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                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
Connect or disconnect to ROS.

COMPAS FAB v0.27.0
"""
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st

from compas_fab.backends import RosClient
from compas_fab.ghpython.components import create_id


class ROSConnect(component):
    def RunScript(self, ip, port, connect):
        ros_client = None

        ip = ip or '127.0.0.1'
        port = port or 9090

        key = create_id(self, 'ros_client')
        ros_client = st.get(key, None)

        if ros_client:
            st[key].close()
        if connect:
            st[key] = RosClient(ip, port)
            st[key].run(5)

        ros_client = st.get(key, None)
        is_connected = ros_client.is_connected if ros_client else False
        return (ros_client, is_connected)
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COMPAS FAB v0.27.0</item>
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                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
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                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
Load robot directly from ROS.

COMPAS FAB v0.27.0
"""
from compas_ghpython.artists import RobotModelArtist
from ghpythonlib.componentbase import executingcomponent as component
from scriptcontext import sticky as st

from compas_fab.ghpython.components import create_id


class ROSRobot(component):
    def RunScript(self, ros_client, load):
        key = create_id(self, 'robot')

        if ros_client and ros_client.is_connected and load:
            # Load URDF from ROS
            st[key] = ros_client.load_robot(load_geometry=True, precision='12f')
            st[key].artist = RobotModelArtist(st[key].model)

        robot = st.get(key, None)
        if robot:  # client sometimes need to be restarted, without needing to reload geometry
            robot.client = ros_client
        return robot
</item>
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COMPAS FAB v0.27.0</item>
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                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
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                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
Visualizes the robot.

COMPAS FAB v0.27.0
"""
from compas.artists import Artist
from compas.geometry import Frame
from compas.geometry import Transformation
from compas_fab.robots import PlanningScene
from ghpythonlib.componentbase import executingcomponent as component


class RobotVisualize(component):
    def RunScript(
        self,
        robot,
        group,
        configuration,
        show_visual,
        show_collision,
        show_frames,
        show_base_frame,
        show_end_effector_frame,
        show_cm,
        show_acm,
    ):

        visual = None
        collision = None
        collision_meshes = None
        attached_meshes = None
        frames = None
        base_frame = None
        ee_frame = None

        if robot:
            show_visual = True if show_visual is None else show_visual
            show_cm = True if show_cm is None else show_cm
            show_acm = True if show_acm is None else show_acm
            configuration = configuration or robot.zero_configuration()

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

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

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

            if show_base_frame:
                base_compas_frame = compas_frames[0]
                artist = Artist(base_compas_frame)
                base_frame = artist.draw()

            if show_end_effector_frame:
                ee_compas_frame = robot.forward_kinematics(
                    configuration, group, options=dict(solver="model")
                )
                artist = Artist(ee_compas_frame)
                ee_frame = artist.draw()

            if show_frames:
                frames = []
                for compas_frame in compas_frames[1:]:
                    artist = Artist(compas_frame)
                    frame = artist.draw()
                    frames.append(frame)

            if show_cm or show_acm:
                scene = PlanningScene(robot)
                scene = robot.client.get_planning_scene()

                collision_meshes = []
                attached_meshes = []

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

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

                            collision_meshes.append(Artist(mesh).draw())

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

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

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

                            attached_meshes.append(Artist(mesh).draw())

        return (
            visual,
            collision,
            collision_meshes,
            attached_meshes,
            frames,
            base_frame,
            ee_frame,
        )
</item>
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COMPAS FAB v0.27.0</item>
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Get a zero configuration for a robot.

COMPAS FAB v0.27.0
"""
from ghpythonlib.componentbase import executingcomponent as component


class ConfigZero(component):
    def RunScript(self, robot, group):

        if robot:
            return robot.zero_configuration(group)

        return None
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