.
+
+        planes = []
+        positions = []
+        velocities = []
+        accelerations = []
+
+        if robot and trajectory:
+            group = group or robot.main_group_name
+
+            for c in trajectory.points:
+                configurations.append(robot.merge_group_with_full_configuration(c, trajectory.start_configuration, group))
+                frame = robot.forward_kinematics(c, group, options=dict(solver='model'))
+                planes.append(draw_frame(frame))
+                positions.append(c.positions)
+                velocities.append(c.velocities)
+                accelerations.append(c.accelerations)
+
+            start_configuration = trajectory.start_configuration
+            fraction = trajectory.fraction
+            time = trajectory.time_from_start
+
+        # return outputs if you have them; here I try it for you:
+        return (start_configuration, configurations, fraction, time, planes)
+</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>416</X>
+                      <Y>248</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>684</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">e37b5872-2136-4007-9701-3851c1cc4a87</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Visualize Trajectory</item>
+                  </items>
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+                        </item>
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+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="10">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
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+                        <item name="OutputId" index="4" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="8">
+                        <chunk name="InputParam" index="0">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">6aa301b4-6cee-4345-bd30-6f3863f96203</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
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+                                </item>
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+                                </item>
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+                        </chunk>
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+                            <item name="Name" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
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+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output start_configuration.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">7dade1d5-4247-400d-9bd7-eb4b0b06927f</item>
+                            <item name="Name" type_name="gh_string" type_code="10">start_configuration</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">start_configuration</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output configurations.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">4d980fad-4382-4c12-8ffa-80fb83ba449a</item>
+                            <item name="Name" type_name="gh_string" type_code="10">configurations</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">configurations</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                        </chunk>
+                        <chunk name="OutputParam" index="2">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output fraction.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">cc787af3-0b87-42c5-9e1a-1aff8eb7520e</item>
+                            <item name="Name" type_name="gh_string" type_code="10">fraction</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">fraction</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                        </chunk>
+                        <chunk name="OutputParam" index="3">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output time.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">121fb4b2-8d79-43d2-bc51-0b7e5232d7a9</item>
+                            <item name="Name" type_name="gh_string" type_code="10">time</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">time</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                          </items>
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+                                  <X>1244.5</X>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="4">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output planes.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">11b58743-03db-4a58-80c9-8836f9ae9411</item>
+                            <item name="Name" type_name="gh_string" type_code="10">planes</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">planes</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>1244.5</X>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="53">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="16">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;94;183;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">7e5ecafa-f262-4bc9-bf78-cdd729868c56</item>
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+                    <item name="ID" index="8" type_name="gh_guid" type_code="9">8f786953-34c8-47f7-9814-b8a909da5855</item>
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+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">236cda68-3616-4c47-a812-e2e5c94e5667</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes" />
+                  </chunks>
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+                <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="13">
+                    <item name="Bold" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Ca" type_name="gh_drawing_pointf" type_code="31">
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+                    </item>
+                    <item name="Cb" type_name="gh_drawing_pointf" type_code="31">
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+                      <X>1363.55</X>
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+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A quick note</item>
+                    <item name="Font" type_name="gh_string" type_code="10">Arial</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">7625ad28-8f4f-447a-8b20-cf7423d5b247</item>
+                    <item name="Italic" type_name="gh_bool" type_code="1">false</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="Size" type_name="gh_single" type_code="5">41</item>
+                    <item name="Text" type_name="gh_string" type_code="10">Placement plan</item>
+                  </items>
+                  <chunks count="1">
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+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>1358.55</X>
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+                          <X>1363.55</X>
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+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="55">
+              <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="13">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_ghpython import draw_frame
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.ghpython.components.icons import trajectory_visualize_icon
+
+class TrajectoryVisualize(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group for which this trajectory was planned.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "trajectory", "trajectory", "The calculated trajectory.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration", "The start configuration of the trajectory.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "configurations", "configurations", "The full configurations along the trajectory.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "fraction", "fraction", "Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "time", "time", "The time which is needed to execute that trajectory at full speed.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Plane()
+        self.SetUpParam(p, "planes", "planes", "The planes of the robot's end-effector.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        result = self.RunScript(p0, p1, p2)
+
+        if result is not None:
+            if not hasattr(result, '__getitem__'):
+                self.marshal.SetOutput(result, DA, 0, True)
+            else:
+                self.marshal.SetOutput(result[0], DA, 0, True)
+                self.marshal.SetOutput(result[1], DA, 1, True)
+                self.marshal.SetOutput(result[2], DA, 2, True)
+                self.marshal.SetOutput(result[3], DA, 3, True)
+                self.marshal.SetOutput(result[4], DA, 4, True)
+
+    def get_Internal_Icon_24x24(self):
+        return trajectory_visualize_icon
+
+    def RunScript(self, robot, group, trajectory):
+        start_configuration = None
+        configurations = []
+        fraction = 0.
+        time = 0.
+
+        planes = []
+        positions = []
+        velocities = []
+        accelerations = []
+
+        if robot and trajectory:
+            group = group or robot.main_group_name
+
+            for c in trajectory.points:
+                configurations.append(robot.merge_group_with_full_configuration(c, trajectory.start_configuration, group))
+                frame = robot.forward_kinematics(c, group, options=dict(solver='model'))
+                planes.append(draw_frame(frame))
+                positions.append(c.positions)
+                velocities.append(c.velocities)
+                accelerations.append(c.accelerations)
+
+            start_configuration = trajectory.start_configuration
+            fraction = trajectory.fraction
+            time = trajectory.time_from_start
+
+        # return outputs if you have them; here I try it for you:
+        return (start_configuration, configurations, fraction, time, planes)
+</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>416</X>
+                      <Y>248</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>684</W>
+                      <H>571</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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">a4a20321-c7d8-4f60-83e2-fc6f1521f4ff</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Visualize Trajectory</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>1830</X>
+                          <Y>471</Y>
+                          <W>180</W>
+                          <H>129</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>1896</X>
+                          <Y>536</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="10">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
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+                        <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>
+                        <item name="OutputId" index="4" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="8">
+                        <chunk name="InputParam" index="0">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">6e6d3e65-b6e0-43b0-b415-b43dca813531</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" 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>1832</X>
+                                  <Y>473</Y>
+                                  <W>49</W>
+                                  <H>41</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1858</X>
+                                  <Y>493.8333</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input group.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">c36175cb-fc64-4b4a-8d5e-79c9cdd01900</item>
+                            <item name="Name" type_name="gh_string" type_code="10">group</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">group</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1832</X>
+                                  <Y>514</Y>
+                                  <W>49</W>
+                                  <H>42</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1858</X>
+                                  <Y>535.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input trajectory.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">04c836a6-6b1a-447b-8bb9-cdbef0ca71f3</item>
+                            <item name="Name" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">7d158313-5514-47eb-a080-3408700613a7</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1832</X>
+                                  <Y>556</Y>
+                                  <W>49</W>
+                                  <H>42</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1858</X>
+                                  <Y>577.1666</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output start_configuration.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">bdb96450-90c7-411f-ade5-cbf6343d0364</item>
+                            <item name="Name" type_name="gh_string" type_code="10">start_configuration</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">start_configuration</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>1911</X>
+                                  <Y>473</Y>
+                                  <W>97</W>
+                                  <H>25</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1959.5</X>
+                                  <Y>485.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output configurations.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">018e7fe5-7b7b-4795-a848-46b5058d6488</item>
+                            <item name="Name" type_name="gh_string" type_code="10">configurations</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">configurations</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>1911</X>
+                                  <Y>498</Y>
+                                  <W>97</W>
+                                  <H>25</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1959.5</X>
+                                  <Y>510.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="2">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output fraction.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">5af05567-125f-469e-b43d-ed709d411798</item>
+                            <item name="Name" type_name="gh_string" type_code="10">fraction</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">fraction</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>1911</X>
+                                  <Y>523</Y>
+                                  <W>97</W>
+                                  <H>25</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1959.5</X>
+                                  <Y>535.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="3">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output time.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">78f0b510-c78e-4f9d-92c3-f797684b6d15</item>
+                            <item name="Name" type_name="gh_string" type_code="10">time</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">time</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>1911</X>
+                                  <Y>548</Y>
+                                  <W>97</W>
+                                  <H>25</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1959.5</X>
+                                  <Y>560.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="4">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output planes.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">ffbf4940-429d-4335-9570-ec2fe3f8f6e0</item>
+                            <item name="Name" type_name="gh_string" type_code="10">planes</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">planes</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>1911</X>
+                                  <Y>573</Y>
+                                  <W>97</W>
+                                  <H>25</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1959.5</X>
+                                  <Y>585.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="56">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="12">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;170;135;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">8b6d85ec-b58c-408c-b51f-afb7d6488efb</item>
+                    <item name="ID" index="1" type_name="gh_guid" type_code="9">1d7ea18d-2d85-4fc4-9019-b402b6066d20</item>
+                    <item name="ID" index="2" type_name="gh_guid" type_code="9">99564794-bc9c-42c6-b727-df16f105f7df</item>
+                    <item name="ID" index="3" type_name="gh_guid" type_code="9">53fb2f80-0154-40ce-bf8e-c07a38a48af4</item>
+                    <item name="ID" index="4" type_name="gh_guid" type_code="9">b9a3cd2f-7b8f-496e-b671-e1ccdeb5ede1</item>
+                    <item name="ID_Count" type_name="gh_int32" type_code="3">5</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">6065bb2b-8198-4a8d-86f0-16c82a490851</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes" />
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="57">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">7f5c6c55-f846-4a08-9c9a-cfdc285cc6fe</item>
+                <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="13">
+                    <item name="Bold" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Ca" type_name="gh_drawing_pointf" type_code="31">
+                      <X>2195.175</X>
+                      <Y>421.2417</Y>
+                    </item>
+                    <item name="Cb" type_name="gh_drawing_pointf" type_code="31">
+                      <X>2459.292</X>
+                      <Y>421.2417</Y>
+                    </item>
+                    <item name="Cc" type_name="gh_drawing_pointf" type_code="31">
+                      <X>2459.292</X>
+                      <Y>451.6113</Y>
+                    </item>
+                    <item name="Cd" type_name="gh_drawing_pointf" type_code="31">
+                      <X>2195.175</X>
+                      <Y>451.6113</Y>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A quick note</item>
+                    <item name="Font" type_name="gh_string" type_code="10">Arial</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">1d7ea18d-2d85-4fc4-9019-b402b6066d20</item>
+                    <item name="Italic" type_name="gh_bool" type_code="1">false</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="Size" type_name="gh_single" type_code="5">41</item>
+                    <item name="Text" type_name="gh_string" type_code="10">Save to JSON</item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>2190.175</X>
+                          <Y>416.2417</Y>
+                          <W>274.1177</W>
+                          <H>40.3696</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>2195.175</X>
+                          <Y>421.2417</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="58">
+              <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"># Mac will not automatically do this so, here we go
+import os
+import sys
+HERE = os.path.dirname(ghenv.Component.OnPingDocument().FilePath)
+if HERE not in sys.path: sys.path.append(HERE)
+
+## Start assembly definition
+from assembly import Assembly
+from assembly import Element
+
+from compas.datastructures import Mesh
+from compas.geometry import Translation
+from compas_fab.ghpython.components import coerce_frame
+
+
+assembly = Assembly()
+
+assembly.attributes['home_config'] = home_config
+assembly.attributes['element'] = element
+assembly.attributes['place_tolerance'] = place_tolerance
+assembly.approach_offset = approach_offset
+
+source_element = assembly.attributes['element']
+assembly.pick_t0cf_frame = coerce_frame(pick_t0cf_frame)
+place_t0cf_frames = [coerce_frame(f) for f in place_t0cf_frames]
+
+for key, frame in enumerate(robot.from_t0cf_to_tcf(place_t0cf_frames)):
+    x, y, z = 0, 0, (source_element.height / 2)
+
+    frame = frame.transformed(Translation.from_vector([x, y, z]))
+    approach_t0cf_frame = frame.transformed(Translation.from_vector([0, 0, approach_offset]))
+    element = Element(frame=frame,
+                      approach_frame=approach_t0cf_frame,
+                      geometry_at_origin=Mesh.from_shape(source_element))
+    assembly.add_element(element, key)
+
+pickup_t0cf_frames = assembly.pick_t0cf_frames()</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>333</X>
+                      <Y>40</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>558</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">feba3733-a75a-459f-a072-2fde91c330ec</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">Create assembly</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>989</X>
+                          <Y>298</Y>
+                          <W>225</W>
+                          <H>144</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>1097</X>
+                          <Y>370</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="11">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">7</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="3" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="4" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="5" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="6" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">2</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                        <item name="OutputId" index="1" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="9">
+                        <chunk name="InputParam" index="0">
+                          <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 variable Create assembly</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">7a7f31b2-a200-4298-8ad8-18abd1ba8bb6</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>300</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>310</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 pick_t0cf_frame.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">f80925ae-2885-4d98-b158-e01ce2c0cdca</item>
+                            <item name="Name" type_name="gh_string" type_code="10">pick_t0cf_frame</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">pick_t0cf_frame</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">f41be9bc-bcf0-410b-a0ac-8575f4a7ba6b</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>320</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>330</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="12">
+                            <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 place_t0cf_frames.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">ad62f98b-1dcd-4277-aa16-1d3a01faa2b3</item>
+                            <item name="Name" type_name="gh_string" type_code="10">place_t0cf_frames</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">place_t0cf_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">af025e60-14ba-4c28-9dc9-21f04af24737</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>340</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>350</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="3">
+                          <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 approach_offset.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">37860aa3-99ed-47f5-a957-0d5fee8c6ada</item>
+                            <item name="Name" type_name="gh_string" type_code="10">approach_offset</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">approach_offset</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">a17a3498-e042-4db0-b3e7-eca2f875e5b8</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>360</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>370</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="4">
+                          <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 element.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">591065d8-7de7-4c49-92a5-428fb7867dea</item>
+                            <item name="Name" type_name="gh_string" type_code="10">element</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">element</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">e42c965a-b5a0-4604-b779-6619359cf9a2</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>380</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>390</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="5">
+                          <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 home_config.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">dd379b1f-c92c-4632-8cd1-c6064593db46</item>
+                            <item name="Name" type_name="gh_string" type_code="10">home_config</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">home_config</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">f956b690-65c4-4b82-ac9a-488e4afed703</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>400</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>410</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="6">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input place_tolerance.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">b32403d0-6ca1-4dc6-9aa2-85ba7cb04271</item>
+                            <item name="Name" type_name="gh_string" type_code="10">place_tolerance</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">place_tolerance</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">39fbc626-7a01-46ab-a18e-ec1c0c41685b</item>
+                          </items>
+                          <chunks count="2">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>991</X>
+                                  <Y>420</Y>
+                                  <W>91</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1038</X>
+                                  <Y>430</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="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">0.008</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 assembly.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">1da00192-179a-4379-a6a7-562c2d4250d8</item>
+                            <item name="Name" type_name="gh_string" type_code="10">assembly</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">assembly</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>1112</X>
+                                  <Y>300</Y>
+                                  <W>100</W>
+                                  <H>70</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1162</X>
+                                  <Y>335</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output pickup_t0cf_frames.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">7709d326-8e7a-49da-a1d7-d642545c5ad8</item>
+                            <item name="Name" type_name="gh_string" type_code="10">pickup_t0cf_frames</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">pickup_t0cf_frames</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>1112</X>
+                                  <Y>370</Y>
+                                  <W>100</W>
+                                  <H>70</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>1162</X>
+                                  <Y>405</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="59">
+              <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">import os
+import json
+import compas
+
+HERE = os.path.dirname(ghenv.Component.OnPingDocument().FilePath)
+rfile = os.path.join(HERE, 'assembly.json')
+
+# We are storing a full assembly representation
+if save and assembly:
+    compas.json_dump(assembly, rfile)
+
+    # Pretty formatting because OCD
+    with open(rfile, 'r+') as rf:
+        data = json.load(rf)
+        rf.seek(0)
+        json.dump(data, rf, indent=4, sort_keys=True)
+</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>611</X>
+                      <Y>195</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>749</W>
+                      <H>767</H>
+                    </item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">false</item>
+                    <item name="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">53fb2f80-0154-40ce-bf8e-c07a38a48af4</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">Save</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>2355</X>
+                          <Y>480</Y>
+                          <W>103</W>
+                          <H>44</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>2420</X>
+                          <Y>502</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="6">
+                        <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">2</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">3ede854e-c753-40eb-84cb-b48008f14fd4</item>
+                        <item name="OutputId" index="1" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="4">
+                        <chunk name="InputParam" index="0">
+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Save</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">22cc596b-18cf-4a04-b38e-1972d766d077</item>
+                            <item name="Name" type_name="gh_string" type_code="10">assembly</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">assembly</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">1da00192-179a-4379-a6a7-562c2d4250d8</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" type_name="gh_int32" type_code="3">2</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>2357</X>
+                                  <Y>482</Y>
+                                  <W>48</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>2382.5</X>
+                                  <Y>492</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 save.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">4eb648c5-bdbd-45e0-9683-a7f711e507a3</item>
+                            <item name="Name" type_name="gh_string" type_code="10">save</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">save</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">b9a3cd2f-7b8f-496e-b671-e1ccdeb5ede1</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>2357</X>
+                                  <Y>502</Y>
+                                  <W>48</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>2382.5</X>
+                                  <Y>512</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The execution information, as output and error streams</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">8ecdb579-37d6-47a7-affa-3189cb96d870</item>
+                            <item name="Name" type_name="gh_string" type_code="10">out</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">out</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>2435</X>
+                                  <Y>482</Y>
+                                  <W>21</W>
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+                        </chunk>
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+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output a.</item>
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+                            </chunk>
+                          </chunks>
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+                  </chunks>
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+                <item name="Name" type_name="gh_string" type_code="10">Button</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="8">
+                    <item name="Description" type_name="gh_string" type_code="10">Button object with two values</item>
+                    <item name="ExpressionNormal" type_name="gh_string" type_code="10">False</item>
+                    <item name="ExpressionPressed" type_name="gh_string" type_code="10">True</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">b9a3cd2f-7b8f-496e-b671-e1ccdeb5ede1</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Button</item>
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+                    <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                  </items>
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+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
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+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="9">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;45;57;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">feba3733-a75a-459f-a072-2fde91c330ec</item>
+                    <item name="ID" index="1" type_name="gh_guid" type_code="9">64bc0273-8198-45b4-a87d-4429075d5539</item>
+                    <item name="ID_Count" type_name="gh_int32" type_code="3">2</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">9195d8d0-1443-46c5-92e7-eff228240756</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
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+                    <chunk name="Attributes" />
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
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+                <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="13">
+                    <item name="Bold" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Ca" type_name="gh_drawing_pointf" type_code="31">
+                      <X>922.8066</X>
+                      <Y>266.6034</Y>
+                    </item>
+                    <item name="Cb" type_name="gh_drawing_pointf" type_code="31">
+                      <X>1115.855</X>
+                      <Y>266.6034</Y>
+                    </item>
+                    <item name="Cc" type_name="gh_drawing_pointf" type_code="31">
+                      <X>1115.855</X>
+                      <Y>304.5804</Y>
+                    </item>
+                    <item name="Cd" type_name="gh_drawing_pointf" type_code="31">
+                      <X>922.8066</X>
+                      <Y>304.5804</Y>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A quick note</item>
+                    <item name="Font" type_name="gh_string" type_code="10">Arial</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">64bc0273-8198-45b4-a87d-4429075d5539</item>
+                    <item name="Italic" type_name="gh_bool" type_code="1">false</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Scribble</item>
+                    <item name="Size" type_name="gh_single" type_code="5">41</item>
+                    <item name="Text" type_name="gh_string" type_code="10">Assembly</item>
+                  </items>
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+                          <X>922.8066</X>
+                          <Y>266.6034</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="63">
+              <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 compas.datastructures import Mesh
+from compas_fab.robots import AttachedCollisionMesh
+from compas_fab.robots import CollisionMesh
+from compas_fab.robots import PlanningScene
+
+
+if robot:
+    scene = PlanningScene(robot)
+    scene.remove_collision_mesh('built_elements')
+
+    a = []
+    for key in assembly.nodes():
+        # Linear order assumed here!
+        if key &gt;= i: break
+        element = assembly.element(key)
+        cm = CollisionMesh(element.geometry_at_placement, 'built_elements')
+        scene.append_collision_mesh(cm)
+
+    # Setup attached element
+    scene.remove_attached_collision_mesh('brick')
+    scene.remove_collision_mesh('brick')
+
+    ee_link_name = robot.get_end_effector_link_name()
+    if robot.attached_tool:
+        brick_frame = robot.attached_tool.frame.copy()
+    else:
+        brick_frame = Frame.worldXY()
+
+    # Centered origin, get half
+    element = assembly.attributes['element']
+    brick_frame.point.x += element.height / 2
+    element = Mesh.from_shape(element)
+    brick_acm = AttachedCollisionMesh(CollisionMesh(element, 'brick', brick_frame), ee_link_name)
+    scene.add_attached_collision_mesh(brick_acm)
+</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>668</X>
+                      <Y>417</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>558</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">de06f11d-053b-436f-a4b7-ec786a0dc23b</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">ROS scene</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>1458</X>
+                          <Y>754</Y>
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+                        </item>
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+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="5">
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+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
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+                      </items>
+                      <chunks count="3">
+                        <chunk name="InputParam" index="0">
+                          <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 variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">4b9846a3-bb7f-4264-95f2-ca4a6b0cd663</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
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+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
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+                                  <H>23</H>
+                                </item>
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+                                  <X>1485.5</X>
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+                              </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 assembly.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">fcadabc1-cbe4-4076-ab64-415f1980b0c7</item>
+                            <item name="Name" type_name="gh_string" type_code="10">assembly</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">assembly</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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+                                </item>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input i.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">f7279d35-cbf1-4fe4-bea8-6090b1076c8f</item>
+                            <item name="Name" type_name="gh_string" type_code="10">i</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">i</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
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+                          </items>
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+                                </item>
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+                                  <Y>814.3334</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="64">
+              <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">import math
+from compas.geometry import Frame
+from compas.geometry import Transformation
+from compas.geometry import Translation
+from compas_ghpython.artists import MeshArtist
+from compas_fab.robots import Configuration
+from compas_fab.robots import PlanningScene
+from compas_fab.robots import AttachedCollisionMesh
+from compas_fab.robots import CollisionMesh
+from compas_fab.ghpython.components import coerce_frame
+from scriptcontext import sticky as st
+
+key = '{}_{}'.format('trajectory', ghenv.Component.InstanceGuid)
+place_key = '{}_{}'.format('place_trajectory', ghenv.Component.InstanceGuid)
+
+if assembly and robot and compute:
+    start_configuration = robot.zero_configuration()
+    try:
+        start_configuration.values = assembly.pick_trajectory.points[-1].values
+    except:
+        pass
+    
+    e = assembly.element(i)
+    place_t0cf_frame, approach_t0cf_frame = robot.from_tcf_to_t0cf([e.frame, e.approach_frame])
+    
+    # Apply place tolerance
+    x, y, z = 0, 0, assembly.attributes['place_tolerance']
+    place_t0cf_frame = place_t0cf_frame.transformed(Translation.from_vector([x, y, z]))
+
+    tolerance_position = 0.001
+    tolerance_axes = [math.radians(1)] * 3
+
+    # create goal constraints from frame
+    goal_constraints = robot.constraints_from_frame(approach_t0cf_frame,
+                                                    tolerance_position,
+                                                    tolerance_axes,
+                                                    group)
+
+    trajectory = robot.plan_motion(goal_constraints,
+                                   start_configuration,
+                                   group,
+                                   options=dict(planner_id='RRTstarkConfigDefault'))
+    st[key] = trajectory
+
+    frames = []
+    frames.append(approach_t0cf_frame)
+    frames.append(place_t0cf_frame)
+
+    start_configuration = robot.zero_configuration()
+    start_configuration.values = trajectory.points[-1].values
+
+    place_trajectory = robot.plan_cartesian_motion(frames,
+                                                   start_configuration,
+                                                   group=group,
+                                                   options=dict(
+                                                       max_step=0.01,
+                                                       avoid_collisions=True,
+                                                   ))
+
+    if place_trajectory and place_trajectory.fraction &lt; 1.0:
+        raise Exception('Incomplete trajectory. Fraction={}'.format(place_trajectory.fraction))
+    
+    st[place_key] = place_trajectory
+
+    # Merge and store
+    e.trajectory = trajectory.points + place_trajectory.points
+
+trajectory = st.get(key)
+place_trajectory = st.get(place_key)</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>587</X>
+                      <Y>131</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>975</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">adff66ab-0602-4f7d-b92e-faf711f84523</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">Plan placement</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>1680</X>
+                          <Y>767</Y>
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+                          <H>104</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>1745</X>
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+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="10">
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+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input group.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">41022fae-8d81-4161-a37e-26f275698af0</item>
+                            <item name="Name" type_name="gh_string" type_code="10">group</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">group</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input assembly.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">7cf17cfa-9ee1-451e-98eb-87b65f0d2f89</item>
+                            <item name="Name" type_name="gh_string" type_code="10">assembly</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">assembly</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
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+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">ff9cce0c-8009-4e3d-8e88-457bc393484f</item>
+                            <item name="Name" type_name="gh_string" type_code="10">i</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">i</item>
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+                          <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 compute.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">57db92fa-e774-4620-aed9-31657efe84e2</item>
+                            <item name="Name" type_name="gh_string" type_code="10">compute</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">compute</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
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+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output trajectory.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">dcaa9955-fb1a-4768-ae11-ebfb9edc6a8f</item>
+                            <item name="Name" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output place_trajectory.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">455c77c0-ca36-4d93-b1b3-f34bda4eb365</item>
+                            <item name="Name" type_name="gh_string" type_code="10">place_trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">place_trajectory</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>
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+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="2">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output a.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">73cf7da4-7d1a-4a88-af31-97cf97c54e95</item>
+                            <item name="Name" type_name="gh_string" type_code="10">a</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">a</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>
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+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="65">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">a8b97322-2d53-47cd-905e-b932c3ccd74e</item>
+                <item name="Name" type_name="gh_string" type_code="10">Button</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="8">
+                    <item name="Description" type_name="gh_string" type_code="10">Button object with two values</item>
+                    <item name="ExpressionNormal" type_name="gh_string" type_code="10">False</item>
+                    <item name="ExpressionPressed" type_name="gh_string" type_code="10">True</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">f6427ccb-25e5-49e1-b12d-f3a8f65ae3f4</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Button</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Button</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="1">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>1540</X>
+                          <Y>848</Y>
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+                        </item>
+                      </items>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="66">
+              <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">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_ghpython import draw_frame
+from compas_fab.ghpython.components import create_id
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.ghpython.components.icons import trajectory_visualize_icon
+
+class TrajectoryVisualize(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group for which this trajectory was planned.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "trajectory", "trajectory", "The calculated trajectory.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration", "The start configuration of the trajectory.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "configurations", "configurations", "The full configurations along the trajectory.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "fraction", "fraction", "Indicates the percentage of requested trajectory that was calculated, e.g. 1 means the full trajectory was found.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Number()
+        self.SetUpParam(p, "time", "time", "The time which is needed to execute that trajectory at full speed.")
+        self.Params.Output.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_Plane()
+        self.SetUpParam(p, "planes", "planes", "The planes of the robot's end-effector.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        result = self.RunScript(p0, p1, p2)
+
+        if result is not None:
+            if not hasattr(result, '__getitem__'):
+                self.marshal.SetOutput(result, DA, 0, True)
+            else:
+                self.marshal.SetOutput(result[0], DA, 0, True)
+                self.marshal.SetOutput(result[1], DA, 1, True)
+                self.marshal.SetOutput(result[2], DA, 2, True)
+                self.marshal.SetOutput(result[3], DA, 3, True)
+                self.marshal.SetOutput(result[4], DA, 4, True)
+
+    def get_Internal_Icon_24x24(self):
+        return trajectory_visualize_icon
+
+    def RunScript(self, robot, group, trajectory):
+        start_configuration = None
+        configurations = []
+        fraction = 0.
+        time = 0.
+
+        planes = []
+        positions = []
+        velocities = []
+        accelerations = []
+
+        if robot and trajectory:
+            group = group or robot.main_group_name
+
+            for c in trajectory.points:
+                configurations.append(robot.merge_group_with_full_configuration(c, trajectory.start_configuration, group))
+                frame = robot.forward_kinematics(c, group, options=dict(solver='model'))
+                planes.append(draw_frame(frame))
+                positions.append(c.positions)
+                velocities.append(c.velocities)
+                accelerations.append(c.accelerations)
+
+            start_configuration = trajectory.start_configuration
+            fraction = trajectory.fraction
+            time = trajectory.time_from_start
+
+        # return outputs if you have them; here I try it for you:
+        return (start_configuration, configurations, fraction, time, planes)
+</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>416</X>
+                      <Y>248</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>684</W>
+                      <H>571</H>
+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">8f786953-34c8-47f7-9814-b8a909da5855</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Visualize Trajectory</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>1876</X>
+                          <Y>722</Y>
+                          <W>180</W>
+                          <H>129</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>1942</X>
+                          <Y>787</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="10">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
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+                        <item name="OutputId" index="4" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">2f6123f4-8422-4aab-809e-3681423c00b0</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">9a9900f7-c5de-485a-9791-63a5e1930c86</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" type_name="gh_int32" type_code="3">1</item>
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+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1878</X>
+                                  <Y>724</Y>
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+                                  <X>1904</X>
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+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input group.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">865c932a-f481-430e-b273-44f1b7454e05</item>
+                            <item name="Name" type_name="gh_string" type_code="10">group</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">group</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
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+                              <items count="2">
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+                                  <X>1878</X>
+                                  <Y>765</Y>
+                                  <W>49</W>
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+                                  <X>1904</X>
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+                          </chunks>
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+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input trajectory.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">197f921f-683f-46a8-83d5-db2c55b0fd00</item>
+                            <item name="Name" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">trajectory</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">dcaa9955-fb1a-4768-ae11-ebfb9edc6a8f</item>
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+                            <item name="SourceCount" type_name="gh_int32" type_code="3">2</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
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+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1878</X>
+                                  <Y>807</Y>
+                                  <W>49</W>
+                                  <H>42</H>
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+                                  <X>1904</X>
+                                  <Y>828.1666</Y>
+                                </item>
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+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output start_configuration.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">78545dfa-3477-4eba-a564-be23a3c3d050</item>
+                            <item name="Name" type_name="gh_string" type_code="10">start_configuration</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">start_configuration</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>
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+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1957</X>
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+                                  <X>2005.5</X>
+                                  <Y>736.5</Y>
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+                            </chunk>
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+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output configurations.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">c818cec5-fc6d-4c1d-9452-fa15ce31c9ad</item>
+                            <item name="Name" type_name="gh_string" type_code="10">configurations</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">configurations</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>1957</X>
+                                  <Y>749</Y>
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+                                  <X>2005.5</X>
+                                  <Y>761.5</Y>
+                                </item>
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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 fraction.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">d1c88ade-6dc2-412d-8a32-9d674ab416ec</item>
+                            <item name="Name" type_name="gh_string" type_code="10">fraction</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">fraction</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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+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1957</X>
+                                  <Y>774</Y>
+                                  <W>97</W>
+                                  <H>25</H>
+                                </item>
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+                                  <X>2005.5</X>
+                                  <Y>786.5</Y>
+                                </item>
+                              </items>
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+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="3">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output time.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">6bddb8ef-e70c-4bf8-b6ac-2349bc4b8573</item>
+                            <item name="Name" type_name="gh_string" type_code="10">time</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">time</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>1957</X>
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+                                  <X>2005.5</X>
+                                  <Y>811.5</Y>
+                                </item>
+                              </items>
+                            </chunk>
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+                        </chunk>
+                        <chunk name="OutputParam" index="4">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output planes.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">edaf7f96-5c94-4b3f-830c-55d9258a6c9b</item>
+                            <item name="Name" type_name="gh_string" type_code="10">planes</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">planes</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>
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+                            <chunk name="Attributes">
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+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>1957</X>
+                                  <Y>824</Y>
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+                                  <X>2005.5</X>
+                                  <Y>836.5</Y>
+                                </item>
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+                <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>
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+                <chunk name="Container">
+                  <items count="12">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">if assembly:
+    assembly.pick_trajectory = pick_trajectory</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>130</X>
+                      <Y>130</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>558</W>
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+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">e8574466-52dd-40f6-a8d5-e57e15b8abec</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">Store</item>
+                  </items>
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+                      <items count="2">
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+                          <X>1912</X>
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+                          <X>2003</X>
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+                        <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>
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+                          <items count="12">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">c5a19ecc-1b7b-4c3f-9e60-00d215da9e50</item>
+                            <item name="Name" type_name="gh_string" type_code="10">assembly</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">assembly</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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+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                            <item name="WireDisplay" type_name="gh_int32" type_code="3">1</item>
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+                                  <X>1914</X>
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+                                  <X>1952.5</X>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
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+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">66254fff-4330-439d-b881-3142382e42da</item>
+                            <item name="Name" type_name="gh_string" type_code="10">pick_trajectory</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">pick_trajectory</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
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+                                  <X>1914</X>
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+                                  <X>1952.5</X>
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+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;170;135;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
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+                    <item name="CodeInput" type_name="gh_string" type_code="10">import Grasshopper
+import System
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.ghpython.components import coerce_frame
+from compas_fab.backends import RosValidationError
+
+class InverseKinematics(component):
+    def SetUpParam(self, p, name, nickname, description):
+        p.Name = name
+        p.NickName = nickname
+        p.Description = description
+        p.Optional = True
+
+    def RegisterInputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "robot", "robot", "The robot.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "plane", "plane", "The plane or frame to calculate the inverse kinematic for.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "start_configuration", "start_configuration",
+                        "If passed, the inverse will be calculated such that the calculated joint positions \
+                         differ the least from the start_configuration. Defaults to the zero configuration.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+        p = Grasshopper.Kernel.Parameters.Param_String()
+        self.SetUpParam(p, "group", "group", "The planning group used for calculation. Defaults to the robot's main planning group.")
+        p.Access = Grasshopper.Kernel.GH_ParamAccess.item
+        self.Params.Input.Add(p)
+
+    def RegisterOutputParams(self, pManager):
+        p = Grasshopper.Kernel.Parameters.Param_GenericObject()
+        self.SetUpParam(p, "a", "configuration", "The planning group's configuration.")
+        self.Params.Output.Add(p)
+
+    def SolveInstance(self, DA):
+        p0 = self.marshal.GetInput(DA, 0)
+        p1 = self.marshal.GetInput(DA, 1)
+        p2 = self.marshal.GetInput(DA, 2)
+        p3 = self.marshal.GetInput(DA, 3)
+        result = self.RunScript(p0, p1, p2, p3)
+
+        if result is not None:
+            self.marshal.SetOutput(result, DA, 0, True)
+
+    def get_Internal_Icon_24x24(self):
+        return inverse_kinematics_icon
+
+    def RunScript(self, robot, plane, start_configuration, group):
+        configuration = None
+        self.Message = ''
+        if robot and robot.client and robot.client.is_connected and plane:
+            frame = coerce_frame(plane)
+            try:
+                configuration = robot.inverse_kinematics(frame, start_configuration, group)
+            except RosValidationError as e:
+                self.Message = 'No solution found'
+                raise
+        
+        if configuration:
+            self.Message = 'Solution found'
+        return configuration
+</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>415</X>
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+                    </item>
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+                    </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="IconDisplay" type_name="gh_int32" type_code="3">1</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">f16d7522-4dad-4263-b0af-2cc276ace21a</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Locked" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
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+                  </items>
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+                        <item name="Description" type_name="gh_string" type_code="10">Line start point</item>
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+                        <item name="Name" type_name="gh_string" type_code="10">Start</item>
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+                        <item name="Name" type_name="gh_string" type_code="10">Direction</item>
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+                        <item name="Name" type_name="gh_string" type_code="10">Line</item>
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+                          <X>283</X>
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+                        <item name="Description" type_name="gh_string" type_code="10">Vector {y} component</item>
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+                        <item name="Name" type_name="gh_string" type_code="10">Y component</item>
+                        <item name="NickName" type_name="gh_string" type_code="10">Y</item>
+                        <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                      <items count="6">
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+                        <item name="Name" type_name="gh_string" type_code="10">Z component</item>
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+                        <item name="Name" type_name="gh_string" type_code="10">Vector</item>
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+        </item>
+      </items>
+    </chunk>
+  </chunks>
+</Archive>
\ No newline at end of file
diff --git a/lecture_06/assignment_05/asling/assembly.json b/lecture_06/assignment_05/asling/assembly.json
new file mode 100644
index 0000000..5c2acd5
--- /dev/null
+++ b/lecture_06/assignment_05/asling/assembly.json
@@ -0,0 +1,9817 @@
+{
+    "dtype": "assembly/Assembly", 
+    "value": {
+        "compas": "1.1.0", 
+        "data": {
+            "adjacency": {
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+                "1": {}, 
+                "2": {}, 
+                "3": {}, 
+                "4": {}, 
+                "5": {}, 
+                "6": {}, 
+                "7": {}, 
+                "8": {}
+            }, 
+            "attributes": {
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+                "element": {
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+                    "value": {
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+                                0.0
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+                        "ysize": 0.031, 
+                        "zsize": 0.012
+                    }
+                }, 
+                "home_config": {
+                    "dtype": "compas_fab.robots/Configuration", 
+                    "value": {
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+                        "types": [
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+                            0, 
+                            0, 
+                            0, 
+                            0, 
+                            0
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+                            -1.5700000000000001, 
+                            -3.1400000000000001
+                        ]
+                    }
+                }, 
+                "name": "Network", 
+                "pick_t0cf_frame": {
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+                    "value": {
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