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index a97d11c11..dc3a148db 100644
Binary files a/compas_fab/pull_390/.doctrees/environment.pickle and b/compas_fab/pull_390/.doctrees/environment.pickle differ
diff --git a/compas_fab/pull_390/api/compas_fab.planning.html b/compas_fab/pull_390/api/compas_fab.planning.html
index 411aa6e7c..19740bde0 100644
--- a/compas_fab/pull_390/api/compas_fab.planning.html
+++ b/compas_fab/pull_390/api/compas_fab.planning.html
@@ -140,6 +140,15 @@ <h2>Actions</h2>
 <tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.CloseGripper.html#compas_fab.planning.CloseGripper" title="compas_fab.planning.CloseGripper"><code class="xref py py-obj docutils literal notranslate"><span class="pre">CloseGripper</span></code></a></p></td>
 <td><p>Action to close the gripper.</p></td>
 </tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.ManualWorkpieceMotion.html#compas_fab.planning.ManualWorkpieceMotion" title="compas_fab.planning.ManualWorkpieceMotion"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ManualWorkpieceMotion</span></code></a></p></td>
+<td><p>Operator action to move a workpiece from one place to another.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="generated/compas_fab.planning.HideWorkpieces.html#compas_fab.planning.HideWorkpieces" title="compas_fab.planning.HideWorkpieces"><code class="xref py py-obj docutils literal notranslate"><span class="pre">HideWorkpieces</span></code></a></p></td>
+<td><p>Action to hide workpieces.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="generated/compas_fab.planning.ShowWorkpieces.html#compas_fab.planning.ShowWorkpieces" title="compas_fab.planning.ShowWorkpieces"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ShowWorkpieces</span></code></a></p></td>
+<td><p>Action to show workpieces.</p></td>
+</tr>
 </tbody>
 </table>
 </section>
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.CloseGripper.validate_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.CloseGripper.validate_json.html
index 54f97273e..4055e6781 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.CloseGripper.validate_json.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.CloseGripper.validate_json.html
@@ -20,7 +20,7 @@
   <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
 
   
-  <link rel="next" title="SceneState" href="compas_fab.planning.SceneState.html" />
+  <link rel="next" title="ManualWorkpieceMotion" href="compas_fab.planning.ManualWorkpieceMotion.html" />
   
 
   
@@ -254,10 +254,10 @@ <h1>CloseGripper.validate_json</h1>
       
 
       
-      <a href="compas_fab.planning.SceneState.html" title="SceneState" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+      <a href="compas_fab.planning.ManualWorkpieceMotion.html" title="ManualWorkpieceMotion" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
         <div class="nav-title footer-link flex-grow-1 align-self-center">
           <div class="nav-direction small font-weight-light">Next</div>
-          SceneState
+          ManualWorkpieceMotion
         </div>
         <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
       </a>
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.ToString.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.ToString.html
new file mode 100644
index 000000000..27e892516
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.ToString.html
@@ -0,0 +1,383 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.ToString</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.copy" href="compas_fab.planning.HideWorkpieces.copy.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.check_preconditions" href="compas_fab.planning.HideWorkpieces.check_preconditions.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.ToString</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-tostring">
+<h1>HideWorkpieces.ToString</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.ToString">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">ToString</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L182"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Converts the instance to a string.</p>
+<p>This method exists for .NET compatibility. When using IronPython,
+the implicit string conversion that usually takes place in CPython
+will not kick-in, and in its place, IronPython will default to
+printing self.GetType().FullName or similar. Overriding the <cite>ToString</cite>
+method of .NET object class fixes that and makes Rhino/Grasshopper
+display proper string representations when the objects are printed or
+connected to a panel or other type of string output.</p>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.ToString</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.HideWorkpieces.check_preconditions.html" title="HideWorkpieces.check_preconditions" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          HideWorkpieces.check_preconditions
+        </div>
+      </a>
+      
+
+      
+      <a href="compas_fab.planning.HideWorkpieces.copy.html" title="HideWorkpieces.copy" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          HideWorkpieces.copy
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
+      
+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.apply_effects.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.apply_effects.html
new file mode 100644
index 000000000..16c0cd41d
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.apply_effects.html
@@ -0,0 +1,382 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.apply_effects</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
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+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
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+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
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+  
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+  
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+            
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+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.apply_effects</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-apply-effects">
+<h1>HideWorkpieces.apply_effects</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.apply_effects">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">apply_effects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene_state</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L671"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Applies the action to a scene state.</p>
+<p>The SceneState is modified in place with the effect of the Action.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>scene_state</strong> (<a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.planning.SceneState</span></code></a>) – The scene state to apply the action to.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
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+      <a href="compas_fab.planning.HideWorkpieces.html" title="HideWorkpieces" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.check_preconditions.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.check_preconditions.html
new file mode 100644
index 000000000..fe11ef42f
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.check_preconditions.html
@@ -0,0 +1,391 @@
+<!DOCTYPE html>
+<html lang="en">
+
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+  
+  <title>compas_fab - HideWorkpieces.check_preconditions</title>
+  
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+            
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.check_preconditions</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-check-preconditions">
+<h1>HideWorkpieces.check_preconditions</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.check_preconditions">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">check_preconditions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene_state</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L637"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if the action can be applied to a scene state.</p>
+<p>All the workpiece_ids must be:
+- in the scene
+- not hidden
+- not attached to the robot</p>
+<p>This function does not change the scene state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>scene_state</strong> (<a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.planning.SceneState</span></code></a>) – The scene state to apply the action to.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>Tuple(bool, str)</em> – A tuple of a boolean and a string.
+The boolean indicates if the action can be applied to the scene state.
+The string is a human readable message that describes the reason for failure.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
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+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.check_preconditions</a></li>
+</ul>
+
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+  </div>
+  <!-- main -->
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+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.HideWorkpieces.apply_effects.html" title="HideWorkpieces.apply_effects" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          HideWorkpieces.apply_effects
+        </div>
+      </a>
+      
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+      
+      <a href="compas_fab.planning.HideWorkpieces.ToString.html" title="HideWorkpieces.ToString" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          HideWorkpieces.ToString
+        </div>
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+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
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+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.copy.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.copy.html
new file mode 100644
index 000000000..65bd048e3
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.copy.html
@@ -0,0 +1,385 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.copy</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.from_data" href="compas_fab.planning.HideWorkpieces.from_data.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.ToString" href="compas_fab.planning.HideWorkpieces.ToString.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
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+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
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+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.copy</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-copy">
+<h1>HideWorkpieces.copy</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.copy">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">copy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cls</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L313"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Make an independent copy of the data object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>cls</strong> (Type[<a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a>], optional) – The type of data object to return.
+Defaults to the type of the current data object.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An independent copy of this object.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
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+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
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+        </form>
+        
+        
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+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.copy</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.HideWorkpieces.ToString.html" title="HideWorkpieces.ToString" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
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+          HideWorkpieces.ToString
+        </div>
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+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
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+        </div>
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+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
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+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
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+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+    </div>
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+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
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+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_data.html
new file mode 100644
index 000000000..4874fe209
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_data.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.from_data</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.from_json" href="compas_fab.planning.HideWorkpieces.from_json.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.copy" href="compas_fab.planning.HideWorkpieces.copy.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.from_data</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-from-data">
+<h1>HideWorkpieces.from_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.from_data">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">from_data</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object of this type from the provided data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>data</strong> (<em>dict</em>) – The data dictionary.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the dict has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
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+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.from_data</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.HideWorkpieces.copy.html" title="HideWorkpieces.copy" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
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+          <div class="nav-direction small font-weight-light">Previous</div>
+          HideWorkpieces.copy
+        </div>
+      </a>
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+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
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+        </div>
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+  <!-- footer -->
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+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+      </div>
+    </div>
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+  <script id="documentation_options" data-url_root="" src="../../_static/documentation_options.js"></script>
+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/anchor-js/4.0.0/anchor.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/clipboard.js/2.0.8/clipboard.min.js"></script>
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+  <script src="../../_static/language_data.js"></script>
+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_json.html
new file mode 100644
index 000000000..014dbbfae
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_json.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.from_json</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.from_jsonstring" href="compas_fab.planning.HideWorkpieces.from_jsonstring.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.from_data" href="compas_fab.planning.HideWorkpieces.from_data.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.from_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-from-json">
+<h1>HideWorkpieces.from_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.from_json">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">from_json</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object from serialized data contained in a JSON file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>filepath</strong> (<em>path string | file-like object | URL string</em>) – The path, file or URL to the file for serialization.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the JSON file has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.from_json</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.HideWorkpieces.from_data.html" title="HideWorkpieces.from_data" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          HideWorkpieces.from_data
+        </div>
+      </a>
+      
+
+      
+      <a href="compas_fab.planning.HideWorkpieces.from_jsonstring.html" title="HideWorkpieces.from_jsonstring" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          HideWorkpieces.from_jsonstring
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
+      
+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
+      </div>
+    </div>
+  </div>
+  <!-- below -->
+  <!-- scripts -->
+  <script id="documentation_options" data-url_root="" src="../../_static/documentation_options.js"></script>
+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/anchor-js/4.0.0/anchor.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/clipboard.js/2.0.8/clipboard.min.js"></script>
+
+  <script src="../../_static/underscore.js"></script>
+  <script src="../../_static/doctools.js"></script>
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+  <script src="../../_static/language_data.js"></script>
+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_jsonstring.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_jsonstring.html
new file mode 100644
index 000000000..c29ba3bdd
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.from_jsonstring.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.from_jsonstring</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.sha256" href="compas_fab.planning.HideWorkpieces.sha256.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.from_json" href="compas_fab.planning.HideWorkpieces.from_json.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.from_jsonstring</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-from-jsonstring">
+<h1>HideWorkpieces.from_jsonstring</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.from_jsonstring">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">from_jsonstring</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">string</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object from serialized data contained in a JSON string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>string</strong> (<em>str</em>) – The object as a JSON string.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the JSON file has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
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+</ul>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.from_jsonstring</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
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+  </div>
+  <!-- main -->
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+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.HideWorkpieces.from_json.html" title="HideWorkpieces.from_json" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          HideWorkpieces.from_json
+        </div>
+      </a>
+      
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+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
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+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
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+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
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+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
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+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
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+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
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+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.html
new file mode 100644
index 000000000..8dad09341
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.html
@@ -0,0 +1,441 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.apply_effects" href="compas_fab.planning.HideWorkpieces.apply_effects.html" />
+  
+
+  
+  <link rel="prev" title="ManualWorkpieceMotion.validate_json" href="compas_fab.planning.ManualWorkpieceMotion.validate_json.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces">
+<h1>HideWorkpieces</h1>
+<dl class="py class">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">HideWorkpieces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_ids</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L610"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Bases: <a class="reference internal" href="compas_fab.planning.Action.html#compas_fab.planning.Action" title="compas_fab.planning.action.Action"><code class="xref py py-class docutils literal notranslate"><span class="pre">Action</span></code></a></p>
+<p>Action to hide workpieces. Can be used to model objects that are removed the scene.</p>
+<p>This changes the WorkpieceState.is_hidden property.
+Can also be used to model the manual detachment of scaffolding (modeled as a <code class="xref py py-class docutils literal notranslate"><span class="pre">Workpiece</span></code>)</p>
+<dl class="field-list simple">
+<dt class="field-odd">Attributes</dt>
+<dd class="field-odd"><p><strong>workpiece_ids</strong> (<em>list(str)</em>) – List of workpiece ids to be hidden.</p>
+</dd>
+</dl>
+<p class="rubric">Methods</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.apply_effects.html#compas_fab.planning.HideWorkpieces.apply_effects" title="compas_fab.planning.HideWorkpieces.apply_effects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_effects</span></code></a></p></td>
+<td><p>Applies the action to a scene state.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.check_preconditions.html#compas_fab.planning.HideWorkpieces.check_preconditions" title="compas_fab.planning.HideWorkpieces.check_preconditions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">check_preconditions</span></code></a></p></td>
+<td><p>Checks if the action can be applied to a scene state.</p></td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Inherited Methods</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.ToString.html#compas_fab.planning.HideWorkpieces.ToString" title="compas_fab.planning.HideWorkpieces.ToString"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ToString</span></code></a></p></td>
+<td><p>Converts the instance to a string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.copy.html#compas_fab.planning.HideWorkpieces.copy" title="compas_fab.planning.HideWorkpieces.copy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy</span></code></a></p></td>
+<td><p>Make an independent copy of the data object.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.from_data.html#compas_fab.planning.HideWorkpieces.from_data" title="compas_fab.planning.HideWorkpieces.from_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_data</span></code></a></p></td>
+<td><p>Construct an object of this type from the provided data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.from_json.html#compas_fab.planning.HideWorkpieces.from_json" title="compas_fab.planning.HideWorkpieces.from_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_json</span></code></a></p></td>
+<td><p>Construct an object from serialized data contained in a JSON file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.from_jsonstring.html#compas_fab.planning.HideWorkpieces.from_jsonstring" title="compas_fab.planning.HideWorkpieces.from_jsonstring"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_jsonstring</span></code></a></p></td>
+<td><p>Construct an object from serialized data contained in a JSON string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.sha256.html#compas_fab.planning.HideWorkpieces.sha256" title="compas_fab.planning.HideWorkpieces.sha256"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sha256</span></code></a></p></td>
+<td><p>Compute a hash of the data for comparison during version control using the sha256 algorithm.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.to_data.html#compas_fab.planning.HideWorkpieces.to_data" title="compas_fab.planning.HideWorkpieces.to_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_data</span></code></a></p></td>
+<td><p>Convert an object to its native data representation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.to_json.html#compas_fab.planning.HideWorkpieces.to_json" title="compas_fab.planning.HideWorkpieces.to_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_json</span></code></a></p></td>
+<td><p>Serialize the data representation of an object to a JSON file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.to_jsonstring.html#compas_fab.planning.HideWorkpieces.to_jsonstring" title="compas_fab.planning.HideWorkpieces.to_jsonstring"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_jsonstring</span></code></a></p></td>
+<td><p>Serialize the data representation of an object to a JSON string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.validate_data.html#compas_fab.planning.HideWorkpieces.validate_data" title="compas_fab.planning.HideWorkpieces.validate_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">validate_data</span></code></a></p></td>
+<td><p>Validate the object's data against its data schema.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.HideWorkpieces.validate_json.html#compas_fab.planning.HideWorkpieces.validate_json" title="compas_fab.planning.HideWorkpieces.validate_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">validate_json</span></code></a></p></td>
+<td><p>Validate the object's data against its json schema.</p></td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces</a><ul class="nav flex-column">
+</ul>
+</li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ManualWorkpieceMotion.validate_json.html" title="ManualWorkpieceMotion.validate_json" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ManualWorkpieceMotion.validate_json
+        </div>
+      </a>
+      
+
+      
+      <a href="compas_fab.planning.HideWorkpieces.apply_effects.html" title="HideWorkpieces.apply_effects" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          HideWorkpieces.apply_effects
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
+      
+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
+      </div>
+    </div>
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+  <!-- below -->
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+  <script id="documentation_options" data-url_root="" src="../../_static/documentation_options.js"></script>
+
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+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
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+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
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+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
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+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
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+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.sha256.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.sha256.html
new file mode 100644
index 000000000..d2306ea2f
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.sha256.html
@@ -0,0 +1,397 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.sha256</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
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+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-sha256">
+<h1>HideWorkpieces.sha256</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.sha256">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">sha256</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">as_string</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L378"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Compute a hash of the data for comparison during version control using the sha256 algorithm.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>as_string</strong> (<em>bool, optional</em>) – If True, return the digest in hexadecimal format rather than as bytes.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>bytes | str</em></p>
+</dd>
+</dl>
+<p class="rubric">Examples</p>
+<div class="doctest language-python notranslate"><div class="highlight"><pre><button class="btn copy"><i class="far fa-copy"></i></button><code><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas.datastructures</span> <span class="kn">import</span> <span class="n">Mesh</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">mesh</span> <span class="o">=</span> <span class="n">Mesh</span><span class="o">.</span><span class="n">from_obj</span><span class="p">(</span><span class="n">compas</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">&#39;faces.obj&#39;</span><span class="p">))</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v1</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v2</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">mesh</span><span class="o">.</span><span class="n">vertex_attribute</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertex_sample</span><span class="p">(</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">],</span> <span class="s1">&#39;z&#39;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v3</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v1</span> <span class="o">==</span> <span class="n">v2</span>
+<span class="go">True</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v2</span> <span class="o">==</span> <span class="n">v3</span>
+<span class="go">False</span>
+</code></pre></div>
+</div>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
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+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
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+</ul>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
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+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_data.html
new file mode 100644
index 000000000..97982cc2a
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_data.html
@@ -0,0 +1,381 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.to_data</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.to_json" href="compas_fab.planning.HideWorkpieces.to_json.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.sha256" href="compas_fab.planning.HideWorkpieces.sha256.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.to_data</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-to-data">
+<h1>HideWorkpieces.to_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.to_data">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">to_data</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L233"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Convert an object to its native data representation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>dict</em> – The data representation of the object as described by the schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
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+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
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+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/anchor-js/4.0.0/anchor.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/clipboard.js/2.0.8/clipboard.min.js"></script>
+
+  <script src="../../_static/underscore.js"></script>
+  <script src="../../_static/doctools.js"></script>
+  <script src="../../_static/searchtools.js"></script>
+  <script src="../../_static/language_data.js"></script>
+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_json.html
new file mode 100644
index 000000000..f7034319b
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_json.html
@@ -0,0 +1,387 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.to_json</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="HideWorkpieces.to_jsonstring" href="compas_fab.planning.HideWorkpieces.to_jsonstring.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.to_data" href="compas_fab.planning.HideWorkpieces.to_data.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
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+  <header id="header" class="compas-header d-flex align-items-center">
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+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
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+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
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+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
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+    <div class="row">
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+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
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+            
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+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.to_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-to-json">
+<h1>HideWorkpieces.to_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.to_json">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">to_json</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pretty</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L262"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Serialize the data representation of an object to a JSON file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>filepath</strong> (<em>path string or file-like object</em>) – The path or file-like object to the file containing the data.</p></li>
+<li><p><strong>pretty</strong> (<em>bool, optional</em>) – If True, serialize to a “pretty”, human-readable representation.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>None</em></p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
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+</ul>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
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+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
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+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
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+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
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+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+
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+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
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+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
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+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_jsonstring.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_jsonstring.html
new file mode 100644
index 000000000..326ac4fcc
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.to_jsonstring.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.to_jsonstring</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
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+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
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+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
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+  
+  <link rel="next" title="HideWorkpieces.validate_data" href="compas_fab.planning.HideWorkpieces.validate_data.html" />
+  
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+  
+  <link rel="prev" title="HideWorkpieces.to_json" href="compas_fab.planning.HideWorkpieces.to_json.html" />
+  
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+</head>
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+      <!-- brand -->
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+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
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+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
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+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
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+        <!-- social -->
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+    </nav>
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+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
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+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.to_jsonstring</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-to-jsonstring">
+<h1>HideWorkpieces.to_jsonstring</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.to_jsonstring">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">to_jsonstring</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pretty</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L297"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Serialize the data representation of an object to a JSON string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>pretty</strong> (<em>bool, optional</em>) – If True serialize a pretty representation of the data.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>str</em> – The object’s data dict in JSON string format.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
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+          </button>
+        </form>
+        
+        
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+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
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+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">HideWorkpieces.to_jsonstring</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
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+          ul.addClass("show");
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+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
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+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.validate_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.validate_data.html
new file mode 100644
index 000000000..545cb2c47
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.validate_data.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
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+  
+  <title>compas_fab - HideWorkpieces.validate_data</title>
+  
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+  <meta charset="utf-8" />
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+      </a>
+      <!-- brand -->
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+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
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+        </li>
+        <li class="nav-item">
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+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
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+            
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+            
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.validate_data</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-validate-data">
+<h1>HideWorkpieces.validate_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.validate_data">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">validate_data</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L332"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Validate the object’s data against its data schema.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>dict</em> – The validated data.</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>schema.SchemaError</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
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+      $(".language-default code").addClass("python");
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+        target: function(trigger) {
+          return trigger.nextElementSibling;
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+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
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+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
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+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
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+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
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+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.validate_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.validate_json.html
new file mode 100644
index 000000000..69db557af
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.HideWorkpieces.validate_json.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - HideWorkpieces.validate_json</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
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+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
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+  
+  <link rel="next" title="ShowWorkpieces" href="compas_fab.planning.ShowWorkpieces.html" />
+  
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+  
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+  
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+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
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+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
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+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
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+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
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+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
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+            
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.HideWorkpieces.html">HideWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">HideWorkpieces.validate_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="hideworkpieces-validate-json">
+<h1>HideWorkpieces.validate_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.HideWorkpieces.validate_json">
+<span class="sig-prename descclassname"><span class="pre">HideWorkpieces.</span></span><span class="sig-name descname"><span class="pre">validate_json</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L354"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Validate the object’s data against its json schema.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>str</em> – The validated JSON representation of the data.</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>jsonschema.exceptions.ValidationError</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
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+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
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+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
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+
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+  <!-- scripts -->
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.ToString.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.ToString.html
new file mode 100644
index 000000000..87c40794d
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.ToString.html
@@ -0,0 +1,383 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ManualWorkpieceMotion.ToString</title>
+  
+
+  <meta charset="utf-8" />
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+  
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+            <li class="breadcrumb-item"><a href="compas_fab.planning.ManualWorkpieceMotion.html">ManualWorkpieceMotion</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ManualWorkpieceMotion.ToString</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-tostring">
+<h1>ManualWorkpieceMotion.ToString</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.ToString">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">ToString</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L182"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Converts the instance to a string.</p>
+<p>This method exists for .NET compatibility. When using IronPython,
+the implicit string conversion that usually takes place in CPython
+will not kick-in, and in its place, IronPython will default to
+printing self.GetType().FullName or similar. Overriding the <cite>ToString</cite>
+method of .NET object class fixes that and makes Rhino/Grasshopper
+display proper string representations when the objects are printed or
+connected to a panel or other type of string output.</p>
+</dd></dl>
+
+</section>
+
+        
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+</ul>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.apply_effects.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.apply_effects.html
new file mode 100644
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@@ -0,0 +1,382 @@
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+        <section class="detail" id="manualworkpiecemotion-apply-effects">
+<h1>ManualWorkpieceMotion.apply_effects</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.apply_effects">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">apply_effects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene_state</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L592"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Applies the action to a scene state.</p>
+<p>The SceneState is modified in place with the effect of the Action.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>scene_state</strong> (<a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.planning.SceneState</span></code></a>) – The scene state to apply the action to.</p>
+</dd>
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+</dd></dl>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.check_preconditions.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.check_preconditions.html
new file mode 100644
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--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.check_preconditions.html
@@ -0,0 +1,387 @@
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+        <section class="detail" id="manualworkpiecemotion-check-preconditions">
+<h1>ManualWorkpieceMotion.check_preconditions</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.check_preconditions">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">check_preconditions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene_state</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L567"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if the action can be applied to a scene state.</p>
+<p>This function does not change the scene state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>scene_state</strong> (<a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.planning.SceneState</span></code></a>) – The scene state to apply the action to.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>Tuple(bool, str)</em> – A tuple of a boolean and a string.
+The boolean indicates if the action can be applied to the scene state.
+The string is a human readable message that describes the reason for failure.</p>
+</dd>
+</dl>
+</dd></dl>
+
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.copy.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.copy.html
new file mode 100644
index 000000000..f7ddd452d
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.copy.html
@@ -0,0 +1,385 @@
+<!DOCTYPE html>
+<html lang="en">
+
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+  <title>compas_fab - ManualWorkpieceMotion.copy</title>
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+        </nav>
+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-copy">
+<h1>ManualWorkpieceMotion.copy</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.copy">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">copy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cls</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L313"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Make an independent copy of the data object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>cls</strong> (Type[<a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a>], optional) – The type of data object to return.
+Defaults to the type of the current data object.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An independent copy of this object.</p>
+</dd>
+</dl>
+</dd></dl>
+
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_data.html
new file mode 100644
index 000000000..c9aa403e8
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_data.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
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+          </ol>
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+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-from-data">
+<h1>ManualWorkpieceMotion.from_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.from_data">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">from_data</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object of this type from the provided data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>data</strong> (<em>dict</em>) – The data dictionary.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the dict has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_json.html
new file mode 100644
index 000000000..31cbf3a4b
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_json.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
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+  
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ManualWorkpieceMotion.html">ManualWorkpieceMotion</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ManualWorkpieceMotion.from_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-from-json">
+<h1>ManualWorkpieceMotion.from_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.from_json">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">from_json</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object from serialized data contained in a JSON file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>filepath</strong> (<em>path string | file-like object | URL string</em>) – The path, file or URL to the file for serialization.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the JSON file has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_jsonstring.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_jsonstring.html
new file mode 100644
index 000000000..39b6d1cf0
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.from_jsonstring.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
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+<h1>ManualWorkpieceMotion.from_jsonstring</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.from_jsonstring">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">from_jsonstring</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">string</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object from serialized data contained in a JSON string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>string</strong> (<em>str</em>) – The object as a JSON string.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the JSON file has the correct schema.</p>
+</dd>
+</dl>
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+
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+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
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+</ul>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.html
new file mode 100644
index 000000000..5602596d1
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.html
@@ -0,0 +1,446 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ManualWorkpieceMotion</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
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+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ManualWorkpieceMotion.apply_effects" href="compas_fab.planning.ManualWorkpieceMotion.apply_effects.html" />
+  
+
+  
+  <link rel="prev" title="CloseGripper.validate_json" href="compas_fab.planning.CloseGripper.validate_json.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
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+      <!-- brand -->
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
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+            <!-- <li class="breadcrumb-item active" aria-current="page">ManualWorkpieceMotion</li> -->
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+        </nav>
+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion">
+<h1>ManualWorkpieceMotion</h1>
+<dl class="py class">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">ManualWorkpieceMotion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">Frame(Point(0.000,</span> <span class="pre">0.000,</span> <span class="pre">0.000),</span> <span class="pre">Vector(1.000,</span> <span class="pre">0.000,</span> <span class="pre">0.000),</span> <span class="pre">Vector(0.000,</span> <span class="pre">1.000,</span> <span class="pre">0.000))</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L534"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Bases: <a class="reference internal" href="compas_fab.planning.Action.html#compas_fab.planning.Action" title="compas_fab.planning.action.Action"><code class="xref py py-class docutils literal notranslate"><span class="pre">Action</span></code></a></p>
+<p>Operator action to move a workpiece from one place to another.
+This moves the workpiece to a specific frame.
+Typically used for loading a workpiece into a gripper.
+Can also be used to model the manual attachment of scaffolding (modeled as a <code class="xref py py-class docutils literal notranslate"><span class="pre">Workpiece</span></code>)</p>
+<dl class="field-list simple">
+<dt class="field-odd">Attributes</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>workpiece_id</strong> (<em>str</em>) – The id of the workpiece to be moved.</p></li>
+<li><p><strong>frame</strong> (<a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.geometry.Frame.html#compas.geometry.Frame" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Frame</span></code></a>) – The frame of the workpiece at the target location.
+Specified in world coordinate frame.</p></li>
+</ul>
+</dd>
+</dl>
+<p class="rubric">Methods</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.apply_effects.html#compas_fab.planning.ManualWorkpieceMotion.apply_effects" title="compas_fab.planning.ManualWorkpieceMotion.apply_effects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_effects</span></code></a></p></td>
+<td><p>Applies the action to a scene state.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.check_preconditions.html#compas_fab.planning.ManualWorkpieceMotion.check_preconditions" title="compas_fab.planning.ManualWorkpieceMotion.check_preconditions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">check_preconditions</span></code></a></p></td>
+<td><p>Checks if the action can be applied to a scene state.</p></td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Inherited Methods</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.ToString.html#compas_fab.planning.ManualWorkpieceMotion.ToString" title="compas_fab.planning.ManualWorkpieceMotion.ToString"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ToString</span></code></a></p></td>
+<td><p>Converts the instance to a string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.copy.html#compas_fab.planning.ManualWorkpieceMotion.copy" title="compas_fab.planning.ManualWorkpieceMotion.copy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy</span></code></a></p></td>
+<td><p>Make an independent copy of the data object.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.from_data.html#compas_fab.planning.ManualWorkpieceMotion.from_data" title="compas_fab.planning.ManualWorkpieceMotion.from_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_data</span></code></a></p></td>
+<td><p>Construct an object of this type from the provided data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.from_json.html#compas_fab.planning.ManualWorkpieceMotion.from_json" title="compas_fab.planning.ManualWorkpieceMotion.from_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_json</span></code></a></p></td>
+<td><p>Construct an object from serialized data contained in a JSON file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.from_jsonstring.html#compas_fab.planning.ManualWorkpieceMotion.from_jsonstring" title="compas_fab.planning.ManualWorkpieceMotion.from_jsonstring"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_jsonstring</span></code></a></p></td>
+<td><p>Construct an object from serialized data contained in a JSON string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.sha256.html#compas_fab.planning.ManualWorkpieceMotion.sha256" title="compas_fab.planning.ManualWorkpieceMotion.sha256"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sha256</span></code></a></p></td>
+<td><p>Compute a hash of the data for comparison during version control using the sha256 algorithm.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.to_data.html#compas_fab.planning.ManualWorkpieceMotion.to_data" title="compas_fab.planning.ManualWorkpieceMotion.to_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_data</span></code></a></p></td>
+<td><p>Convert an object to its native data representation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.to_json.html#compas_fab.planning.ManualWorkpieceMotion.to_json" title="compas_fab.planning.ManualWorkpieceMotion.to_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_json</span></code></a></p></td>
+<td><p>Serialize the data representation of an object to a JSON file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.to_jsonstring.html#compas_fab.planning.ManualWorkpieceMotion.to_jsonstring" title="compas_fab.planning.ManualWorkpieceMotion.to_jsonstring"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_jsonstring</span></code></a></p></td>
+<td><p>Serialize the data representation of an object to a JSON string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.validate_data.html#compas_fab.planning.ManualWorkpieceMotion.validate_data" title="compas_fab.planning.ManualWorkpieceMotion.validate_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">validate_data</span></code></a></p></td>
+<td><p>Validate the object's data against its data schema.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ManualWorkpieceMotion.validate_json.html#compas_fab.planning.ManualWorkpieceMotion.validate_json" title="compas_fab.planning.ManualWorkpieceMotion.validate_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">validate_json</span></code></a></p></td>
+<td><p>Validate the object's data against its json schema.</p></td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</section>
+
+        
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.sha256.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.sha256.html
new file mode 100644
index 000000000..fb64c87d3
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.sha256.html
@@ -0,0 +1,397 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ManualWorkpieceMotion.sha256</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
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+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
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+  
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+  
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+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-sha256">
+<h1>ManualWorkpieceMotion.sha256</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.sha256">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">sha256</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">as_string</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L378"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Compute a hash of the data for comparison during version control using the sha256 algorithm.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>as_string</strong> (<em>bool, optional</em>) – If True, return the digest in hexadecimal format rather than as bytes.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>bytes | str</em></p>
+</dd>
+</dl>
+<p class="rubric">Examples</p>
+<div class="doctest language-python notranslate"><div class="highlight"><pre><button class="btn copy"><i class="far fa-copy"></i></button><code><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas.datastructures</span> <span class="kn">import</span> <span class="n">Mesh</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">mesh</span> <span class="o">=</span> <span class="n">Mesh</span><span class="o">.</span><span class="n">from_obj</span><span class="p">(</span><span class="n">compas</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">&#39;faces.obj&#39;</span><span class="p">))</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v1</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v2</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">mesh</span><span class="o">.</span><span class="n">vertex_attribute</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertex_sample</span><span class="p">(</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">],</span> <span class="s1">&#39;z&#39;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v3</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v1</span> <span class="o">==</span> <span class="n">v2</span>
+<span class="go">True</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v2</span> <span class="o">==</span> <span class="n">v3</span>
+<span class="go">False</span>
+</code></pre></div>
+</div>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_data.html
new file mode 100644
index 000000000..d08f6f3a3
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_data.html
@@ -0,0 +1,381 @@
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+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-to-data">
+<h1>ManualWorkpieceMotion.to_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.to_data">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">to_data</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L233"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Convert an object to its native data representation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>dict</em> – The data representation of the object as described by the schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_json.html
new file mode 100644
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--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_json.html
@@ -0,0 +1,387 @@
+<!DOCTYPE html>
+<html lang="en">
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+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-to-json">
+<h1>ManualWorkpieceMotion.to_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.to_json">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">to_json</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pretty</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L262"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Serialize the data representation of an object to a JSON file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>filepath</strong> (<em>path string or file-like object</em>) – The path or file-like object to the file containing the data.</p></li>
+<li><p><strong>pretty</strong> (<em>bool, optional</em>) – If True, serialize to a “pretty”, human-readable representation.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>None</em></p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
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+</ul>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_jsonstring.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_jsonstring.html
new file mode 100644
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--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.to_jsonstring.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
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+        
+        
+        <section class="detail" id="manualworkpiecemotion-to-jsonstring">
+<h1>ManualWorkpieceMotion.to_jsonstring</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.to_jsonstring">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">to_jsonstring</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pretty</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L297"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Serialize the data representation of an object to a JSON string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>pretty</strong> (<em>bool, optional</em>) – If True serialize a pretty representation of the data.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>str</em> – The object’s data dict in JSON string format.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_data.html
new file mode 100644
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--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_data.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
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+        
+        
+        <section class="detail" id="manualworkpiecemotion-validate-data">
+<h1>ManualWorkpieceMotion.validate_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.validate_data">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">validate_data</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L332"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Validate the object’s data against its data schema.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>dict</em> – The validated data.</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>schema.SchemaError</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_json.html
new file mode 100644
index 000000000..10a8a2e62
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_json.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
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+  
+  <title>compas_fab - ManualWorkpieceMotion.validate_json</title>
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+            <li class="breadcrumb-item"><a href="compas_fab.planning.ManualWorkpieceMotion.html">ManualWorkpieceMotion</a></li>
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+        
+
+        
+        
+        <section class="detail" id="manualworkpiecemotion-validate-json">
+<h1>ManualWorkpieceMotion.validate_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ManualWorkpieceMotion.validate_json">
+<span class="sig-prename descclassname"><span class="pre">ManualWorkpieceMotion.</span></span><span class="sig-name descname"><span class="pre">validate_json</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L354"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Validate the object’s data against its json schema.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>str</em> – The validated JSON representation of the data.</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>jsonschema.exceptions.ValidationError</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
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+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ManualWorkpieceMotion.validate_json</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
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+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ManualWorkpieceMotion.validate_data.html" title="ManualWorkpieceMotion.validate_data" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ManualWorkpieceMotion.validate_data
+        </div>
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+      <a href="compas_fab.planning.HideWorkpieces.html" title="HideWorkpieces" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          HideWorkpieces
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
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+      
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+  </footer>
+  <!-- footer -->
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+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
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+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
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+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
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+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
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+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
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+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.RobotState.html b/compas_fab/pull_390/api/generated/compas_fab.planning.RobotState.html
index 5caf49687..f6f04c96c 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.RobotState.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.RobotState.html
@@ -99,12 +99,11 @@
 <h1>RobotState</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.planning.RobotState">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">RobotState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L249"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">RobotState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L281"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Class for describing the state of a robot.</p>
-<p>RobotState objects are typically created by the constructor of <a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneState</span></code></a>.
-However it is possible to create a RobotState object manually. For example, when specifying
-the initial state of a robot in a planning process.</p>
+<p>RobotState objects are typically created automatically by the <code class="xref py py-class docutils literal notranslate"><span class="pre">FabricationProcess</span></code>.
+However it is possible to customize the initial state of the robot by creating or modifying the RobotState manually.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Attributes</dt>
 <dd class="field-odd"><ul class="simple">
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_tool_id.html b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_tool_id.html
index 1d4aa38e3..1c6612938 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_tool_id.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_tool_id.html
@@ -101,7 +101,7 @@
 <h1>SceneState.get_attached_tool_id</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.planning.SceneState.get_attached_tool_id">
-<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_attached_tool_id</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L119"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_attached_tool_id</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L120"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the id of the tool that is currently attached to the robot.
 This function assumes there is only one possible tool attached to the robot.
 If no tool is attached, <cite>None</cite> is returned.</p>
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_workpiece_id.html b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_workpiece_id.html
index 5a4659b1b..98999573a 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_workpiece_id.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_attached_workpiece_id.html
@@ -101,7 +101,7 @@
 <h1>SceneState.get_attached_workpiece_id</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.planning.SceneState.get_attached_workpiece_id">
-<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_attached_workpiece_id</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_attached_workpiece_id</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L131"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the id of the workpiece that is currently attached to the robot.
 This function assumes there is only one possible workpiece attached to the robot.
 If no workpiece is attached, <cite>None</cite> is returned.</p>
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_robot_state.html b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_robot_state.html
index 2aab65869..7fae10263 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_robot_state.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_robot_state.html
@@ -101,7 +101,7 @@
 <h1>SceneState.get_robot_state</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.planning.SceneState.get_robot_state">
-<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_robot_state</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L86"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_robot_state</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L87"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the state of the only robot in the scene.</p>
 </dd></dl>
 
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_tool_state.html b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_tool_state.html
index fe6288289..9aa633ae0 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_tool_state.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_tool_state.html
@@ -101,7 +101,7 @@
 <h1>SceneState.get_tool_state</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.planning.SceneState.get_tool_state">
-<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_tool_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L91"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_tool_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L92"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the state of a tool by tool id.
 If there is only one tool in the scene, the tool id can be omitted.</p>
 <dl class="field-list simple">
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_workpiece_state.html b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_workpiece_state.html
index b65af9db4..2acefff3c 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_workpiece_state.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.get_workpiece_state.html
@@ -101,7 +101,7 @@
 <h1>SceneState.get_workpiece_state</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.planning.SceneState.get_workpiece_state">
-<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_workpiece_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L108"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SceneState.</span></span><span class="sig-name descname"><span class="pre">get_workpiece_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L109"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the state of a workpiece by workpiece id.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.html b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.html
index e54316a8d..24950203f 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.SceneState.html
@@ -24,7 +24,7 @@
   
 
   
-  <link rel="prev" title="CloseGripper.validate_json" href="compas_fab.planning.CloseGripper.validate_json.html" />
+  <link rel="prev" title="ShowWorkpieces.validate_json" href="compas_fab.planning.ShowWorkpieces.validate_json.html" />
   
 
   <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
@@ -99,7 +99,7 @@
 <h1>SceneState</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.planning.SceneState">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">SceneState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_ids</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_ids</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L19"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">SceneState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_ids</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_ids</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Container for the states of all workpieces, tools and robot in a static scene.</p>
 <p>Current implementation supports multiple workpieces and tools, but only one robot.</p>
@@ -327,11 +327,11 @@ <h1>SceneState</h1>
   <footer class="compas-footer">
     <nav class="nav p-2">
       
-      <a href="compas_fab.planning.CloseGripper.validate_json.html" title="CloseGripper.validate_json" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+      <a href="compas_fab.planning.ShowWorkpieces.validate_json.html" title="ShowWorkpieces.validate_json" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
         <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
         <div class="nav-title flex-grow-1 align-self-center">
           <div class="nav-direction small font-weight-light">Previous</div>
-          CloseGripper.validate_json
+          ShowWorkpieces.validate_json
         </div>
       </a>
       
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.ToString.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.ToString.html
new file mode 100644
index 000000000..339010bf3
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.ToString.html
@@ -0,0 +1,383 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.ToString</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.copy" href="compas_fab.planning.ShowWorkpieces.copy.html" />
+  
+
+  
+  <link rel="prev" title="ShowWorkpieces.check_preconditions" href="compas_fab.planning.ShowWorkpieces.check_preconditions.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.ToString</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-tostring">
+<h1>ShowWorkpieces.ToString</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.ToString">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">ToString</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L182"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Converts the instance to a string.</p>
+<p>This method exists for .NET compatibility. When using IronPython,
+the implicit string conversion that usually takes place in CPython
+will not kick-in, and in its place, IronPython will default to
+printing self.GetType().FullName or similar. Overriding the <cite>ToString</cite>
+method of .NET object class fixes that and makes Rhino/Grasshopper
+display proper string representations when the objects are printed or
+connected to a panel or other type of string output.</p>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.apply_effects.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.apply_effects.html
new file mode 100644
index 000000000..4681298b0
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.apply_effects.html
@@ -0,0 +1,382 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.apply_effects</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
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+
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+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
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+  
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+  
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+      <!-- brand -->
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+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
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+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
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+        </li>
+        
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+            
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+            
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+            
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.apply_effects</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-apply-effects">
+<h1>ShowWorkpieces.apply_effects</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.apply_effects">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">apply_effects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene_state</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">debug</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L750"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Applies the action to a scene state.</p>
+<p>The SceneState is modified in place with the effect of the Action.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>scene_state</strong> (<a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.planning.SceneState</span></code></a>) – The scene state to apply the action to.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
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+      </main>
+      <!-- content -->
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
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+</ul>
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+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.apply_effects</a></li>
+</ul>
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+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
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diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.check_preconditions.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.check_preconditions.html
new file mode 100644
index 000000000..140d46607
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.check_preconditions.html
@@ -0,0 +1,391 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.check_preconditions</title>
+  
+
+  <meta charset="utf-8" />
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+            0.28.0
+          </a>
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.check_preconditions</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-check-preconditions">
+<h1>ShowWorkpieces.check_preconditions</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.check_preconditions">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">check_preconditions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scene_state</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L716"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if the action can be applied to a scene state.</p>
+<p>All the workpiece_ids must be:
+- in the scene
+- hidden
+- not attached to the robot</p>
+<p>This function does not change the scene state.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>scene_state</strong> (<a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.planning.SceneState</span></code></a>) – The scene state to apply the action to.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>Tuple(bool, str)</em> – A tuple of a boolean and a string.
+The boolean indicates if the action can be applied to the scene state.
+The string is a human readable message that describes the reason for failure.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.check_preconditions</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
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+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ShowWorkpieces.apply_effects.html" title="ShowWorkpieces.apply_effects" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ShowWorkpieces.apply_effects
+        </div>
+      </a>
+      
+
+      
+      <a href="compas_fab.planning.ShowWorkpieces.ToString.html" title="ShowWorkpieces.ToString" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          ShowWorkpieces.ToString
+        </div>
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+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
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+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
+      </div>
+    </div>
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+  <script id="documentation_options" data-url_root="" src="../../_static/documentation_options.js"></script>
+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
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+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.copy.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.copy.html
new file mode 100644
index 000000000..ca1c57960
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.copy.html
@@ -0,0 +1,385 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.copy</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.from_data" href="compas_fab.planning.ShowWorkpieces.from_data.html" />
+  
+
+  
+  <link rel="prev" title="ShowWorkpieces.ToString" href="compas_fab.planning.ShowWorkpieces.ToString.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.copy</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-copy">
+<h1>ShowWorkpieces.copy</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.copy">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">copy</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cls</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L313"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Make an independent copy of the data object.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>cls</strong> (Type[<a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a>], optional) – The type of data object to return.
+Defaults to the type of the current data object.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An independent copy of this object.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.copy</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ShowWorkpieces.ToString.html" title="ShowWorkpieces.ToString" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ShowWorkpieces.ToString
+        </div>
+      </a>
+      
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+      <a href="compas_fab.planning.ShowWorkpieces.from_data.html" title="ShowWorkpieces.from_data" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          ShowWorkpieces.from_data
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
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+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
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+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
+      </div>
+    </div>
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+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
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+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
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+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_data.html
new file mode 100644
index 000000000..fc2a0d76b
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_data.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.from_data</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.from_json" href="compas_fab.planning.ShowWorkpieces.from_json.html" />
+  
+
+  
+  <link rel="prev" title="ShowWorkpieces.copy" href="compas_fab.planning.ShowWorkpieces.copy.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.from_data</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-from-data">
+<h1>ShowWorkpieces.from_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.from_data">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">from_data</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object of this type from the provided data.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>data</strong> (<em>dict</em>) – The data dictionary.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the dict has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
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+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.from_data</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ShowWorkpieces.copy.html" title="ShowWorkpieces.copy" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ShowWorkpieces.copy
+        </div>
+      </a>
+      
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+      <a href="compas_fab.planning.ShowWorkpieces.from_json.html" title="ShowWorkpieces.from_json" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          ShowWorkpieces.from_json
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
+      
+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
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+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
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+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
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+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_json.html
new file mode 100644
index 000000000..d3dd79f6b
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_json.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.from_json</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.from_jsonstring" href="compas_fab.planning.ShowWorkpieces.from_jsonstring.html" />
+  
+
+  
+  <link rel="prev" title="ShowWorkpieces.from_data" href="compas_fab.planning.ShowWorkpieces.from_data.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.from_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-from-json">
+<h1>ShowWorkpieces.from_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.from_json">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">from_json</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object from serialized data contained in a JSON file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>filepath</strong> (<em>path string | file-like object | URL string</em>) – The path, file or URL to the file for serialization.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the JSON file has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
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+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.from_json</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
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+  </div>
+  <!-- main -->
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+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ShowWorkpieces.from_data.html" title="ShowWorkpieces.from_data" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
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+          ShowWorkpieces.from_data
+        </div>
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+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
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+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
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+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
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+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
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+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_jsonstring.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_jsonstring.html
new file mode 100644
index 000000000..5caf2e19f
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.from_jsonstring.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.from_jsonstring</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.sha256" href="compas_fab.planning.ShowWorkpieces.sha256.html" />
+  
+
+  
+  <link rel="prev" title="ShowWorkpieces.from_json" href="compas_fab.planning.ShowWorkpieces.from_json.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.from_jsonstring</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-from-jsonstring">
+<h1>ShowWorkpieces.from_jsonstring</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.from_jsonstring">
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">from_jsonstring</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">string</span></span></em><span class="sig-paren">)</span></dt>
+<dd><p>Construct an object from serialized data contained in a JSON string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>string</strong> (<em>str</em>) – The object as a JSON string.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a> – An instance of this object type if the data contained in the JSON file has the correct schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
+        <div id="compas-navigation" class="collapse compas-navigation">
+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.from_jsonstring</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ShowWorkpieces.from_json.html" title="ShowWorkpieces.from_json" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ShowWorkpieces.from_json
+        </div>
+      </a>
+      
+
+      
+      <a href="compas_fab.planning.ShowWorkpieces.sha256.html" title="ShowWorkpieces.sha256" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          ShowWorkpieces.sha256
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
+      
+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
+      </div>
+    </div>
+  </div>
+  <!-- below -->
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+  <script id="documentation_options" data-url_root="" src="../../_static/documentation_options.js"></script>
+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/anchor-js/4.0.0/anchor.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/clipboard.js/2.0.8/clipboard.min.js"></script>
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+  <script src="../../_static/language_data.js"></script>
+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.html
new file mode 100644
index 000000000..dd365f6d5
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.html
@@ -0,0 +1,441 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.apply_effects" href="compas_fab.planning.ShowWorkpieces.apply_effects.html" />
+  
+
+  
+  <link rel="prev" title="HideWorkpieces.validate_json" href="compas_fab.planning.HideWorkpieces.validate_json.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces">
+<h1>ShowWorkpieces</h1>
+<dl class="py class">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces">
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">ShowWorkpieces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_ids</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">[]</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/action.py#L689"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Bases: <a class="reference internal" href="compas_fab.planning.Action.html#compas_fab.planning.Action" title="compas_fab.planning.action.Action"><code class="xref py py-class docutils literal notranslate"><span class="pre">Action</span></code></a></p>
+<p>Action to show workpieces. Can be used to model objects that are added to the scene.</p>
+<p>This changes the WorkpieceState.is_hidden property.
+Can also be used to model the manual attachment of scaffolding (modeled as a <code class="xref py py-class docutils literal notranslate"><span class="pre">Workpiece</span></code>)</p>
+<dl class="field-list simple">
+<dt class="field-odd">Attributes</dt>
+<dd class="field-odd"><p><strong>workpiece_ids</strong> (<em>list(str)</em>) – List of workpiece ids to be shown.</p>
+</dd>
+</dl>
+<p class="rubric">Methods</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.apply_effects.html#compas_fab.planning.ShowWorkpieces.apply_effects" title="compas_fab.planning.ShowWorkpieces.apply_effects"><code class="xref py py-obj docutils literal notranslate"><span class="pre">apply_effects</span></code></a></p></td>
+<td><p>Applies the action to a scene state.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.check_preconditions.html#compas_fab.planning.ShowWorkpieces.check_preconditions" title="compas_fab.planning.ShowWorkpieces.check_preconditions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">check_preconditions</span></code></a></p></td>
+<td><p>Checks if the action can be applied to a scene state.</p></td>
+</tr>
+</tbody>
+</table>
+<p class="rubric">Inherited Methods</p>
+<table class="autosummary longtable docutils align-default">
+<colgroup>
+<col style="width: 10%" />
+<col style="width: 90%" />
+</colgroup>
+<tbody>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.ToString.html#compas_fab.planning.ShowWorkpieces.ToString" title="compas_fab.planning.ShowWorkpieces.ToString"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ToString</span></code></a></p></td>
+<td><p>Converts the instance to a string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.copy.html#compas_fab.planning.ShowWorkpieces.copy" title="compas_fab.planning.ShowWorkpieces.copy"><code class="xref py py-obj docutils literal notranslate"><span class="pre">copy</span></code></a></p></td>
+<td><p>Make an independent copy of the data object.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.from_data.html#compas_fab.planning.ShowWorkpieces.from_data" title="compas_fab.planning.ShowWorkpieces.from_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_data</span></code></a></p></td>
+<td><p>Construct an object of this type from the provided data.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.from_json.html#compas_fab.planning.ShowWorkpieces.from_json" title="compas_fab.planning.ShowWorkpieces.from_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_json</span></code></a></p></td>
+<td><p>Construct an object from serialized data contained in a JSON file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.from_jsonstring.html#compas_fab.planning.ShowWorkpieces.from_jsonstring" title="compas_fab.planning.ShowWorkpieces.from_jsonstring"><code class="xref py py-obj docutils literal notranslate"><span class="pre">from_jsonstring</span></code></a></p></td>
+<td><p>Construct an object from serialized data contained in a JSON string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.sha256.html#compas_fab.planning.ShowWorkpieces.sha256" title="compas_fab.planning.ShowWorkpieces.sha256"><code class="xref py py-obj docutils literal notranslate"><span class="pre">sha256</span></code></a></p></td>
+<td><p>Compute a hash of the data for comparison during version control using the sha256 algorithm.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.to_data.html#compas_fab.planning.ShowWorkpieces.to_data" title="compas_fab.planning.ShowWorkpieces.to_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_data</span></code></a></p></td>
+<td><p>Convert an object to its native data representation.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.to_json.html#compas_fab.planning.ShowWorkpieces.to_json" title="compas_fab.planning.ShowWorkpieces.to_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_json</span></code></a></p></td>
+<td><p>Serialize the data representation of an object to a JSON file.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.to_jsonstring.html#compas_fab.planning.ShowWorkpieces.to_jsonstring" title="compas_fab.planning.ShowWorkpieces.to_jsonstring"><code class="xref py py-obj docutils literal notranslate"><span class="pre">to_jsonstring</span></code></a></p></td>
+<td><p>Serialize the data representation of an object to a JSON string.</p></td>
+</tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.validate_data.html#compas_fab.planning.ShowWorkpieces.validate_data" title="compas_fab.planning.ShowWorkpieces.validate_data"><code class="xref py py-obj docutils literal notranslate"><span class="pre">validate_data</span></code></a></p></td>
+<td><p>Validate the object's data against its data schema.</p></td>
+</tr>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.planning.ShowWorkpieces.validate_json.html#compas_fab.planning.ShowWorkpieces.validate_json" title="compas_fab.planning.ShowWorkpieces.validate_json"><code class="xref py py-obj docutils literal notranslate"><span class="pre">validate_json</span></code></a></p></td>
+<td><p>Validate the object's data against its json schema.</p></td>
+</tr>
+</tbody>
+</table>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
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+</ul>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
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+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/anchor-js/4.0.0/anchor.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/clipboard.js/2.0.8/clipboard.min.js"></script>
+
+  <script src="../../_static/underscore.js"></script>
+  <script src="../../_static/doctools.js"></script>
+  <script src="../../_static/searchtools.js"></script>
+  <script src="../../_static/language_data.js"></script>
+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.sha256.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.sha256.html
new file mode 100644
index 000000000..b58205505
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.sha256.html
@@ -0,0 +1,397 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.sha256</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.to_data" href="compas_fab.planning.ShowWorkpieces.to_data.html" />
+  
+
+  
+  <link rel="prev" title="ShowWorkpieces.from_jsonstring" href="compas_fab.planning.ShowWorkpieces.from_jsonstring.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
+<body data-spy="scroll" data-target="#compas-toc">
+  <!-- header -->
+  <header id="header" class="compas-header d-flex align-items-center">
+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
+      <main class="col-12 col-md-9 col-xl-7 px-4 px-md-5 pt-2 pb-5 compas-content" role="main">
+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.sha256</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-sha256">
+<h1>ShowWorkpieces.sha256</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.sha256">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">sha256</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">as_string</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L378"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Compute a hash of the data for comparison during version control using the sha256 algorithm.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>as_string</strong> (<em>bool, optional</em>) – If True, return the digest in hexadecimal format rather than as bytes.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>bytes | str</em></p>
+</dd>
+</dl>
+<p class="rubric">Examples</p>
+<div class="doctest language-python notranslate"><div class="highlight"><pre><button class="btn copy"><i class="far fa-copy"></i></button><code><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas.datastructures</span> <span class="kn">import</span> <span class="n">Mesh</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">mesh</span> <span class="o">=</span> <span class="n">Mesh</span><span class="o">.</span><span class="n">from_obj</span><span class="p">(</span><span class="n">compas</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s1">&#39;faces.obj&#39;</span><span class="p">))</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v1</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v2</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">mesh</span><span class="o">.</span><span class="n">vertex_attribute</span><span class="p">(</span><span class="n">mesh</span><span class="o">.</span><span class="n">vertex_sample</span><span class="p">(</span><span class="mi">1</span><span class="p">)[</span><span class="mi">0</span><span class="p">],</span> <span class="s1">&#39;z&#39;</span><span class="p">,</span> <span class="mi">1</span><span class="p">)</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v3</span> <span class="o">=</span> <span class="n">mesh</span><span class="o">.</span><span class="n">sha256</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v1</span> <span class="o">==</span> <span class="n">v2</span>
+<span class="go">True</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">v2</span> <span class="o">==</span> <span class="n">v3</span>
+<span class="go">False</span>
+</code></pre></div>
+</div>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
+          <button class="navbar-toggler d-md-none" type="button" data-toggle="collapse" data-target="#compas-navigation" aria-controls="compas-navigation" aria-expanded="false" aria-label="Toggle navigation">
+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
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+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
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+</li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
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+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
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+      $(".language-default code").addClass("python");
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+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
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+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
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+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_data.html
new file mode 100644
index 000000000..96e79dd5e
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_data.html
@@ -0,0 +1,381 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.to_data</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.to_json" href="compas_fab.planning.ShowWorkpieces.to_json.html" />
+  
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+  
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+  
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+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
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+    <nav class="navbar navbar-expand navbar-dark col flex-column flex-md-row text-center">
+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
+      </ul>
+      <!-- primary -->
+      <ul class="navbar-nav d-none d-md-flex ml-md-auto">
+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
+        <li class="nav-item nav-versions dropdown">
+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
+      <!-- main -->
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+        
+        <nav aria-label="breadcrumb">
+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.to_data</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-to-data">
+<h1>ShowWorkpieces.to_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.to_data">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">to_data</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L233"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Convert an object to its native data representation.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>dict</em> – The data representation of the object as described by the schema.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
+      <div class="col-12 col-md-3 compas-sidebar" role="navigation">
+        <form id="search" class="d-flex align-items-center compas-searchbox" action="../../search.html" method="get">
+          <input class="form-control" type="text" name="q" placeholder="Search docs" />
+          <input type="hidden" name="check_keywords" value="yes" />
+          <input type="hidden" name="area" value="default" />
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+            <span class="navbar-toggler-icon"></span>
+          </button>
+        </form>
+        
+        
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+          <ul class="nav flex-column collapse show active">
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
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+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.to_data</a></li>
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+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
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+      $(".language-default code").addClass("python");
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+      $(".language-json code").addClass("json");
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+
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+        target: function(trigger) {
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+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
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+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
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+</body>
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+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_json.html
new file mode 100644
index 000000000..d0a28517c
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_json.html
@@ -0,0 +1,387 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.to_json</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
+  <meta name="description" content="" />
+
+  <link rel="shortcut icon" href="../../_static/images/compas.ico" type="image/x-icon">
+  <link rel="stylesheet" href="https://stackpath.bootstrapcdn.com/bootstrap/4.4.1/css/bootstrap.min.css" integrity="sha384-Vkoo8x4CGsO3+Hhxv8T/Q5PaXtkKtu6ug5TOeNV6gBiFeWPGFN9MuhOf23Q9Ifjh" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://use.fontawesome.com/releases/v5.7.0/css/all.css" integrity="sha384-lZN37f5QGtY3VHgisS14W3ExzMWZxybE1SJSEsQp9S+oqd12jhcu+A56Ebc1zFSJ" crossorigin="anonymous">
+  <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/styles/mono-blue.min.css">
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+  <link rel="stylesheet" type="text/css" href="../../_static/css/compas-reference.css" />
+
+  
+  <link rel="next" title="ShowWorkpieces.to_jsonstring" href="compas_fab.planning.ShowWorkpieces.to_jsonstring.html" />
+  
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+  
+  <link rel="prev" title="ShowWorkpieces.to_data" href="compas_fab.planning.ShowWorkpieces.to_data.html" />
+  
+
+  <script type="text/javascript" async src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.2/MathJax.js?config=TeX-MML-AM_CHTML"></script>
+</head>
+
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+      <!-- brand -->
+      <a class="navbar-brand" href="https://gramaziokohler.github.io/compas_fab/">
+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+        <!-- version -->
+        
+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
+        <!-- social -->
+        <li class="nav-item">
+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
+            <span class="fab fa-github fa-1x"></span>
+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
+            <span class="fab fa-discourse fa-1x"></span>
+          </a>
+        </li>
+        <!-- social -->
+      </ul>
+    </nav>
+  </header>
+  <!-- header -->
+  <!-- main -->
+  <div class="container-fluid">
+    <div class="row">
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+        
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+          <ol class="breadcrumb mb-3 bg-white px-0">
+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
+            <li class="breadcrumb-item"><a href="../../api.html">API Reference</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.html">compas_fab</a></li>
+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.to_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-to-json">
+<h1>ShowWorkpieces.to_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.to_json">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">to_json</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">filepath</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pretty</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L262"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Serialize the data representation of an object to a JSON file.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>filepath</strong> (<em>path string or file-like object</em>) – The path or file-like object to the file containing the data.</p></li>
+<li><p><strong>pretty</strong> (<em>bool, optional</em>) – If True, serialize to a “pretty”, human-readable representation.</p></li>
+</ul>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>None</em></p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
+      <!-- sidebar -->
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../index.html">Introduction</a></li>
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+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../backends.html">Working with backends</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/vrep.html">V-REP</a></li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
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+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.to_json</a></li>
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+    var docs_site = $("#doc_versions").data("docs");
+
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+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_jsonstring.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_jsonstring.html
new file mode 100644
index 000000000..452e21525
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.to_jsonstring.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.to_jsonstring</title>
+  
+
+  <meta charset="utf-8" />
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+  
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+  
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+      </a>
+      <!-- brand -->
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+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+          </a>
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+        </li>
+        
+        <!-- version -->
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+        </li>
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+            
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+            
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.to_jsonstring</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-to-jsonstring">
+<h1>ShowWorkpieces.to_jsonstring</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.to_jsonstring">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">to_jsonstring</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">pretty</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L297"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Serialize the data representation of an object to a JSON string.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Parameters</dt>
+<dd class="field-odd"><p><strong>pretty</strong> (<em>bool, optional</em>) – If True serialize a pretty representation of the data.</p>
+</dd>
+<dt class="field-even">Returns</dt>
+<dd class="field-even"><p><em>str</em> – The object’s data dict in JSON string format.</p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
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+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../examples.html">Examples</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
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+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
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+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
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+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
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+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
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+          return window.location.href.startsWith(ver.href);
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.validate_data.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.validate_data.html
new file mode 100644
index 000000000..0e8cad8e4
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.validate_data.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.validate_data</title>
+  
+
+  <meta charset="utf-8" />
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+
+  <meta name="author" content="{{ cookiecutter.author_name }}" />
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+
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+  
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+  
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+      <!-- brand -->
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+        <img src="../../_static/images/compas_icon_white.png" alt="COMPAS FAB" width="48px" height="48px" />
+      </a>
+      <!-- brand -->
+      <!-- primary -->
+      <ul class="navbar-nav">
+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+        <!-- version -->
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+        <meta id="doc_versions" data-url="https://gramaziokohler.github.io/compas_fab/doc_versions.txt" data-docs="https://gramaziokohler.github.io/compas_fab/">
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
+          <div id="doc_version_list" class="dropdown-menu dropdown-menu-md-right" aria-labelledby="bd-versions"></div>
+        </li>
+        
+        <!-- version -->
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+          <a class="nav-link" href="https://github.com/compas-dev/compas_fab" target="_blank">
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+          </a>
+        </li>
+        <li class="nav-item">
+          <a class="nav-link" href="http://forum.compas-framework.org" target="_blank">
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+            <li class="breadcrumb-item"><a href="../../index.html">COMPAS FAB</a></li>
+            
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+            
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+            
+            <li class="breadcrumb-item"><a href="../compas_fab.planning.html">compas_fab.planning</a></li>
+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.validate_data</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-validate-data">
+<h1>ShowWorkpieces.validate_data</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.validate_data">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">validate_data</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L332"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Validate the object’s data against its data schema.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>dict</em> – The validated data.</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>schema.SchemaError</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
+      </main>
+      <!-- content -->
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+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
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+</li>
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/01_frame_and_transformation.html">Frame and Transformation</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
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+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.validate_data</a></li>
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+
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+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
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+        });
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+          return window.location.href.startsWith(ver.href);
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\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.validate_json.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.validate_json.html
new file mode 100644
index 000000000..ee27ff4b0
--- /dev/null
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ShowWorkpieces.validate_json.html
@@ -0,0 +1,384 @@
+<!DOCTYPE html>
+<html lang="en">
+
+<head>
+  
+  <title>compas_fab - ShowWorkpieces.validate_json</title>
+  
+
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no" />
+
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+  
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+      <!-- brand -->
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+        <li class="nav-item active"><a class="nav-link" href="https://gramaziokohler.github.io/compas_fab/">COMPAS FAB</a></li>
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+          <a class="nav-item nav-link dropdown-toggle mr-md-2" href="#" id="bd-versions" data-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+            0.28.0
+          </a>
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+        
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+        <li class="nav-item">
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+            
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+            
+            <li class="breadcrumb-item"><a href="compas_fab.planning.ShowWorkpieces.html">ShowWorkpieces</a></li>
+            
+            <!-- <li class="breadcrumb-item active" aria-current="page">ShowWorkpieces.validate_json</li> -->
+          </ol>
+        </nav>
+        
+
+        
+        
+        <section class="detail" id="showworkpieces-validate-json">
+<h1>ShowWorkpieces.validate_json</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.planning.ShowWorkpieces.validate_json">
+<span class="sig-prename descclassname"><span class="pre">ShowWorkpieces.</span></span><span class="sig-name descname"><span class="pre">validate_json</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas/data/data.py#L354"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Validate the object’s data against its json schema.</p>
+<dl class="field-list simple">
+<dt class="field-odd">Returns</dt>
+<dd class="field-odd"><p><em>str</em> – The validated JSON representation of the data.</p>
+</dd>
+<dt class="field-even">Raises</dt>
+<dd class="field-even"><p><strong>jsonschema.exceptions.ValidationError</strong> – </p>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+        
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+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/01_fundamentals/02_coordinate_frames.html">Coordinate frames</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models.html">Description Models</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/01_kinematic_model.html">Kinematic model</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/02_description_models/02_robot.html">Robot models</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/01_ros_examples.html">Using ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/02_robot_models.html">Robots in ROS</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/03_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/04_plan_motion.html">Plan motion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/05_collision_objects.html">Planning scene and collision objects</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/06_ros_in_grasshopper.html">ROS in Grasshopper</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/07_ros_create_urdf_ur5_with_measurement_tool.html">Creating a URDF with an UR5 robot and a custom end-effector</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html">Creating a MoveIt! package from the custom created URDF</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/03_backends_ros/09_ros_create_urdf_ur10_on_tower.html">Creating a URDF of the UR10 on two linear axes</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep.html">Backends: V-REP</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/04_backends_vrep/01_simulation_with_vrep.html">Simulation examples with V-REP</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/01_pybullet_examples.html">Using PyBullet</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/05_backends_pybullet/02_forward_and_inverse_kinematics.html">Forward and inverse kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/06_backends_kinematics/01_ik_and_cartesian.html">Analytical kinematics</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/01_reachability_map.html">Introduction to the Reachability Map</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/02_vector_generators.html">Vector Generators</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../examples/07_reachability_map/03_rp_2D.html">Reachability Map 2D</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item active"><a class="nav-link reference internal" href="../../api.html">API Reference</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l2 nav-item active"><a class="nav-link reference internal" href="../compas_fab.html">compas_fab</a><ul class="nav flex-column collapse show active">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.robots.html">compas_fab.robots</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.backends.html">compas_fab.backends</a></li>
+<li class="toctree-l3 nav-item active"><a class="nav-link reference internal" href="../compas_fab.planning.html">compas_fab.planning</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.blender.html">compas_fab.blender</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.ghpython.html">compas_fab.ghpython</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.rhino.html">compas_fab.rhino</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.sensors.html">compas_fab.sensors</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../compas_fab.utilities.html">compas_fab.utilities</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../contributing.html">Contributor’s Guide</a><ul class="nav flex-column collapse">
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/backends.html">Backend clients</a><ul class="nav flex-column collapse">
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html">ClientInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html">PlannerInterface</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html">ForwardKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html">InverseKinematics</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanMotion.html">PlanMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html">PlanCartesianMotion</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html">GetPlanningScene</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html">AddCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html">AppendCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html">RemoveCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html">AddAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html">RemoveAttachedCollisionMesh</a></li>
+<li class="toctree-l3 nav-item"><a class="nav-link reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html">ResetPlanningScene</a></li>
+</ul>
+</li>
+<li class="toctree-l2 nav-item"><a class="nav-link reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../changelog.html">Changelog</a></li>
+<li class="toctree-l1 nav-item"><a class="nav-link reference internal" href="../../license.html">License</a></li>
+</ul>
+
+        </div>
+        
+      </div>
+      <!-- sidebar -->
+      <!-- toc -->
+      <div class="d-none d-xl-block col-xl-2 compas-toc" role="toc">
+        
+        <ul class="nav flex-column" id="compas-toc">
+<li class="nav-item"><a class="nav-link reference internal" href="#">ShowWorkpieces.validate_json</a></li>
+</ul>
+
+      </div>
+      <!-- toc -->
+    </div>
+  </div>
+  <!-- main -->
+  <!-- footer -->
+  <footer class="compas-footer">
+    <nav class="nav p-2">
+      
+      <a href="compas_fab.planning.ShowWorkpieces.validate_data.html" title="ShowWorkpieces.validate_data" class="nav-link footer-link float-start text-left d-flex w-50" rel="prev">
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-left"></i></div>
+        <div class="nav-title flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Previous</div>
+          ShowWorkpieces.validate_data
+        </div>
+      </a>
+      
+
+      
+      <a href="compas_fab.planning.SceneState.html" title="SceneState" class="nav-link footer-link float-end text-right d-flex w-50" rel="next">
+        <div class="nav-title footer-link flex-grow-1 align-self-center">
+          <div class="nav-direction small font-weight-light">Next</div>
+          SceneState
+        </div>
+        <div class="nav-button p-2 m-2"><i class="fas fa-arrow-right"></i></div>
+      </a>
+      
+    </nav>
+  </footer>
+  <!-- footer -->
+  <!-- below -->
+  <div class="below py-5" style="background-color: #222;">
+    <div class="container">
+      <div class="row flex-column">
+        <div class="col-12 col-md-6 mx-md-auto text-center">
+          <h4 class="pb-3 below-text">COMPAS</h4>
+          <p class="below-text">
+            A computational framework for collaboration and research
+            in Architecture, Engineering, Fabrication, and Construction.
+          </p>
+          <nav class="nav justify-content-center pb-3">
+            <a class="nav-link mx-2 px-0 below-link" href="http://github.com/compas-dev" target="_blank">
+              <span class="fab fa-github fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="http://forum.compas-framework.org" target="_blank">
+              <span class="fab fa-discourse fa-1x"></span>
+            </a>
+            <a class="nav-link mx-2 px-0 below-link" href="https://pypi.org/project/COMPAS/" target="_blank">
+              <span class="fab fa-python fa-1x"></span>
+            </a>
+          </nav>
+        </div>
+      </div>
+      <div class="row">
+        <div class="col text-center">
+          <p class="p-0 m-0 below-text">Copyright &copy; 2017-2021 compas-dev</p>
+        </div>
+      </div>
+    </div>
+  </div>
+  <!-- below -->
+  <!-- scripts -->
+  <script id="documentation_options" data-url_root="" src="../../_static/documentation_options.js"></script>
+
+  <script src="https://code.jquery.com/jquery-3.5.1.min.js" integrity="sha256-9/aliU8dGd2tb6OSsuzixeV4y/faTqgFtohetphbbj0=" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/popper.js/1.14.7/umd/popper.min.js" integrity="sha384-UO2eT0CpHqdSJQ6hJty5KVphtPhzWj9WO1clHTMGa3JDZwrnQq4sF86dIHNDz0W1" crossorigin="anonymous"></script>
+  <script src="https://stackpath.bootstrapcdn.com/bootstrap/4.3.1/js/bootstrap.min.js" integrity="sha384-JjSmVgyd0p3pXB1rRibZUAYoIIy6OrQ6VrjIEaFf/nJGzIxFDsf4x0xIM+B07jRM" crossorigin="anonymous"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.4.0/highlight.min.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/anchor-js/4.0.0/anchor.js"></script>
+  <script src="https://cdnjs.cloudflare.com/ajax/libs/clipboard.js/2.0.8/clipboard.min.js"></script>
+
+  <script src="../../_static/underscore.js"></script>
+  <script src="../../_static/doctools.js"></script>
+  <script src="../../_static/searchtools.js"></script>
+  <script src="../../_static/language_data.js"></script>
+
+  <script>
+    $(document).ready(function () {
+      $(".language-default code").addClass("python");
+      $(".language-python code").addClass("python");
+      $(".language-bash code").addClass("bash");
+      $(".language-cpp code").addClass("cpp");
+      $(".language-json code").addClass("json");
+      $(".language-none code").addClass("plaintext");
+
+      hljs.initHighlighting();
+      anchors.add();
+
+      new ClipboardJS(".btn.copy", {
+        target: function(trigger) {
+          return trigger.nextElementSibling;
+        }
+      });
+
+      $("#compas-navigation li.active > ul").each(function() {
+        var ul = $(this);
+        if (! ul.hasClass("show")) {
+          ul.addClass("show");
+        }
+      });
+
+      $("#compas-navigation li.toctree-l1").has("ul").each(function() {
+        var li = $(this);
+        li.addClass("has-children");
+        if (li.hasClass("active")) {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-up"></i></span>');
+        }
+        else {
+          li.prepend('<span class="menu-toggle"><i class="fas fa-chevron-down"></i></span>');
+        }
+      });
+
+      $(".menu-toggle").click(function() {
+        var toggle = $(this);
+        toggle.siblings("ul").toggleClass("show");
+      });
+
+    });
+
+
+    var url = $("#doc_versions").data("url");
+    var docs_site = $("#doc_versions").data("docs");
+
+    if (url) {
+      $.get(url, res => {
+        var lines = res.match(/[^\r\n]+/g);
+        lines.sort((a, b) => a.localeCompare(b, undefined, { numeric: true }));
+        lines.reverse();
+        lines.forEach(version => {
+          $("#doc_version_list").append("<a class=\"dropdown-item\" href=\"" + docs_site + version + "\">" + version + "</a>");
+        });
+
+        var selected_version = $('.nav-versions .dropdown-item').filter(function (i, ver) {
+          return window.location.href.startsWith(ver.href);
+        });
+        selected_version.addClass('active');
+        $("#bd-versions").text(selected_version.text());
+
+      })
+    }
+  </script>
+  <!-- scripts -->
+  
+  
+</body>
+
+</html>
\ No newline at end of file
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.ToolState.html b/compas_fab/pull_390/api/generated/compas_fab.planning.ToolState.html
index 6adaa2190..0d6620f47 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.ToolState.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.ToolState.html
@@ -99,10 +99,11 @@
 <h1>ToolState</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.planning.ToolState">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">ToolState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'undefined_tool'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_to_robot_grasp</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L201"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">ToolState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'undefined_tool'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_to_robot_grasp</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L233"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Class for describing the state of a tool.</p>
-<p>ToolState objects are typically created by the constructor of <a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneState</span></code></a>.</p>
+<p>ToolState objects are typically created automatically by the <code class="xref py py-class docutils literal notranslate"><span class="pre">FabricationProcess</span></code>.
+However it is possible to customize the initial state of the process by creating or modifying the ToolStates manually.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Attributes</dt>
 <dd class="field-odd"><ul class="simple">
diff --git a/compas_fab/pull_390/api/generated/compas_fab.planning.WorkpieceState.html b/compas_fab/pull_390/api/generated/compas_fab.planning.WorkpieceState.html
index 46ddd8b19..a0802b76f 100644
--- a/compas_fab/pull_390/api/generated/compas_fab.planning.WorkpieceState.html
+++ b/compas_fab/pull_390/api/generated/compas_fab.planning.WorkpieceState.html
@@ -99,27 +99,55 @@
 <h1>WorkpieceState</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.planning.WorkpieceState">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">WorkpieceState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'undefined_workpiece'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_to_robot</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_to_robot_grasp</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">Transformation([[1.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0],</span> <span class="pre">[0.0,</span> <span class="pre">1.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0],</span> <span class="pre">[0.0,</span> <span class="pre">0.0,</span> <span class="pre">1.0,</span> <span class="pre">0.0],</span> <span class="pre">[0.0,</span> <span class="pre">0.0,</span> <span class="pre">0.0,</span> <span class="pre">1.0]])</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">is_hidden</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L142"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.planning.</span></span><span class="sig-name descname"><span class="pre">WorkpieceState</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">workpiece_id</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'undefined_workpiece'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_to_robot</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_to_robot_grasp</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">is_hidden</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/main/src/compas_fab/planning/state.py#L143"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.data.Data.html#compas.data.Data" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Class for describing the state of a workpiece.</p>
-<p>WorkpieceState objects are typically created by the constructor of <a class="reference internal" href="compas_fab.planning.SceneState.html#compas_fab.planning.SceneState" title="compas_fab.planning.SceneState"><code class="xref py py-class docutils literal notranslate"><span class="pre">SceneState</span></code></a>.</p>
+<p>WorkpieceState objects are typically created automatically by the <code class="xref py py-class docutils literal notranslate"><span class="pre">FabricationProcess</span></code>.
+However it is possible to customize the initial state of the process by creating or modifying the WorkpieceStates manually.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Attributes</dt>
 <dd class="field-odd"><ul class="simple">
 <li><p><strong>workpiece_id</strong> (<em>str</em>) – Unique identifier of the workpiece used in Process.workpieces and SceneState.workpiece_states.</p></li>
 <li><p><strong>frame</strong> (<a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.geometry.Frame.html#compas.geometry.Frame" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Frame</span></code></a>) – The current location of the workpiece.
 (default: <code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Frame.worldXY</span></code>)</p></li>
-<li><p><strong>attached_to_robot</strong> (<em>bool</em>) – If the workpiece is attached to the robot, <cite>True</cite>. Else, <cite>False</cite>.</p></li>
+<li><p><strong>attached_to_robot</strong> (<em>bool</em>) – If the workpiece is attached to the robot, <cite>True</cite>. Else, <cite>False</cite>.
+(default: <cite>False</cite>)</p></li>
 <li><p><strong>attached_to_robot_grasp</strong> (<a class="reference external" href="https://compas.dev/compas/latest/reference/generated/compas.geometry.Transformation.html#compas.geometry.Transformation" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Transformation</span></code></a>, optional) – The grasp transformation of the workpiece if it is attached to the robot. The grasp
 is defined as the transformation that can transform the robot flange frame
 into the workpiece frame.
-If not specified, defaults to the identity transformation.
-If the workpiece is not attached to the robot, <cite>None</cite>.</p></li>
+If the workpiece is not attached to the robot, <cite>None</cite>. (default: <cite>None</cite>)</p></li>
 <li><p><strong>is_hidden</strong> (<em>bool</em>) – If the workpiece is hidden, <cite>True</cite>. Else, <cite>False</cite>. (default: <cite>False</cite>)
 A hidden workpiece will not be included for collision detection of the scene.</p></li>
 </ul>
 </dd>
 </dl>
+<p class="rubric">Example</p>
+<p>Example of a workpiece state that is not attached to robot:</p>
+<div class="doctest language-python notranslate"><div class="highlight"><pre><button class="btn copy"><i class="far fa-copy"></i></button><code><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas.geometry</span> <span class="kn">import</span> <span class="n">Frame</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas_fab.robots</span> <span class="kn">import</span> <span class="n">WorkpieceState</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">workpiece_state</span> <span class="o">=</span> <span class="n">WorkpieceState</span><span class="p">(</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">workpiece_id</span><span class="o">=</span><span class="s2">&quot;wbeam1&quot;</span><span class="p">,</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">frame</span><span class="o">=</span><span class="n">Frame</span><span class="o">.</span><span class="n">worldXY</span><span class="p">()</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="p">)</span>
+</code></pre></div>
+</div>
+<p>Example of a workpiece state that is attached to robot:</p>
+<div class="doctest language-python notranslate"><div class="highlight"><pre><button class="btn copy"><i class="far fa-copy"></i></button><code><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas.geometry</span> <span class="kn">import</span> <span class="n">Frame</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas.geometry</span> <span class="kn">import</span> <span class="n">Transformation</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span> <span class="nn">compas_fab.robots</span> <span class="kn">import</span> <span class="n">WorkpieceState</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="c1"># In this example the workpiece is located at the pickup location</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="c1"># the pickup frame of the workpiece is defined in world coordinates</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">beam_pickup_frame</span> <span class="o">=</span> <span class="n">Frame</span><span class="p">([</span><span class="mi">200</span><span class="p">,</span> <span class="mi">200</span><span class="p">,</span> <span class="mi">500</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">])</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="c1"># The grasp transformation of the workpiece is relative to the robot flange</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">grasp</span> <span class="o">=</span> <span class="n">Transformation</span><span class="o">.</span><span class="n">from_frame</span><span class="p">(</span><span class="n">Frame</span><span class="p">([</span><span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">100</span><span class="p">],</span> <span class="p">[</span><span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">,</span> <span class="mi">0</span><span class="p">],</span> <span class="p">[</span><span class="mi">0</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="mi">0</span><span class="p">]))</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="n">workpiece_state</span> <span class="o">=</span> <span class="n">WorkpieceState</span><span class="p">(</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">workpiece_id</span><span class="o">=</span><span class="s2">&quot;wbeam2&quot;</span><span class="p">,</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">frame</span><span class="o">=</span><span class="n">beam_pickup_frame</span><span class="p">,</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">attached_to_robot</span><span class="o">=</span><span class="kc">True</span><span class="p">,</span>
+<span class="gp">&gt;&gt;&gt; </span>    <span class="n">attached_to_robot_grasp</span><span class="o">=</span><span class="n">grasp</span><span class="p">,</span>
+<span class="gp">&gt;&gt;&gt; </span><span class="p">)</span>
+</code></pre></div>
+</div>
 <p class="rubric">Inherited Methods</p>
 <table class="autosummary longtable docutils align-default">
 <colgroup>
diff --git a/compas_fab/pull_390/changelog.html b/compas_fab/pull_390/changelog.html
index e4df912d5..c8f776704 100644
--- a/compas_fab/pull_390/changelog.html
+++ b/compas_fab/pull_390/changelog.html
@@ -100,7 +100,7 @@ <h2>Unreleased</h2>
 <h3>Added</h3>
 <ul class="simple">
 <li><p>Added <code class="docutils literal notranslate"><span class="pre">compas_fab.planning</span></code> that contains <code class="docutils literal notranslate"><span class="pre">Action</span></code> classes and <code class="docutils literal notranslate"><span class="pre">SceneState</span></code></p></li>
-<li><p>Added <code class="docutils literal notranslate"><span class="pre">RoboticAction</span></code>, <code class="docutils literal notranslate"><span class="pre">LinearMotion</span></code>, <code class="docutils literal notranslate"><span class="pre">FreeMotion</span></code>, <code class="docutils literal notranslate"><span class="pre">OpenGripper</span></code>, <code class="docutils literal notranslate"><span class="pre">CloseGripper</span></code>, and <code class="docutils literal notranslate"><span class="pre">ManuallyMoveWorkpiece</span></code> actions.</p></li>
+<li><p>Added <code class="docutils literal notranslate"><span class="pre">RoboticAction</span></code>, <code class="docutils literal notranslate"><span class="pre">LinearMotion</span></code>, <code class="docutils literal notranslate"><span class="pre">FreeMotion</span></code>, <code class="docutils literal notranslate"><span class="pre">OpenGripper</span></code>, <code class="docutils literal notranslate"><span class="pre">CloseGripper</span></code>, and <code class="docutils literal notranslate"><span class="pre">ManualWorkpieceMotion</span></code> actions.</p></li>
 <li><p>Added <code class="docutils literal notranslate"><span class="pre">SceneState</span></code> as container for <code class="docutils literal notranslate"><span class="pre">WorkpieceState</span></code>, <code class="docutils literal notranslate"><span class="pre">ToolState</span></code> and <code class="docutils literal notranslate"><span class="pre">RobotState</span></code>.</p></li>
 </ul>
 </section>
diff --git a/compas_fab/pull_390/genindex.html b/compas_fab/pull_390/genindex.html
index 8abd487c6..0e05d525e 100644
--- a/compas_fab/pull_390/genindex.html
+++ b/compas_fab/pull_390/genindex.html
@@ -86,7 +86,7 @@
 <section class="genindex-section">
   <h1>Index</h1>
   <div class="">
-  <a href="#A"><strong>A</strong></a> | <a href="#B"><strong>B</strong></a> | <a href="#C"><strong>C</strong></a> | <a href="#D"><strong>D</strong></a> | <a href="#E"><strong>E</strong></a> | <a href="#F"><strong>F</strong></a> | <a href="#G"><strong>G</strong></a> | <a href="#I"><strong>I</strong></a> | <a href="#J"><strong>J</strong></a> | <a href="#K"><strong>K</strong></a> | <a href="#L"><strong>L</strong></a> | <a href="#M"><strong>M</strong></a> | <a href="#O"><strong>O</strong></a> | <a href="#P"><strong>P</strong></a> | <a href="#R"><strong>R</strong></a> | <a href="#S"><strong>S</strong></a> | <a href="#T"><strong>T</strong></a> | <a href="#U"><strong>U</strong></a> | <a href="#V"><strong>V</strong></a> | <a href="#W"><strong>W</strong></a> | <a href="#Z"><strong>Z</strong></a>
+  <a href="#A"><strong>A</strong></a> | <a href="#B"><strong>B</strong></a> | <a href="#C"><strong>C</strong></a> | <a href="#D"><strong>D</strong></a> | <a href="#E"><strong>E</strong></a> | <a href="#F"><strong>F</strong></a> | <a href="#G"><strong>G</strong></a> | <a href="#H"><strong>H</strong></a> | <a href="#I"><strong>I</strong></a> | <a href="#J"><strong>J</strong></a> | <a href="#K"><strong>K</strong></a> | <a href="#L"><strong>L</strong></a> | <a href="#M"><strong>M</strong></a> | <a href="#O"><strong>O</strong></a> | <a href="#P"><strong>P</strong></a> | <a href="#R"><strong>R</strong></a> | <a href="#S"><strong>S</strong></a> | <a href="#T"><strong>T</strong></a> | <a href="#U"><strong>U</strong></a> | <a href="#V"><strong>V</strong></a> | <a href="#W"><strong>W</strong></a> | <a href="#Z"><strong>Z</strong></a>
   </div>
 </section>
 <section id="A" class="">
@@ -165,10 +165,10 @@ <h2>A</h2>
           <li><a href="api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.html#compas_fab.sensors.PosConCM.adjust_to_dark_object">(compas_fab.sensors.PosConCM method)</a>
 </li>
         </ul></li>
-    </ul></td>
-    <td><ul>
         <li><a href="api/generated/compas_fab.robots.PathPlan.all_trajectories.html#compas_fab.robots.PathPlan.all_trajectories">all_trajectories() (compas_fab.robots.PathPlan method)</a>
 </li>
+    </ul></td>
+    <td><ul>
         <li><a href="api/generated/compas_fab.utilities.allclose.html#compas_fab.utilities.allclose">allclose() (in module compas_fab.utilities)</a>
 </li>
         <li><a href="api/generated/compas_fab.backends.AnalyticalInverseKinematics.html#compas_fab.backends.AnalyticalInverseKinematics">AnalyticalInverseKinematics (class in compas_fab.backends)</a>
@@ -209,12 +209,18 @@ <h2>A</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.apply_effects.html#compas_fab.planning.CloseGripper.apply_effects">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.apply_effects.html#compas_fab.planning.FreeMotion.apply_effects">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.apply_effects.html#compas_fab.planning.HideWorkpieces.apply_effects">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.apply_effects.html#compas_fab.planning.LinearMotion.apply_effects">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.apply_effects.html#compas_fab.planning.ManualWorkpieceMotion.apply_effects">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.apply_effects.html#compas_fab.planning.OpenGripper.apply_effects">(compas_fab.planning.OpenGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.RoboticAction.apply_effects.html#compas_fab.planning.RoboticAction.apply_effects">(compas_fab.planning.RoboticAction method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.apply_effects.html#compas_fab.planning.ShowWorkpieces.apply_effects">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
         </ul></li>
         <li><a href="api/generated/compas_fab.utilities.arange.html#compas_fab.utilities.arange">arange() (in module compas_fab.utilities)</a>
@@ -343,12 +349,18 @@ <h2>C</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.check_preconditions.html#compas_fab.planning.CloseGripper.check_preconditions">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.check_preconditions.html#compas_fab.planning.FreeMotion.check_preconditions">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.check_preconditions.html#compas_fab.planning.HideWorkpieces.check_preconditions">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.check_preconditions.html#compas_fab.planning.LinearMotion.check_preconditions">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.check_preconditions.html#compas_fab.planning.ManualWorkpieceMotion.check_preconditions">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.check_preconditions.html#compas_fab.planning.OpenGripper.check_preconditions">(compas_fab.planning.OpenGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.RoboticAction.check_preconditions.html#compas_fab.planning.RoboticAction.check_preconditions">(compas_fab.planning.RoboticAction method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.check_preconditions.html#compas_fab.planning.ShowWorkpieces.check_preconditions">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
         </ul></li>
         <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision.html#compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision">check_robot_self_collision() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
@@ -477,8 +489,12 @@ <h2>C</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.copy.html#compas_fab.planning.CloseGripper.copy">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.copy.html#compas_fab.planning.FreeMotion.copy">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.copy.html#compas_fab.planning.HideWorkpieces.copy">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.copy.html#compas_fab.planning.LinearMotion.copy">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.copy.html#compas_fab.planning.ManualWorkpieceMotion.copy">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.copy.html#compas_fab.planning.OpenGripper.copy">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -487,6 +503,8 @@ <h2>C</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.copy.html#compas_fab.planning.RobotState.copy">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.copy.html#compas_fab.planning.SceneState.copy">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.copy.html#compas_fab.planning.ShowWorkpieces.copy">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.copy.html#compas_fab.planning.ToolState.copy">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -717,8 +735,12 @@ <h2>F</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.from_data.html#compas_fab.planning.CloseGripper.from_data">(compas_fab.planning.CloseGripper class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.from_data.html#compas_fab.planning.FreeMotion.from_data">(compas_fab.planning.FreeMotion class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.from_data.html#compas_fab.planning.HideWorkpieces.from_data">(compas_fab.planning.HideWorkpieces class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.from_data.html#compas_fab.planning.LinearMotion.from_data">(compas_fab.planning.LinearMotion class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.from_data.html#compas_fab.planning.ManualWorkpieceMotion.from_data">(compas_fab.planning.ManualWorkpieceMotion class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.from_data.html#compas_fab.planning.OpenGripper.from_data">(compas_fab.planning.OpenGripper class method)</a>
 </li>
@@ -727,6 +749,8 @@ <h2>F</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.from_data.html#compas_fab.planning.RobotState.from_data">(compas_fab.planning.RobotState class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.from_data.html#compas_fab.planning.SceneState.from_data">(compas_fab.planning.SceneState class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.from_data.html#compas_fab.planning.ShowWorkpieces.from_data">(compas_fab.planning.ShowWorkpieces class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.from_data.html#compas_fab.planning.ToolState.from_data">(compas_fab.planning.ToolState class method)</a>
 </li>
@@ -755,16 +779,18 @@ <h2>F</h2>
           <li><a href="api/generated/compas_fab.robots.Wrench.from_data.html#compas_fab.robots.Wrench.from_data">(compas_fab.robots.Wrench class method)</a>
 </li>
         </ul></li>
-    </ul></td>
-    <td><ul>
         <li><a href="api/generated/compas_fab.planning.Action.from_json.html#compas_fab.planning.Action.from_json">from_json() (compas_fab.planning.Action class method)</a>
 
         <ul>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.from_json.html#compas_fab.planning.CloseGripper.from_json">(compas_fab.planning.CloseGripper class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.from_json.html#compas_fab.planning.FreeMotion.from_json">(compas_fab.planning.FreeMotion class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.from_json.html#compas_fab.planning.HideWorkpieces.from_json">(compas_fab.planning.HideWorkpieces class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.from_json.html#compas_fab.planning.LinearMotion.from_json">(compas_fab.planning.LinearMotion class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.from_json.html#compas_fab.planning.ManualWorkpieceMotion.from_json">(compas_fab.planning.ManualWorkpieceMotion class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.from_json.html#compas_fab.planning.OpenGripper.from_json">(compas_fab.planning.OpenGripper class method)</a>
 </li>
@@ -773,6 +799,8 @@ <h2>F</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.from_json.html#compas_fab.planning.RobotState.from_json">(compas_fab.planning.RobotState class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.from_json.html#compas_fab.planning.SceneState.from_json">(compas_fab.planning.SceneState class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.from_json.html#compas_fab.planning.ShowWorkpieces.from_json">(compas_fab.planning.ShowWorkpieces class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.from_json.html#compas_fab.planning.ToolState.from_json">(compas_fab.planning.ToolState class method)</a>
 </li>
@@ -797,14 +825,20 @@ <h2>F</h2>
           <li><a href="api/generated/compas_fab.robots.Trajectory.from_json.html#compas_fab.robots.Trajectory.from_json">(compas_fab.robots.Trajectory class method)</a>
 </li>
         </ul></li>
+    </ul></td>
+    <td><ul>
         <li><a href="api/generated/compas_fab.planning.Action.from_jsonstring.html#compas_fab.planning.Action.from_jsonstring">from_jsonstring() (compas_fab.planning.Action class method)</a>
 
         <ul>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.from_jsonstring.html#compas_fab.planning.CloseGripper.from_jsonstring">(compas_fab.planning.CloseGripper class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.from_jsonstring.html#compas_fab.planning.FreeMotion.from_jsonstring">(compas_fab.planning.FreeMotion class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.from_jsonstring.html#compas_fab.planning.HideWorkpieces.from_jsonstring">(compas_fab.planning.HideWorkpieces class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.from_jsonstring.html#compas_fab.planning.LinearMotion.from_jsonstring">(compas_fab.planning.LinearMotion class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.from_jsonstring.html#compas_fab.planning.ManualWorkpieceMotion.from_jsonstring">(compas_fab.planning.ManualWorkpieceMotion class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.from_jsonstring.html#compas_fab.planning.OpenGripper.from_jsonstring">(compas_fab.planning.OpenGripper class method)</a>
 </li>
@@ -813,6 +847,8 @@ <h2>F</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.from_jsonstring.html#compas_fab.planning.RobotState.from_jsonstring">(compas_fab.planning.RobotState class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.from_jsonstring.html#compas_fab.planning.SceneState.from_jsonstring">(compas_fab.planning.SceneState class method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.from_jsonstring.html#compas_fab.planning.ShowWorkpieces.from_jsonstring">(compas_fab.planning.ShowWorkpieces class method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.from_jsonstring.html#compas_fab.planning.ToolState.from_jsonstring">(compas_fab.planning.ToolState class method)</a>
 </li>
@@ -1073,6 +1109,16 @@ <h2>G</h2>
   </tr></table>
 </section>
 
+<section id="H" class="">
+  <h2>H</h2>
+  <table class=""><tr>
+    <td><ul>
+        <li><a href="api/generated/compas_fab.planning.HideWorkpieces.html#compas_fab.planning.HideWorkpieces">HideWorkpieces (class in compas_fab.planning)</a>
+</li>
+    </ul></td>
+  </tr></table>
+</section>
+
 <section id="I" class="">
   <h2>I</h2>
   <table class=""><tr>
@@ -1225,6 +1271,8 @@ <h2>L</h2>
   <h2>M</h2>
   <table class=""><tr>
     <td><ul>
+        <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.html#compas_fab.planning.ManualWorkpieceMotion">ManualWorkpieceMotion (class in compas_fab.planning)</a>
+</li>
         <li><a href="api/generated/compas_fab.utilities.map_range.html#compas_fab.utilities.map_range">map_range() (in module compas_fab.utilities)</a>
 </li>
         <li><a href="api/generated/compas_fab.robots.JointTrajectoryPoint.max_difference.html#compas_fab.robots.JointTrajectoryPoint.max_difference">max_difference() (compas_fab.robots.JointTrajectoryPoint method)</a>
@@ -1626,14 +1674,14 @@ <h2>S</h2>
 </li>
         <li><a href="api/generated/compas_fab.backends.VrepClient.set_robot_config.html#compas_fab.backends.VrepClient.set_robot_config">set_robot_config() (compas_fab.backends.VrepClient method)</a>
 </li>
-    </ul></td>
-    <td><ul>
         <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration.html#compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration">set_robot_configuration() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
 
         <ul>
           <li><a href="api/generated/compas_fab.backends.PyBulletClient.set_robot_configuration.html#compas_fab.backends.PyBulletClient.set_robot_configuration">(compas_fab.backends.PyBulletClient method)</a>
 </li>
         </ul></li>
+    </ul></td>
+    <td><ul>
         <li><a href="api/generated/compas_fab.backends.VrepClient.set_robot_metric.html#compas_fab.backends.VrepClient.set_robot_metric">set_robot_metric() (compas_fab.backends.VrepClient method)</a>
 </li>
         <li><a href="api/generated/compas_fab.backends.VrepClient.set_robot_pose.html#compas_fab.backends.VrepClient.set_robot_pose">set_robot_pose() (compas_fab.backends.VrepClient method)</a>
@@ -1646,8 +1694,12 @@ <h2>S</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.sha256.html#compas_fab.planning.CloseGripper.sha256">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.sha256.html#compas_fab.planning.FreeMotion.sha256">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.sha256.html#compas_fab.planning.HideWorkpieces.sha256">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.sha256.html#compas_fab.planning.LinearMotion.sha256">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.sha256.html#compas_fab.planning.ManualWorkpieceMotion.sha256">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.sha256.html#compas_fab.planning.OpenGripper.sha256">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -1656,6 +1708,8 @@ <h2>S</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.sha256.html#compas_fab.planning.RobotState.sha256">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.sha256.html#compas_fab.planning.SceneState.sha256">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.sha256.html#compas_fab.planning.ShowWorkpieces.sha256">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.sha256.html#compas_fab.planning.ToolState.sha256">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -1680,6 +1734,8 @@ <h2>S</h2>
           <li><a href="api/generated/compas_fab.robots.Trajectory.sha256.html#compas_fab.robots.Trajectory.sha256">(compas_fab.robots.Trajectory method)</a>
 </li>
         </ul></li>
+        <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.html#compas_fab.planning.ShowWorkpieces">ShowWorkpieces (class in compas_fab.planning)</a>
+</li>
         <li><a href="api/generated/compas_fab.utilities.sign.html#compas_fab.utilities.sign">sign() (in module compas_fab.utilities)</a>
 </li>
         <li><a href="api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations.html#compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations">smooth_configurations() (compas_fab.backends.AnalyticalPlanCartesianMotion method)</a>
@@ -1712,8 +1768,12 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.to_data.html#compas_fab.planning.CloseGripper.to_data">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.to_data.html#compas_fab.planning.FreeMotion.to_data">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.to_data.html#compas_fab.planning.HideWorkpieces.to_data">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.to_data.html#compas_fab.planning.LinearMotion.to_data">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.to_data.html#compas_fab.planning.ManualWorkpieceMotion.to_data">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.to_data.html#compas_fab.planning.OpenGripper.to_data">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -1722,6 +1782,8 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.to_data.html#compas_fab.planning.RobotState.to_data">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.to_data.html#compas_fab.planning.SceneState.to_data">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.to_data.html#compas_fab.planning.ShowWorkpieces.to_data">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.to_data.html#compas_fab.planning.ToolState.to_data">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -1758,8 +1820,12 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.to_json.html#compas_fab.planning.CloseGripper.to_json">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.to_json.html#compas_fab.planning.FreeMotion.to_json">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.to_json.html#compas_fab.planning.HideWorkpieces.to_json">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.to_json.html#compas_fab.planning.LinearMotion.to_json">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.to_json.html#compas_fab.planning.ManualWorkpieceMotion.to_json">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.to_json.html#compas_fab.planning.OpenGripper.to_json">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -1768,6 +1834,8 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.to_json.html#compas_fab.planning.RobotState.to_json">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.to_json.html#compas_fab.planning.SceneState.to_json">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.to_json.html#compas_fab.planning.ShowWorkpieces.to_json">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.to_json.html#compas_fab.planning.ToolState.to_json">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -1798,8 +1866,12 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.to_jsonstring.html#compas_fab.planning.CloseGripper.to_jsonstring">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.to_jsonstring.html#compas_fab.planning.FreeMotion.to_jsonstring">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.to_jsonstring.html#compas_fab.planning.HideWorkpieces.to_jsonstring">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.to_jsonstring.html#compas_fab.planning.LinearMotion.to_jsonstring">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.to_jsonstring.html#compas_fab.planning.ManualWorkpieceMotion.to_jsonstring">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.to_jsonstring.html#compas_fab.planning.OpenGripper.to_jsonstring">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -1808,6 +1880,8 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.to_jsonstring.html#compas_fab.planning.RobotState.to_jsonstring">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.to_jsonstring.html#compas_fab.planning.SceneState.to_jsonstring">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.to_jsonstring.html#compas_fab.planning.ShowWorkpieces.to_jsonstring">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.to_jsonstring.html#compas_fab.planning.ToolState.to_jsonstring">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -1850,8 +1924,12 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.ToString.html#compas_fab.planning.CloseGripper.ToString">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.ToString.html#compas_fab.planning.FreeMotion.ToString">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.ToString.html#compas_fab.planning.HideWorkpieces.ToString">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.ToString.html#compas_fab.planning.LinearMotion.ToString">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.ToString.html#compas_fab.planning.ManualWorkpieceMotion.ToString">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.ToString.html#compas_fab.planning.OpenGripper.ToString">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -1860,6 +1938,8 @@ <h2>T</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.ToString.html#compas_fab.planning.RobotState.ToString">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.ToString.html#compas_fab.planning.SceneState.ToString">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.ToString.html#compas_fab.planning.ShowWorkpieces.ToString">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.ToString.html#compas_fab.planning.ToolState.ToString">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -1950,8 +2030,12 @@ <h2>V</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.validate_data.html#compas_fab.planning.CloseGripper.validate_data">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.validate_data.html#compas_fab.planning.FreeMotion.validate_data">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.validate_data.html#compas_fab.planning.HideWorkpieces.validate_data">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.validate_data.html#compas_fab.planning.LinearMotion.validate_data">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_data.html#compas_fab.planning.ManualWorkpieceMotion.validate_data">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.validate_data.html#compas_fab.planning.OpenGripper.validate_data">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -1960,6 +2044,8 @@ <h2>V</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.validate_data.html#compas_fab.planning.RobotState.validate_data">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.validate_data.html#compas_fab.planning.SceneState.validate_data">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.validate_data.html#compas_fab.planning.ShowWorkpieces.validate_data">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.validate_data.html#compas_fab.planning.ToolState.validate_data">(compas_fab.planning.ToolState method)</a>
 </li>
@@ -1990,8 +2076,12 @@ <h2>V</h2>
           <li><a href="api/generated/compas_fab.planning.CloseGripper.validate_json.html#compas_fab.planning.CloseGripper.validate_json">(compas_fab.planning.CloseGripper method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.FreeMotion.validate_json.html#compas_fab.planning.FreeMotion.validate_json">(compas_fab.planning.FreeMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.HideWorkpieces.validate_json.html#compas_fab.planning.HideWorkpieces.validate_json">(compas_fab.planning.HideWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.LinearMotion.validate_json.html#compas_fab.planning.LinearMotion.validate_json">(compas_fab.planning.LinearMotion method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ManualWorkpieceMotion.validate_json.html#compas_fab.planning.ManualWorkpieceMotion.validate_json">(compas_fab.planning.ManualWorkpieceMotion method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.OpenGripper.validate_json.html#compas_fab.planning.OpenGripper.validate_json">(compas_fab.planning.OpenGripper method)</a>
 </li>
@@ -2000,6 +2090,8 @@ <h2>V</h2>
           <li><a href="api/generated/compas_fab.planning.RobotState.validate_json.html#compas_fab.planning.RobotState.validate_json">(compas_fab.planning.RobotState method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.SceneState.validate_json.html#compas_fab.planning.SceneState.validate_json">(compas_fab.planning.SceneState method)</a>
+</li>
+          <li><a href="api/generated/compas_fab.planning.ShowWorkpieces.validate_json.html#compas_fab.planning.ShowWorkpieces.validate_json">(compas_fab.planning.ShowWorkpieces method)</a>
 </li>
           <li><a href="api/generated/compas_fab.planning.ToolState.validate_json.html#compas_fab.planning.ToolState.validate_json">(compas_fab.planning.ToolState method)</a>
 </li>
diff --git a/compas_fab/pull_390/objects.inv b/compas_fab/pull_390/objects.inv
index 869646ee5..30b5bf259 100644
Binary files a/compas_fab/pull_390/objects.inv and b/compas_fab/pull_390/objects.inv differ
diff --git a/compas_fab/pull_390/output.json b/compas_fab/pull_390/output.json
index 23398e04e..ff49212a9 100644
--- a/compas_fab/pull_390/output.json
+++ b/compas_fab/pull_390/output.json
@@ -335,6 +335,20 @@
 {"filename": "api\\generated\\compas_fab.planning.FreeMotion.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.FreeMotion.to_jsonstring", "info": ""}
 {"filename": "api\\generated\\compas_fab.planning.FreeMotion.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.FreeMotion.validate_data", "info": ""}
 {"filename": "api\\generated\\compas_fab.planning.FreeMotion.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.FreeMotion.validate_json", "info": ""}
+{"filename": "api\\compas_fab.planning.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.ToString", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.apply_effects", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.check_preconditions", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.copy", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.from_data", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.from_json", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.from_jsonstring", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.sha256", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.to_data", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.to_json", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.to_jsonstring", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.validate_data", "info": ""}
+{"filename": "api\\generated\\compas_fab.planning.HideWorkpieces.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.HideWorkpieces.validate_json", "info": ""}
 {"filename": "api\\compas_fab.planning.rst", "lineno": 1, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.LinearMotion", "info": ""}
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@@ -349,6 +363,20 @@
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@@ -363,7 +391,7 @@
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-{"filename": "api\\compas_fab.planning.rst", "lineno": 47, "status": "unchecked", "code": 0, "uri": "#compas_fab.planning.RobotState", "info": ""}
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@@ -406,7 +434,21 @@
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@@ -418,7 +460,7 @@
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@@ -764,121 +806,121 @@
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diff --git a/compas_fab/pull_390/output.txt b/compas_fab/pull_390/output.txt
index cdc8f8644..083773d31 100644
--- a/compas_fab/pull_390/output.txt
+++ b/compas_fab/pull_390/output.txt
@@ -1,13 +1,13 @@
 api\compas_fab.backends.rst:29: [redirected permanently] http://pybullet.org/ to https://pybullet.org/wordpress/
 api\generated\compas_fab.robots.Inertia.rst:28: [redirected permanently] http://gazebosim.org/tutorials?tut=inertia to https://classic.gazebosim.org/tutorials?tut=inertia
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 getting_started.rst:13: [redirected with Found] https://conda.io/docs/ to https://conda.io/en/latest/
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diff --git a/compas_fab/pull_390/searchindex.js b/compas_fab/pull_390/searchindex.js
index 7a043b56f..ef7de3571 100644
--- a/compas_fab/pull_390/searchindex.js
+++ b/compas_fab/pull_390/searchindex.js
@@ -1 +1 @@
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tState","RobotState.ToString","RobotState.copy","RobotState.from_data","RobotState.from_json","RobotState.from_jsonstring","RobotState.sha256","RobotState.to_data","RobotState.to_json","RobotState.to_jsonstring","RobotState.validate_data","RobotState.validate_json","RoboticAction","RoboticAction.ToString","RoboticAction.apply_effects","RoboticAction.check_preconditions","RoboticAction.copy","RoboticAction.from_data","RoboticAction.from_json","RoboticAction.from_jsonstring","RoboticAction.sha256","RoboticAction.to_data","RoboticAction.to_json","RoboticAction.to_jsonstring","RoboticAction.validate_data","RoboticAction.validate_json","SceneState","SceneState.ToString","SceneState.copy","SceneState.from_data","SceneState.from_json","SceneState.from_jsonstring","SceneState.get_attached_tool_id","SceneState.get_attached_workpiece_id","SceneState.get_robot_state","SceneState.get_tool_state","SceneState.get_workpiece_state","SceneState.sha256","SceneState.to_data","SceneState.to_json","SceneState.to_jsonstring","SceneState.validate_data","SceneState.validate_json","ToolState","ToolState.ToString","ToolState.copy","ToolState.from_data","ToolState.from_json","ToolState.from_jsonstring","ToolState.sha256","ToolState.to_data","ToolState.to_json","ToolState.to_jsonstring","ToolState.validate_data","ToolState.validate_json","WorkpieceState","WorkpieceState.ToString","WorkpieceState.copy","WorkpieceState.from_data","WorkpieceState.from_json","WorkpieceState.from_jsonstring","WorkpieceState.sha256","WorkpieceState.to_data","WorkpieceState.to_json","WorkpieceState.to_jsonstring","WorkpieceState.validate_data","WorkpieceState.validate_json","ReachabilityMapArtist","ReachabilityMapArtist.build","ReachabilityMapArtist.build_as","ReachabilityMapArtist.clear","ReachabilityMapArtist.clear_layer","ReachabilityMapArtist.draw","ReachabilityMapArtist.draw_cloud","ReachabilityMapArtist.draw_collection","ReachabilityMapArtist.draw_frames","ReachabilityMapArtist.redraw","ReachabilityMapArtist.register","AttachedCollisionMesh","AttachedCollisionMesh.ToString","AttachedCollisionMesh.copy","AttachedCollisionMesh.from_data","AttachedCollisionMesh.from_json","AttachedCollisionMesh.from_jsonstring","AttachedCollisionMesh.sha256","AttachedCollisionMesh.to_data","AttachedCollisionMesh.to_json","AttachedCollisionMesh.to_jsonstring","AttachedCollisionMesh.validate_data","AttachedCollisionMesh.validate_json","BoundingVolume","BoundingVolume.copy","BoundingVolume.from_box","BoundingVolume.from_mesh","BoundingVolume.from_sphere","BoundingVolume.scale","BoundingVolume.transform","CollisionMesh","CollisionMesh.ToString","CollisionMesh.copy","CollisionMesh.from_data","CollisionMesh.from_json","CollisionMesh.from_jsonstring","CollisionMesh.scale","CollisionMesh.scaled","CollisionMesh.sha256","CollisionMesh.to_data","CollisionMesh.to_json","CollisionMesh.to_jsonstring","CollisionMesh.validate_data","CollisionMesh.validate_json","Constraint","Constraint.copy","Constraint.scale","Constraint.scaled","Constraint.transform","DeviationVectorsGenerator","Duration","Duration.from_data","Duration.to_data","Inertia","Inertia.calculate_inertia_tensor","JointConstraint","JointConstraint.copy","JointConstraint.scale","JointConstraint.scaled","JointConstraint.transform","JointTrajectory","JointTrajectory.ToString","JointTrajectory.copy","JointTrajectory.from_data","JointTrajectory.from_json","JointTrajectory.from_jsonstring","JointTrajectory.sha256","JointTrajectory.to_data","JointTrajectory.to_json","JointTrajectory.to_jsonstring","JointTrajectory.validate_data","JointTrajectory.validate_json","JointTrajectoryPoint","JointTrajectoryPoint.ToString","JointTrajectoryPoint.check_joint_names","JointTrajectoryPoint.close_to","JointTrajectoryPoint.copy","JointTrajectoryPoint.from_data","JointTrajectoryPoint.from_json","JointTrajectoryPoint.from_jsonstring","JointTrajectoryPoint.from_prismatic_and_revolute_values","JointTrajectoryPoint.from_revolute_values","JointTrajectoryPoint.get","JointTrajectoryPoint.items","JointTrajectoryPoint.iter_differences","JointTrajectoryPoint.keys","JointTrajectoryPoint.max_difference","JointTrajectoryPoint.merge","JointTrajectoryPoint.merged","JointTrajectoryPoint.scale","JointTrajectoryPoint.scaled","JointTrajectoryPoint.sha256","JointTrajectoryPoint.to_data","JointTrajectoryPoint.to_json","JointTrajectoryPoint.to_jsonstring","JointTrajectoryPoint.validate_data","JointTrajectoryPoint.validate_json","JointTrajectoryPoint.values","OrientationConstraint","OrientationConstraint.copy","OrientationConstraint.scale","OrientationConstraint.scaled","OrientationConstraint.transform","OrthonormalVectorsFromAxisGenerator","PathPlan","PathPlan.add_robot_trajectory","PathPlan.all_trajectories","PathPlan.get_robot_trajectory","PlanningScene","PlanningScene.add_attached_collision_mesh","PlanningScene.add_attached_tool","PlanningScene.add_collision_mesh","PlanningScene.append_collision_mesh","PlanningScene.attach_collision_mesh_to_robot_end_effector","PlanningScene.ensure_client","PlanningScene.remove_attached_collision_mesh","PlanningScene.remove_attached_tool","PlanningScene.remove_collision_mesh","PlanningScene.reset","PositionConstraint","PositionConstraint.copy","PositionConstraint.from_box","PositionConstraint.from_mesh","PositionConstraint.from_sphere","PositionConstraint.scale","PositionConstraint.scaled","PositionConstraint.transform","ReachabilityMap","ReachabilityMap.ToString","ReachabilityMap.calculate","ReachabilityMap.copy","ReachabilityMap.from_data","ReachabilityMap.from_json","ReachabilityMap.from_jsonstring","ReachabilityMap.reachable_frames_and_configurations_at_ik_index","ReachabilityMap.sha256","ReachabilityMap.to_data","ReachabilityMap.to_json","ReachabilityMap.to_jsonstring","ReachabilityMap.validate_data","ReachabilityMap.validate_json","Robot","Robot.ToString","Robot.attach_tool","Robot.basic","Robot.constraints_from_configuration","Robot.constraints_from_frame","Robot.copy","Robot.detach_tool","Robot.draw","Robot.draw_collision","Robot.draw_visual","Robot.ensure_client","Robot.ensure_geometry","Robot.ensure_semantics","Robot.forward_kinematics","Robot.forward_kinematics_deprecated","Robot.from_data","Robot.from_json","Robot.from_jsonstring","Robot.from_t0cf_to_tcf","Robot.from_tcf_to_t0cf","Robot.get_RCF","Robot.get_attached_tool_collision_meshes","Robot.get_base_frame","Robot.get_base_link","Robot.get_base_link_name","Robot.get_configurable_joint_names","Robot.get_configurable_joint_types","Robot.get_configurable_joints","Robot.get_configuration_from_group_state","Robot.get_end_effector_frame","Robot.get_end_effector_link","Robot.get_end_effector_link_name","Robot.get_group_configuration","Robot.get_group_names_from_link_name","Robot.get_joint_by_name","Robot.get_joint_types_by_names","Robot.get_link_names","Robot.get_link_names_with_collision_geometry","Robot.get_position_by_joint_name","Robot.info","Robot.inverse_kinematics","Robot.inverse_kinematics_deprecated","Robot.iter_inverse_kinematics","Robot.merge_group_with_full_configuration","Robot.orientation_constraint_from_frame","Robot.plan_cartesian_motion","Robot.plan_cartesian_motion_deprecated","Robot.plan_motion","Robot.plan_motion_deprecated","Robot.position_constraint_from_frame","Robot.random_configuration","Robot.scale","Robot.set_RCF","Robot.sha256","Robot.to_data","Robot.to_json","Robot.to_jsonstring","Robot.to_local_coordinates","Robot.to_world_coordinates","Robot.transformation_RCF_WCF","Robot.transformation_WCF_RCF","Robot.transformed_axes","Robot.transformed_frames","Robot.update","Robot.validate_data","Robot.validate_json","Robot.zero_configuration","RobotSemantics","RobotSemantics.ToString","RobotSemantics.copy","RobotSemantics.from_data","RobotSemantics.from_json","RobotSemantics.from_jsonstring","RobotSemantics.from_srdf_file","RobotSemantics.from_srdf_string","RobotSemantics.from_xml","RobotSemantics.get_all_configurable_joints","RobotSemantics.get_base_link_name","RobotSemantics.get_configurable_joint_names","RobotSemantics.get_configurable_joints","RobotSemantics.get_end_effector_link_name","RobotSemantics.sha256","RobotSemantics.to_data","RobotSemantics.to_json","RobotSemantics.to_jsonstring","RobotSemantics.validate_data","RobotSemantics.validate_json","Tool","Tool.ToString","Tool.copy","Tool.from_data","Tool.from_json","Tool.from_jsonstring","Tool.from_t0cf_to_tcf","Tool.from_tcf_to_t0cf","Tool.from_tool_model","Tool.sha256","Tool.to_data","Tool.to_json","Tool.to_jsonstring","Tool.update_touch_links","Tool.validate_data","Tool.validate_json","Trajectory","Trajectory.ToString","Trajectory.copy","Trajectory.from_data","Trajectory.from_json","Trajectory.from_jsonstring","Trajectory.sha256","Trajectory.to_data","Trajectory.to_json","Trajectory.to_jsonstring","Trajectory.validate_data","Trajectory.validate_json","Wrench","Wrench.by_samples","Wrench.copy","Wrench.from_data","Wrench.from_list","Wrench.gravity_compensated","Wrench.to_data","Wrench.transform","Wrench.transformed","to_degrees","to_radians","PosCon3D","PosCon3D.activate_flex_mount","PosCon3D.adjust_to_dark_object","PosCon3D.begin","PosCon3D.calculate_checksum","PosCon3D.deactivate_flex_mount","PosCon3D.end","PosCon3D.format_command","PosCon3D.get_address","PosCon3D.get_live_monitor_data","PosCon3D.get_measurement","PosCon3D.get_payload","PosCon3D.reset","PosCon3D.send_command","PosCon3D.set_edge_height","PosCon3D.set_flex_mount","PosCon3D.set_measurement_type","PosCon3D.set_precision","PosConCM","PosConCM.activate_flex_mount","PosConCM.adjust_to_dark_object","PosConCM.begin","PosConCM.calculate_checksum","PosConCM.deactivate_flex_mount","PosConCM.end","PosConCM.format_command","PosConCM.get_address","PosConCM.get_measurement","PosConCM.get_payload","PosConCM.reset","PosConCM.send_command","PosConCM.set_flex_mount","PosConCM.set_measurement_type","PosConCM.set_precision","PosConCM.teach_flex_mount","ProtocolError","SensorTimeoutError","SerialSensor","LazyLoader","allclose","arange","argmax","argmin","argsort","clamp","diffs","list_files_in_directory","map_range","range_geometric_row","read_csv_to_dictionary","read_data_from_pickle","sign","write_data_to_pickle","Citing","Working with backends","PyBullet","ROS","V-REP","Access backend GUI","Changelog","Contributor\u2019s Guide","Backend clients","AddAttachedCollisionMesh","AddAttachedCollisionMesh.add_attached_collision_mesh","AddCollisionMesh","AddCollisionMesh.add_collision_mesh","AppendCollisionMesh","AppendCollisionMesh.append_collision_mesh","ClientInterface","ClientInterface.add_attached_collision_mesh","ClientInterface.add_collision_mesh","ClientInterface.append_collision_mesh","ClientInterface.forward_kinematics","ClientInterface.get_planning_scene","ClientInterface.inverse_kinematics","ClientInterface.plan_cartesian_motion","ClientInterface.plan_motion","ClientInterface.remove_attached_collision_mesh","ClientInterface.remove_collision_mesh","ClientInterface.reset_planning_scene","ForwardKinematics","ForwardKinematics.forward_kinematics","GetPlanningScene","GetPlanningScene.get_planning_scene","InverseKinematics","InverseKinematics.inverse_kinematics","PlanCartesianMotion","PlanCartesianMotion.plan_cartesian_motion","PlanMotion","PlanMotion.plan_motion","PlannerInterface","PlannerInterface.add_attached_collision_mesh","PlannerInterface.add_collision_mesh","PlannerInterface.append_collision_mesh","PlannerInterface.forward_kinematics","PlannerInterface.get_planning_scene","PlannerInterface.inverse_kinematics","PlannerInterface.plan_cartesian_motion","PlannerInterface.plan_motion","PlannerInterface.remove_attached_collision_mesh","PlannerInterface.remove_collision_mesh","PlannerInterface.reset_planning_scene","RemoveAttachedCollisionMesh","RemoveAttachedCollisionMesh.remove_attached_collision_mesh","RemoveCollisionMesh","RemoveCollisionMesh.remove_collision_mesh","ResetPlanningScene","ResetPlanningScene.reset_planning_scene","Grasshopper components","Examples","Fundamentals","Frame and Transformation","Coordinate frames","Description Models","Kinematic model","Robot models","Backends: ROS","Using ROS","Robots in ROS","Forward and inverse kinematics","Plan motion","Planning scene and collision objects","ROS in Grasshopper","Creating a URDF with an UR5 robot and a custom end-effector","Creating a MoveIt! package from the custom created URDF","Creating a URDF of the UR10 on two linear axes","Backends: V-REP","Simulation examples with V-REP","Backends: PyBullet","Using PyBullet","Forward and inverse kinematics","Backends: Analytical Kinematics","Analytical kinematics","Planning: Reachability Map","Introduction to the Reachability Map","Vector Generators","Reachability Map 2D","Getting started","Robotic Fabrication for COMPAS","License"],titleterms:{"0":719,"01":794,"02":796,"03":796,"05":719,"1":[719,781],"10":719,"11":719,"12":719,"13":719,"14":719,"15":719,"16":719,"17":719,"18":719,"19":719,"1d":794,"2":[719,781],"20":719,"2023":719,"21":719,"22":719,"23":719,"24":719,"25":719,"26":719,"27":719,"28":719,"2d":796,"3":719,"360":794,"4":719,"5":719,"6":719,"7":719,"8":719,"9":719,"class":[7,8],"export":[783,785],"function":9,"long":2,"new":714,abb_irb4600_40_255kinemat:[10,11,12],access:718,action:[5,255,256,257,258,259,260,261,262,263,264,265,266,267,268],activate_flex_mount:[661,679],ad:719,adapt:794,add:[781,783,784],add_attached_collision_mesh:[19,63,78,113,125,210,232,501,723,729,751],add_attached_tool:502,add_collision_mesh:[20,64,79,114,126,211,233,503,725,730,752],add_robot_trajectori:497,addattachedcollisionmesh:[722,723],addcollisionmesh:[724,725],adjust_to_dark_object:[662,680],all_trajectori:498,allclos:699,an:[783,795],analyt:[2,791,792],analyticalinversekinemat:[13,14],analyticalplancartesianmot:[15,16,17],analyticalpybulletcli:[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51],api:0,append_collision_mesh:[21,65,80,115,127,212,234,504,727,731,753],appendcollisionmesh:[726,727],appli:794,apply_effect:[257,271,285,299,313,339],arang:700,argmax:701,argmin:702,argsort:703,arm:784,artist:[3,4,6],assist:784,attach:781,attach_collision_mesh_to_robot_end_effector:505,attach_tool:535,attachedcollisionmesh:[403,404,405,406,407,408,409,410,411,412,413,414],authent:128,author:[713,784],ax:785,axi:795,backend:[2,714,718,721,776,786,788,791],backenderror:52,basic:536,baumer:8,begin:[663,681],blender:[3,797],blocking_call_from_thread:129,body_from_obj:[22,81],boundingvolum:[415,416,417,418,419,420,421],browser:718,bug:720,build:[246,393],build_a:[247,394],by_sampl:650,cache_robot:[23,82],cad:1,calcul:521,calculate_checksum:[664,682],calculate_inertia_tensor:446,call_async_servic:130,call_in_thread:131,call_lat:132,call_sync_servic:133,can_load_mesh:179,cancel:54,cancellablefutureresult:[53,54,55],cartesian:780,cartesianmotionerror:56,catkin:[783,785],chang:719,changelog:719,check_collis:[26,85],check_collision_objects_for_collis:[24,83],check_collision_with_object:[25,84],check_joint_nam:466,check_precondit:[258,272,286,300,314,340],check_robot_self_collis:[27,86],cite:713,clamp:704,clear:[248,395],clear_lay:396,client:721,clientinterfac:[728,729,730,731,732,733,734,735,736,737,738,739],close:134,close_to:467,closegripp:[269,270,271,272,273,274,275,276,277,278,279,280,281,282],code:[720,797],collis:[781,784],collisionerror:57,collisionmesh:[422,423,424,425,426,427,428,429,430,431,432,433,434,435],compa:798,compas_fab:[1,2,3,4,5,6,7,8,9],complet:716,compon:[768,782],conda:797,configur:784,connect:[28,87,135],constraint:[7,436,437,438,439,440],constraints_from_configur:537,constraints_from_fram:538,contain:714,content:798,contribut:720,contributor:720,convers:7,convert_mesh_to_bodi:[29,88],coordin:772,copi:[259,273,287,301,315,327,341,353,370,382,405,416,424,437,448,454,468,491,512,522,539,603,623,639,651],creat:[783,784,785],custom:[783,784],deactivate_flex_mount:[665,683],delete_param:136,deprec:719,descript:773,design:720,detach_tool:540,detail:794,develop:714,deviat:[795,796],deviationvectorsgener:441,diff:705,disconnect:[30,89],disk:775,displai:718,docker:[714,716],document:720,draw:[249,397,541],draw_cloud:[250,398],draw_collect:[251,399],draw_collis:542,draw_fram:[252,400],draw_visu:543,durat:[442,443,444],effector:[781,783,784],emit:137,end:[666,684,781,783,784],ensure_cached_robot:[31,90],ensure_cached_robot_geometri:[32,91],ensure_cli:[506,544],ensure_geometri:545,ensure_semant:546,environ:797,exampl:[769,772,777,781,787,794,796],except:[2,8],execute_joint_trajectori:138,explan:[783,785],fabric:[769,798],featur:[720,721,798],feedback:720,file:[9,784],filter_configurations_in_collis:[33,92],find_raw_robot_st:213,first:[777,787,789],fix:719,follow_configur:139,follow_joint_trajectori:140,format_command:[667,685],forward:[11,75,186,189,192,195,198,201,204,207,718,779,787,790],forward_kinemat:[34,66,93,116,141,214,235,547,732,741,754],forward_kinematics_deprec:548,forwardkinemat:[740,741],frame:[771,772,795],freemot:[283,284,285,286,287,288,289,290,291,292,293,294,295,296],from:[775,778,784,795],from_box:[417,513],from_data:[260,274,288,302,316,328,342,354,371,383,406,425,443,455,469,523,549,604,624,640,652],from_json:[261,275,289,303,317,329,343,355,372,384,407,426,456,470,524,550,605,625,641],from_jsonstr:[262,276,290,304,318,330,344,356,373,385,408,427,457,471,525,551,606,626,642],from_list:653,from_mesh:[418,514],from_prismatic_and_revolute_valu:472,from_revolute_valu:473,from_spher:[419,515],from_srdf_fil:607,from_srdf_str:608,from_t0cf_to_tcf:[552,627],from_tcf_to_t0cf:[553,628],from_tool_model:629,from_xml:609,fundament:770,further:[771,783,784,785],futureresult:[58,59],gener:[783,784,785,795],get:[474,797],get_action_serv:142,get_address:[668,686],get_all_co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\ No newline at end of file
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ab.backends.RosClient.get_params","api/generated/compas_fab.backends.RosClient.get_planning_scene","api/generated/compas_fab.backends.RosClient.get_service_request_callback","api/generated/compas_fab.backends.RosClient.get_service_request_details","api/generated/compas_fab.backends.RosClient.get_service_response_details","api/generated/compas_fab.backends.RosClient.get_service_type","api/generated/compas_fab.backends.RosClient.get_services","api/generated/compas_fab.backends.RosClient.get_services_for_type","api/generated/compas_fab.backends.RosClient.get_time","api/generated/compas_fab.backends.RosClient.get_topic_type","api/generated/compas_fab.backends.RosClient.get_topics","api/generated/compas_fab.backends.RosClient.get_topics_for_type","api/generated/compas_fab.backends.RosClient.inverse_kinematics","api/generated/compas_fab.backends.RosClient.load_robot","api/generated/compas_fab.backends.RosClient.off","api/generated/compas_fab.backends.RosClient.on","api/generated/compas_fab.backends.RosClient.on_ready","api/generated/compas_fab.backends.RosClient.plan_cartesian_motion","api/generated/compas_fab.backends.RosClient.plan_motion","api/generated/compas_fab.backends.RosClient.remove_attached_collision_mesh","api/generated/compas_fab.backends.RosClient.remove_collision_mesh","api/generated/compas_fab.backends.RosClient.reset_planning_scene","api/generated/compas_fab.backends.RosClient.run","api/generated/compas_fab.backends.RosClient.run_event_loop","api/generated/compas_fab.backends.RosClient.run_forever","api/generated/compas_fab.backends.RosClient.send_on_ready","api/generated/compas_fab.backends.RosClient.set_param","api/generated/compas_fab.backends.RosClient.set_status_level","api/generated/compas_fab.backends.RosClient.terminate","api/generated/compas_fab.backends.RosError","api/generated/compas_fab.backends.RosFileServerLoader","api/generated/compas_fab.backends.RosFileServerLoader.can_load_mesh","api/generated/compas_fab.backends.RosFileServerLoader.load_mesh","api/generated/compas_fab.backends.RosFileServerLoader.load_meshes","api/generated/compas_fab.backends.RosFileServerLoader.load_srdf","api/generated/compas_fab.backends.RosFileServerLoader.load_urdf","api/generated/compas_fab.backends.RosValidationError","api/generated/compas_fab.backends.SphericalWristKinematics","api/generated/compas_fab.backends.SphericalWristKinematics.forward","api/generated/compas_fab.backends.SphericalWristKinematics.inverse","api/generated/compas_fab.backends.Staubli_TX260LKinematics","api/generated/compas_fab.backends.Staubli_TX260LKinematics.forward","api/generated/compas_fab.backends.Staubli_TX260LKinematics.inverse","api/generated/compas_fab.backends.UR10Kinematics","api/generated/compas_fab.backends.UR10Kinematics.forward","api/generated/compas_fab.backends.UR10Kinematics.inverse","api/generated/compas_fab.backends.UR10eKinematics","api/generated/compas_fab.backends.UR10eKinematics.forward","api/generated/compas_fab.backends.UR10eKinematics.inverse","api/generated/compas_fab.backends.UR3Kinematics","api/generated/compas_fab.backends.UR3Kinematics.forward","api/generated/compas_fab.backends.UR3Kinematics.inverse","api/generated/compas_fab.backends.UR3eKinematics","api/generated/compas_fab.backends.UR3eKinematics.forward","api/generated/compas_fab.backends.UR3eKinematics.inverse","api/generated/compas_fab.backends.UR5Kinematics","api/generated/compas_fab.backends.UR5Kinematics.forward","api/generated/compas_fab.backends.UR5Kinematics.inverse","api/generated/compas_fab.backends.UR5eKinematics","api/generated/compas_fab.backends.UR5eKinematics.forward","api/generated/compas_fab.backends.UR5eKinematics.inverse","api/generated/compas_fab.backends.VrepClient","api/generated/compas_fab.backends.VrepClient.add_attached_collision_mesh","api/generated/compas_fab.backends.VrepClient.add_collision_mesh","api/generated/compas_fab.backends.VrepClient.append_collision_mesh","api/generated/compas_fab.backends.VrepClient.find_raw_robot_states","api/generated/compas_fab.backends.VrepClient.forward_kinematics","api/generated/compas_fab.backends.VrepClient.get_all_visible_handles","api/generated/compas_fab.backends.VrepClient.get_object_handle","api/generated/compas_fab.backends.VrepClient.get_object_matrices","api/generated/compas_fab.backends.VrepClient.get_planning_scene","api/generated/compas_fab.backends.VrepClient.get_robot_config","api/generated/compas_fab.backends.VrepClient.inverse_kinematics","api/generated/compas_fab.backends.VrepClient.plan_cartesian_motion","api/generated/compas_fab.backends.VrepClient.plan_motion","api/generated/compas_fab.backends.VrepClient.remove_attached_collision_mesh","api/generated/compas_fab.backends.VrepClient.remove_collision_mesh","api/generated/compas_fab.backends.VrepClient.reset_planning_scene","api/generated/compas_fab.backends.VrepClient.run_child_script","api/generated/compas_fab.backends.VrepClient.set_robot_config","api/generated/compas_fab.backends.VrepClient.set_robot_metric","ap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e_data","LinearMotion.validate_json","ManualWorkpieceMotion","ManualWorkpieceMotion.ToString","ManualWorkpieceMotion.apply_effects","ManualWorkpieceMotion.check_preconditions","ManualWorkpieceMotion.copy","ManualWorkpieceMotion.from_data","ManualWorkpieceMotion.from_json","ManualWorkpieceMotion.from_jsonstring","ManualWorkpieceMotion.sha256","ManualWorkpieceMotion.to_data","ManualWorkpieceMotion.to_json","ManualWorkpieceMotion.to_jsonstring","ManualWorkpieceMotion.validate_data","ManualWorkpieceMotion.validate_json","OpenGripper","OpenGripper.ToString","OpenGripper.apply_effects","OpenGripper.check_preconditions","OpenGripper.copy","OpenGripper.from_data","OpenGripper.from_json","OpenGripper.from_jsonstring","OpenGripper.sha256","OpenGripper.to_data","OpenGripper.to_json","OpenGripper.to_jsonstring","OpenGripper.validate_data","OpenGripper.validate_json","RobotState","RobotState.ToString","RobotState.copy","RobotState.from_data","RobotState.from_json","RobotState.from_jsonstring","RobotState.sha256","RobotState.to_data","RobotState.to_json","RobotState.to_jsonstring","RobotState.validate_data","RobotState.validate_json","RoboticAction","RoboticAction.ToString","RoboticAction.apply_effects","RoboticAction.check_preconditions","RoboticAction.copy","RoboticAction.from_data","RoboticAction.from_json","RoboticAction.from_jsonstring","RoboticAction.sha256","RoboticAction.to_data","RoboticAction.to_json","RoboticAction.to_jsonstring","RoboticAction.validate_data","RoboticAction.validate_json","SceneState","SceneState.ToString","SceneState.copy","SceneState.from_data","SceneState.from_json","SceneState.from_jsonstring","SceneState.get_attached_tool_id","SceneState.get_attached_workpiece_id","SceneState.get_robot_state","SceneState.get_tool_state","SceneState.get_workpiece_state","SceneState.sha256","SceneState.to_data","SceneState.to_json","SceneState.to_jsonstring","SceneState.validate_data","SceneState.validate_json","ShowWorkpieces","ShowWorkpieces.ToString","ShowWorkpieces.apply_effects","ShowWorkpieces.check_preconditions","ShowWorkpieces.copy","ShowWorkpieces.from_data","ShowWorkpieces.from_json","ShowWorkpieces.from_jsonstring","ShowWorkpieces.sha256","ShowWorkpieces.to_data","ShowWorkpieces.to_json","ShowWorkpieces.to_jsonstring","ShowWorkpieces.validate_data","ShowWorkpieces.validate_json","ToolState","ToolState.ToString","ToolState.copy","ToolState.from_data","ToolState.from_json","ToolState.from_jsonstring","ToolState.sha256","ToolState.to_data","ToolState.to_json","ToolState.to_jsonstring","ToolState.validate_data","ToolState.validate_json","WorkpieceState","WorkpieceState.ToString","WorkpieceState.copy","WorkpieceState.from_data","WorkpieceState.from_json","WorkpieceState.from_jsonstring","WorkpieceState.sha256","WorkpieceState.to_data","WorkpieceState.to_json","WorkpieceState.to_jsonstring","WorkpieceState.validate_data","WorkpieceState.validate_json","ReachabilityMapArtist","ReachabilityMapArtist.build","ReachabilityMapArtist.build_as","ReachabilityMapArtist.clear","ReachabilityMapArtist.clear_layer","ReachabilityMapArtist.draw","ReachabilityMapArtist.draw_cloud","ReachabilityMapArtist.draw_collection","ReachabilityMapArtist.draw_frames","ReachabilityMapArtist.redraw","ReachabilityMapArtist.register","AttachedCollisionMesh","AttachedCollisionMesh.ToString","AttachedCollisionMesh.copy","AttachedCollisionMesh.from_data","AttachedCollisionMesh.from_json","AttachedCollisionMesh.from_jsonstring","AttachedCollisionMesh.sha256","AttachedCollisionMesh.to_data","AttachedCollisionMesh.to_json","AttachedCollisionMesh.to_jsonstring","AttachedCollisionMesh.validate_data","AttachedCollisionMesh.validate_json","BoundingVolume","BoundingVolume.copy","BoundingVolume.from_box","BoundingVolume.from_mesh","BoundingVolume.from_sphere","BoundingVolume.scale","BoundingVolume.transform","CollisionMesh","CollisionMesh.ToString","CollisionMesh.copy","CollisionMesh.from_data","CollisionMesh.from_json","CollisionMesh.from_jsonstring","CollisionMesh.scale","CollisionMesh.scaled","CollisionMesh.sha256","CollisionMesh.to_data","CollisionMesh.to_json","CollisionMesh.to_jsonstring","CollisionMesh.validate_data","CollisionMesh.validate_json","Constraint","Constraint.copy","Constraint.scale","Constraint.scaled","Constraint.transform","DeviationVectorsGenerator","Duration","Duration.from_data","Duration.to_data","Inertia","Inertia.calculate_inertia_tensor","JointConstraint","JointConstraint.copy","JointConstraint.scale","JointConstraint.scaled","JointConstraint.transform","JointTrajectory","JointTrajectory.ToString","JointTrajectory.copy","JointTrajectory.from_data","JointTrajectory.from_json","JointTrajectory.from_jsonstring","JointTrajectory.sha256","JointTrajectory.to_data","JointTrajectory.to_json","JointTrajectory.to_jsonstring","JointTrajectory.validate_data","JointTrajectory.validate_json","JointTrajectoryPoint","JointTrajectoryPoint.ToString","JointTrajectoryPoint.check_joint_names","JointTrajectoryPoint.close_to","JointTrajectoryPoint.copy","JointTrajectoryPoint.from_data","JointTrajectoryPoint.from_json","JointTrajectoryPoint.from_jsonstring","JointTrajectoryPoint.from_prismatic_and_revolute_values","JointTrajectoryPoint.from_revolute_values","JointTrajectoryPoint.get","JointTrajectoryPoint.items","JointTrajectoryPoint.iter_differences","JointTrajectoryPoint.keys","JointTrajectoryPoint.max_difference","JointTrajectoryPoint.merge","JointTrajectoryPoint.merged","JointTrajectoryPoint.scale","JointTrajectoryPoint.scaled","JointTrajectoryPoint.sha256","JointTrajectoryPoint.to_data","JointTrajectoryPoint.to_json","JointTrajectoryPoint.to_jsonstring","JointTrajectoryPoint.validate_data","JointTrajectoryPoint.validate_json","JointTrajectoryPoint.values","OrientationConstraint","OrientationConstraint.copy","OrientationConstraint.scale","OrientationConstraint.scaled","OrientationConstraint.transform","OrthonormalVectorsFromAxisGenerator","PathPlan","PathPlan.add_robot_trajectory","PathPlan.all_trajectories","PathPlan.get_robot_trajectory","PlanningScene","PlanningScene.add_attached_collision_mesh","PlanningScene.add_attached_tool","PlanningScene.add_collision_mesh","PlanningScene.append_collision_mesh","PlanningScene.attach_collision_mesh_to_robot_end_effector","PlanningScene.ensure_client","PlanningScene.remove_attached_collision_mesh","PlanningScene.remove_attached_tool","PlanningScene.remove_collision_mesh","PlanningScene.reset","PositionConstraint","PositionConstraint.copy","PositionConstraint.from_box","PositionConstraint.from_mesh","PositionConstraint.from_sphere","PositionConstraint.scale","PositionConstraint.scaled","PositionConstraint.transform","ReachabilityMap","ReachabilityMap.ToString","ReachabilityMap.calculate","ReachabilityMap.copy","ReachabilityMap.from_data","ReachabilityMap.from_json","ReachabilityMap.from_jsonstring","ReachabilityMap.reachable_frames_and_configurations_at_ik_index","ReachabilityMap.sha256","ReachabilityMap.to_data","ReachabilityMap.to_json","ReachabilityMap.to_jsonstring","ReachabilityMap.validate_data","ReachabilityMap.validate_json","Robot","Robot.ToString","Robot.attach_tool","Robot.basic","Robot.constraints_from_configuration","Robot.constraints_from_frame","Robot.copy","Robot.detach_tool","Robot.draw","Robot.draw_collision","Robot.draw_visual","Robot.ensure_client","Robot.ensure_geometry","Robot.ensure_semantics","Robot.forward_kinematics","Robot.forward_kinematics_deprecated","Robot.from_data","Robot.from_json","Robot.from_jsonstring","Robot.from_t0cf_to_tcf","Robot.from_tcf_to_t0cf","Robot.get_RCF","Robot.get_attached_tool_collision_meshes","Robot.get_base_frame","Robot.get_base_link","Robot.get_base_link_name","Robot.get_configurable_joint_names","Robot.get_configurable_joint_types","Robot.get_configurable_joints","Robot.get_configuration_from_group_state","Robot.get_end_effector_frame","Robot.get_end_effector_link","Robot.get_end_effector_link_name","Robot.get_group_configuration","Robot.get_group_names_from_link_name","Robot.get_joint_by_name","Robot.get_joint_types_by_names","Robot.get_link_names","Robot.get_link_names_with_collision_geometry","Robot.get_position_by_joint_name","Robot.info","Robot.inverse_kinematics","Robot.inverse_kinematics_deprecated","Robot.iter_inverse_kinematics","Robot.merge_group_with_full_configuration","Robot.orientation_constraint_from_frame","Robot.plan_cartesian_motion","Robot.plan_cartesian_motion_deprecated","Robot.plan_motion","Robot.plan_motion_deprecated","Robot.position_constraint_from_frame","Robot.random_configuration","Robot.scale","Robot.set_RCF","Robot.sha256","Robot.to_data","Robot.to_json","Robot.to_jsonstring","Robot.to_local_coordinates","Robot.to_world_coordinates","Robot.transformation_RCF_WCF","Robot.transformation_WCF_RCF","Robot.transformed_axes","Robot.transformed_frames","Robot.update","Robot.validate_data","Robot.validate_json","Robot.zero_configuration","RobotSemantics","RobotSemantics.ToString","RobotSemantics.copy","RobotSemantics.from_data","RobotSemantics.from_json","RobotSemantics.from_jsonstring","RobotSemantics.from_srdf_file","RobotSemantics.from_srdf_string","RobotSemantics.from_xml","RobotSemantics.get_all_configurable_joints","RobotSemantics.get_base_link_name","RobotSemantics.get_configurable_joint_names","RobotSemantics.get_configurable_joints","RobotSemantics.get_end_effector_link_name","RobotSemantics.sha256","RobotSemantics.to_data","RobotSemantics.to_json","RobotSemantics.to_jsonstring","RobotSemantics.validate_data","RobotSemantics.validate_json","Tool","Tool.ToString","Tool.copy","Tool.from_data","Tool.from_json","Tool.from_jsonstring","Tool.from_t0cf_to_tcf","Tool.from_tcf_to_t0cf","Tool.from_tool_model","Tool.sha256","Tool.to_data","Tool.to_json","Tool.to_jsonstring","Tool.update_touch_links","Tool.validate_data","Tool.validate_json","Trajectory","Trajectory.ToString","Trajectory.copy","Trajectory.from_data","Trajectory.from_json","Trajectory.from_jsonstring","Trajectory.sha256","Trajectory.to_data","Trajectory.to_json","Trajectory.to_jsonstring","Trajectory.validate_data","Trajectory.validate_json","Wrench","Wrench.by_samples","Wrench.copy","Wrench.from_data","Wrench.from_list","Wrench.gravity_compensated","Wrench.to_data","Wrench.transform","Wrench.transformed","to_degrees","to_radians","PosCon3D","PosCon3D.activate_flex_mount","PosCon3D.adjust_to_dark_object","PosCon3D.begin","PosCon3D.calculate_checksum","PosCon3D.deactivate_flex_mount","PosCon3D.end","PosCon3D.format_command","PosCon3D.get_address","PosCon3D.get_live_monitor_data","PosCon3D.get_measurement","PosCon3D.get_payload","PosCon3D.reset","PosCon3D.send_command","PosCon3D.set_edge_height","PosCon3D.set_flex_mount","PosCon3D.set_measurement_type","PosCon3D.set_precision","PosConCM","PosConCM.activate_flex_mount","PosConCM.adjust_to_dark_object","PosConCM.begin","PosConCM.calculate_checksum","PosConCM.deactivate_flex_mount","PosConCM.end","PosConCM.format_command","PosConCM.get_address","PosConCM.get_measurement","PosConCM.get_payload","PosConCM.reset","PosConCM.send_command","PosConCM.set_flex_mount","PosConCM.set_measurement_type","PosConCM.set_precision","PosConCM.teach_flex_mount","ProtocolError","SensorTimeoutError","SerialSensor","LazyLoader","allclose","arange","argmax","argmin","argsort","clamp","diffs","list_files_in_directory","map_range","range_geometric_row","read_csv_to_dictionary","read_data_from_pickle","sign","write_data_to_pickle","Citing","Working with backends","PyBullet","ROS","V-REP","Access backend GUI","Changelog","Contributor\u2019s Guide","Backend clients","AddAttachedCollisionMesh","AddAttachedCollisionMesh.add_attached_collision_mesh","AddCollisionMesh","AddCollisionMesh.add_collision_mesh","AppendCollisionMesh","AppendCollisionMesh.append_collision_mesh","ClientInterface","ClientInterface.add_attached_collision_mesh","ClientInterface.add_collision_mesh","ClientInterface.append_collision_mesh","ClientInterface.forward_kinematics","ClientInterface.get_planning_scene","ClientInterface.inverse_kinematics","ClientInterface.plan_cartesian_motion","ClientInterface.plan_motion","ClientInterface.remove_attached_collision_mesh","ClientInterface.remove_collision_mesh","ClientInterface.reset_planning_scene","ForwardKinematics","ForwardKinematics.forward_kinematics","GetPlanningScene","GetPlanningScene.get_planning_scene","InverseKinematics","InverseKinematics.inverse_kinematics","PlanCartesianMotion","PlanCartesianMotion.plan_cartesian_motion","PlanMotion","PlanMotion.plan_motion","PlannerInterface","PlannerInterface.add_attached_collision_mesh","PlannerInterface.add_collision_mesh","PlannerInterface.append_collision_mesh","PlannerInterface.forward_kinematics","PlannerInterface.get_planning_scene","PlannerInterface.inverse_kinematics","PlannerInterface.plan_cartesian_motion","PlannerInterface.plan_motion","PlannerInterface.remove_attached_collision_mesh","PlannerInterface.remove_collision_mesh","PlannerInterface.reset_planning_scene","RemoveAttachedCollisionMesh","RemoveAttachedCollisionMesh.remove_attached_collision_mesh","RemoveCollisionMesh","RemoveCollisionMesh.remove_collision_mesh","ResetPlanningScene","ResetPlanningScene.reset_planning_scene","Grasshopper components","Examples","Fundamentals","Frame and Transformation","Coordinate frames","Description Models","Kinematic model","Robot models","Backends: ROS","Using ROS","Robots in ROS","Forward and inverse kinematics","Plan motion","Planning scene and collision objects","ROS in Grasshopper","Creating a URDF with an UR5 robot and a custom end-effector","Creating a MoveIt! package from the custom created URDF","Creating a URDF of the UR10 on two linear axes","Backends: V-REP","Simulation examples with V-REP","Backends: PyBullet","Using PyBullet","Forward and inverse kinematics","Backends: Analytical Kinematics","Analytical kinematics","Planning: Reachability Map","Introduction to the Reachability Map","Vector Generators","Reachability Map 2D","Getting started","Robotic Fabrication for COMPAS","License"],titleterms:{"0":761,"01":836,"02":838,"03":838,"05":761,"1":[761,823],"10":761,"11":761,"12":761,"13":761,"14":761,"15":761,"16":761,"17":761,"18":761,"19":761,"1d":836,"2":[761,823],"20":761,"2023":761,"21":761,"22":761,"23":761,"24":761,"25":761,"26":761,"27":761,"28":761,"2d":838,"3":761,"360":836,"4":761,"5":761,"6":761,"7":761,"8":761,"9":761,"class":[7,8],"export":[825,827],"function":9,"long":2,"new":756,abb_irb4600_40_255kinemat:[10,11,12],access:760,action:[5,255,256,257,258,259,260,261,262,263,264,265,266,267,268],activate_flex_mount:[703,721],ad:761,adapt:836,add:[823,825,826],add_attached_collision_mesh:[19,63,78,113,125,210,232,543,765,771,793],add_attached_tool:544,add_collision_mesh:[20,64,79,114,126,211,233,545,767,772,794],add_robot_trajectori:539,addattachedcollisionmesh:[764,765],addcollisionmesh:[766,767],adjust_to_dark_object:[704,722],all_trajectori:540,allclos:741,an:[825,837],analyt:[2,833,834],analyticalinversekinemat:[13,14],analyticalplancartesianmot:[15,16,17],analyticalpybulletcli:[18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51],api:0,append_collision_mesh:[21,65,80,115,127,212,234,546,769,773,795],appendcollisionmesh:[768,769],appli:836,apply_effect:[257,271,285,299,313,327,341,367,398],arang:742,argmax:743,argmin:744,argsort:745,arm:826,artist:[3,4,6],assist:826,attach:823,attach_collision_mesh_to_robot_end_effector:547,attach_tool:577,attachedcollisionmesh:[445,446,447,448,449,450,451,452,453,454,455,456],authent:128,author:[755,826],ax:827,axi:837,backend:[2,756,760,763,818,828,830,833],backenderror:52,basic:578,baumer:8,begin:[705,723],blender:[3,839],blocking_call_from_thread:129,body_from_obj:[22,81],boundingvolum:[457,458,459,460,461,462,463],browser:760,bug:762,build:[246,435],build_a:[247,436],by_sampl:692,cache_robot:[23,82],cad:1,calcul:563,calculate_checksum:[706,724],calculate_inertia_tensor:488,call_async_servic:130,call_in_thread:131,call_lat:132,call_sync_servic:133,can_load_mesh:179,cancel:54,cancellablefutureresult:[53,54,55],cartesian:822,cartesianmotionerror:56,catkin:[825,827],chang:761,changelog:761,check_collis:[26,85],check_collision_objects_for_collis:[24,83],check_collision_with_object:[25,84],check_joint_nam:508,check_precondit:[258,272,286,300,314,328,342,368,399],check_robot_self_collis:[27,86],cite:755,clamp:746,clear:[248,437],clear_lay:438,client:763,clientinterfac:[770,771,772,773,774,775,776,777,778,779,780,781],close:134,close_to:509,closegripp:[269,270,271,272,273,274,275,276,277,278,279,280,281,282],code:[762,839],collis:[823,826],collisionerror:57,collisionmesh:[464,465,466,467,468,469,470,471,472,473,474,475,476,477],compa:840,compas_fab:[1,2,3,4,5,6,7,8,9],complet:758,compon:[810,824],conda:839,configur:826,connect:[28,87,135],constraint:[7,478,479,480,481,482],constraints_from_configur:579,constraints_from_fram:580,contain:756,content:840,contribut:762,contributor:762,convers:7,convert_mesh_to_bodi:[29,88],coordin:814,copi:[259,273,287,301,315,329,343,355,369,381,400,412,424,447,458,466,479,490,496,510,533,554,564,581,645,665,681,693],creat:[825,826,827],custom:[825,826],deactivate_flex_mount:[707,725],delete_param:136,deprec:761,descript:815,design:762,detach_tool:582,detail:836,develop:756,deviat:[837,838],deviationvectorsgener:483,diff:747,disconnect:[30,89],disk:817,displai:760,docker:[756,758],document:762,draw:[249,439,583],draw_cloud:[250,440],draw_collect:[251,441],draw_collis:584,draw_fram:[252,442],draw_visu:585,durat:[484,485,486],effector:[823,825,826],emit:137,end:[708,726,823,825,826],ensure_cached_robot:[31,90],ensure_cached_robot_geometri:[32,91],ensure_cli:[548,586],ensure_geometri:587,ensure_semant:588,environ:839,exampl:[811,814,819,823,829,836,838],except:[2,8],execute_joint_trajectori:138,explan:[825,827],fabric:[811,840],featur:[762,763,840],feedback:762,file:[9,826],filter_configurations_in_collis:[33,92],find_raw_robot_st:213,first:[819,829,831],fix:761,follow_configur:139,follow_joint_trajectori:140,format_command:[709,727],forward:[11,75,186,189,192,195,198,201,204,207,760,821,829,832],forward_kinemat:[34,66,93,116,141,214,235,589,774,783,796],forward_kinematics_deprec:590,forwardkinemat:[782,783],frame:[813,814,837],freemot:[283,284,285,286,287,288,289,290,291,292,293,294,295,296],from:[817,820,826,837],from_box:[459,555],from_data:[260,274,288,302,316,330,344,356,370,382,401,413,425,448,467,485,497,511,565,591,646,666,682,694],from_json:[261,275,289,303,317,331,345,357,371,383,402,414,426,449,468,498,512,566,592,647,667,683],from_jsonstr:[262,276,290,304,318,332,346,358,372,384,403,415,427,450,469,499,513,567,593,648,668,684],from_list:695,from_mesh:[460,556],from_prismatic_and_revolute_valu:514,from_revolute_valu:515,from_spher:[461,557],from_srdf_fil:649,from_srdf_str:650,from_t0cf_to_tcf:[594,669],from_tcf_to_t0cf:[595,670],from_tool_model:671,from_xml:651,fundament:812,further:[813,825,826,827],futureresult:[58,59],gener:[825,826,827,837],get:[516,839],get_action_serv:142,get_address:[710,728],get_all_configurable_joint:652,get_all_visible_handl:215,get_attached_tool_collision_mesh:597,get_attached_tool_id:385,get_attached_workpiece_id:386,get_base_fram:598,get_base_link:599,get_base_link_nam:[600,653],get_cached_robot:[35,94],get_cached_robot_filepath:[36,95],get_configur:143,get_configurable_joint:[603,655],get_configurable_joint_nam:[601,654],get_configurable_joint_typ:602,get_configuration_from_group_st:604,get_end_effector_fram:605,get_end_effector_link:606,get_end_effector_link_nam:[607,656],get_group_configur:608,get_group_names_from_link_nam:609,get_joint_by_nam:610,get_joint_types_by_nam:611,get_link_nam:612,get_link_names_with_collision_geometri:613,get_live_monitor_data:711,get_measur:[712,729],get_message_detail:144,get_nod:146,get_node_detail:145,get_object_handl:216,get_object_matric:217,get_param:[147,148],get_payload:[713,730],get_planning_scen:[37,67,96,117,149,218,236,775,785,797],get_position_by_joint_nam:614,get_rcf:596,get_robot_config:219,get_robot_configur:[38,97],get_robot_st:387,get_robot_trajectori:541,get_servic:154,get_service_request_callback:150,get_service_request_detail:151,get_service_response_detail:152,get_service_typ:153,get_services_for_typ:155,get_tim:156,get_tool_st:388,get_top:158,get_topic_typ:157,get_topics_for_typ:159,get_uid:[39,98],get_workpiece_st:389,getplanningscen:[784,785],ghpython:4,github:817,grasshopp:[810,823,824,829],gravity_compens:696,gripper:826,group:826,gui:760,guid:762,hello:819,hideworkpiec:[297,298,299,300,301,302,303,304,305,306,307,308,309,310],ik:2,improv:762,indic:840,inertia:[487,488],info:615,inform:[813,826],instal:[756,839],integr:[1,829],interfac:[2,763],introduct:836,invers:[12,76,187,190,193,196,199,202,205,208,821,829,832,834],inverse_kinemat:[14,40,68,99,118,160,220,237,616,776,787,798],inverse_kinematics_deprec:617,inversekinemat:[786,787],inversekinematicserror:60,item:517,iter_differ:518,iter_inverse_kinemat:618,joint:[816,826],jointconstraint:[489,490,491,492,493],jointtrajectori:[494,495,496,497,498,499,500,501,502,503,504,505],jointtrajectorypoint:[506,507,508,509,510,511,512,513,514,515,516,517,518,519,520,521,522,523,524,525,526,527,528,529,530,531],kei:519,kinemat:[2,816,821,829,832,833,834],kinematicserror:61,label:826,lazyload:740,licens:841,light:836,linear:827,linearmot:[311,312,313,314,315,316,317,318,319,320,321,322,323,324],link:[814,816,825,826,827,834,836],linux:758,list_files_in_directori:748,listen:819,load:[817,820],load_mesh:[180,181],load_robot:[41,100,161],load_semant:[42,101],load_srdf:182,load_ur5:[43,102],load_urdf:183,main:[7,8,840],manualworkpiecemot:[325,326,327,328,329,330,331,332,333,334,335,336,337,338],map:[835,836,838],map_rang:749,matrix:826,max_differ:520,merg:[521,522],merge_group_with_full_configur:619,mesh:[823,825,827],model:[815,816,817,820],motion:822,move:829,moveit:826,moveitplann:[62,63,64,65,66,67,68,69,70,71,72,73],newli:826,next:[756,757,758,759,839],node:819,non:823,numer:9,object:[814,823],ocf:814,off:162,offsetwristkinemat:[74,75,76],on_readi:164,opengripp:[339,340,341,342,343,344,345,346,347,348,349,350,351,352],option:839,orientation_constraint_from_fram:620,orientationconstraint:[532,533,534,535,536],orthonorm:837,orthonormalvectorsfromaxisgener:537,other:9,over:760,packag:826,paint:836,passiv:826,path:[7,825,829],pathplan:[538,539,540,541],pick_building_memb:238,pip:839,plan:[1,5,7,763,822,823,826,829,835],plan_cartesian_mot:[16,44,69,103,119,165,221,239,621,777,789,799],plan_cartesian_motion_deprec:622,plan_mot:[45,70,104,120,166,222,240,623,778,791,800],plan_motion_deprec:624,plan_motion_to_config:241,plancartesianmot:[788,789],planmot:[790,791],plannerinterfac:[792,793,794,795,796,797,798,799,800,801,802,803],planningscen:[542,543,544,545,546,547,548,549,550,551,552],playground:824,point:838,poscon3d:[702,703,704,705,706,707,708,709,710,711,712,713,714,715,716,717,718,719],posconcm:[720,721,722,723,724,725,726,727,728,729,730,731,732,733,734,735,736],pose:826,position_constraint_from_fram:625,positionconstraint:[553,554,555,556,557,558,559,560],prepar:[825,827],project:836,protocolerror:737,pybullet:[2,757,830,831],pybulletcli:[77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110],pybulleterror:111,pybulletplann:[112,113,114,115,116,117,118,119,120,121,122,123],random_configur:626,range_geometric_row:750,rcf:814,reachabilitymap:[561,562,563,564,565,566,567,568,569,570,571,572,573,574],reachabilitymapartist:[245,246,247,248,249,250,251,252,253,254,434,435,436,437,438,439,440,441,442,443,444],reachabl:[835,836,838],reachable_frames_and_configurations_at_ik_index:568,read_csv_to_dictionari:751,read_data_from_pickl:752,redraw:[253,443],refer:0,regist:[254,444],reload_from_cach:[46,105],remov:[761,823],remove_attached_collision_mesh:[47,71,106,121,167,223,242,549,779,801,805],remove_attached_tool:550,remove_collision_mesh:[48,72,107,122,168,224,243,551,780,802,807],removeattachedcollisionmesh:[804,805],removecollisionmesh:[806,807],rep:[2,759,828,829],report:762,request:762,reset:[552,714,731],reset_planning_scen:[49,73,108,123,169,225,244,781,803,809],resetplanningscen:[808,809],result:[55,59],rhino:[6,839],ro:[2,758,817,818,819,820,824],robot:[1,2,7,575,576,577,578,579,580,581,582,583,584,585,586,587,588,589,590,591,592,593,594,595,596,597,598,599,600,601,602,603,604,605,606,607,608,609,610,611,612,613,614,615,616,617,618,619,620,621,622,623,624,625,626,627,628,629,630,631,632,633,634,635,636,637,638,639,640,641,642,811,814,817,820,825,826,829,836,840],roboticact:[365,366,367,368,369,370,371,372,373,374,375,376,377,378],robotsemant:[643,644,645,646,647,648,649,650,651,652,653,654,655,656,657,658,659,660,661,662],robotst:[353,354,355,356,357,358,359,360,361,362,363,364],rosclient:[124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176],roserror:177,rosfileserverload:[178,179,180,181,182,183],rosvalidationerror:184,run:[2,170,819,839],run_child_script:226,run_event_loop:171,run_forev:172,s:762,scale:[462,470,471,480,481,491,492,523,524,534,535,558,559,627],scene:[7,763,823],scenest:[379,380,381,382,383,384,385,386,387,388,389,390,391,392,393,394,395],script:839,search:825,self:826,send_command:[715,732],send_on_readi:173,sensor:8,sensortimeouterror:738,serialsensor:739,set_edge_height:716,set_flex_mount:[717,733],set_measurement_typ:[718,734],set_param:174,set_precis:[719,735],set_rcf:628,set_robot_config:227,set_robot_configur:[50,109],set_robot_metr:228,set_robot_pos:229,set_status_level:175,setup:826,sever:823,sha256:[263,277,291,305,319,333,347,359,373,390,404,416,428,451,472,500,525,569,629,657,672,685],showworkpiec:[396,397,398,399,400,401,402,403,404,405,406,407,408,409],sign:753,simul:829,singl:823,smooth_configur:17,solver:2,specif:2,sphere:838,sphericalwristkinemat:[185,186,187],start:[826,839],state:5,staubli_tx260lkinemat:[188,189,190],step:[756,757,758,759,819,829,831,839],step_simul:[51,110],studio:839,system:[9,758],t0cf:814,tabl:840,talker:819,task:2,tcf:814,teach_flex_mount:736,termin:176,to_data:[264,278,292,306,320,334,348,360,374,391,405,417,429,452,473,486,501,526,570,630,658,673,686,697],to_degre:700,to_json:[265,279,293,307,321,335,349,361,375,392,406,418,430,453,474,502,527,571,631,659,674,687],to_jsonstr:[266,280,294,308,322,336,350,362,376,393,407,419,431,454,475,503,528,572,632,660,675,688],to_local_coordin:633,to_radian:701,to_world_coordin:634,tool0:814,tool:[663,664,665,666,667,668,669,670,671,672,673,674,675,676,677,678,814],toolstat:[410,411,412,413,414,415,416,417,418,419,420,421],tostr:[256,270,284,298,312,326,340,354,366,380,397,411,423,446,465,495,507,562,576,644,664,680],tower:827,trajectori:[679,680,681,682,683,684,685,686,687,688,689,690],transform:[463,482,493,536,560,698,699,813],transformation_rcf_wcf:635,transformation_wcf_rcf:636,transformed_ax:637,transformed_fram:638,two:827,unit:7,unreleas:761,updat:[639,839],update_touch_link:676,ur10:827,ur10_tow:827,ur10ekinemat:[194,195,196],ur10kinemat:[191,192,193],ur3ekinemat:[200,201,202],ur3kinemat:[197,198,199],ur5:825,ur5ekinemat:[206,207,208],ur5kinemat:[203,204,205],urdf:[820,825,826,827],us:[819,831],util:[1,9],v:[2,759,828,829],validate_data:[267,281,295,309,323,337,351,363,377,394,408,420,432,455,476,504,529,573,640,661,677,689],validate_json:[268,282,296,310,324,338,352,364,378,395,409,421,433,456,477,505,530,574,641,662,678,690],valu:531,vector:[837,838],view:[825,827],virtual:[826,839],visual:[760,817,836,839],vrepclient:[209,210,211,212,213,214,215,216,217,218,219,220,221,222,223,224,225,226,227,228,229],vreperror:230,vrepplann:[231,232,233,234,235,236,237,238,239,240,241,242,243,244],wa:836,wcf:814,web:760,where:836,work:[756,839],workpiecest:[422,423,424,425,426,427,428,429,430,431,432,433],workshop:836,workspac:[825,827],world:[814,819],wrench:[691,692,693,694,695,696,697,698,699],write:819,write_data_to_pickl:754,wsl:758,xacro:[825,827],your:[825,827],zero_configur:642}})
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