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% Document Info
\author{gonzalocasas}
\pdfinfo{
  /Title (compas-fab.pdf)
  /Creator (Cheatography)
  /Author (gonzalocasas)
  /Subject (COMPAS FAB Cheat Sheet)
}

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\fancyhead[L]{
\noindent
\begin{multicols}{3}
\begin{tabulary}{5.8cm}{C}
    \SetRowColor{DarkBackground}
    \vspace{-7pt}
    {\parbox{\dimexpr\textwidth-2\fboxsep\relax}{\noindent
        \hspace*{-6pt}\includegraphics[width=5.8cm]{/web/www.cheatography.com/public/images/cheatography_logo.pdf}}
    }
\end{tabulary}
\columnbreak
\begin{tabulary}{11cm}{L}
    \vspace{-2pt}\large{\bf{\textcolor{DarkBackground}{\textrm{COMPAS FAB Cheat Sheet}}}} \\
    \normalsize{by \textcolor{DarkBackground}{gonzalocasas} via \textcolor{DarkBackground}{\uline{cheatography.com/101168/cs/21156/}}}
\end{tabulary}
\end{multicols}}

\fancyfoot[L]{ \footnotesize
\noindent
\begin{multicols}{3}
\begin{tabulary}{5.8cm}{LL}
  \SetRowColor{FootBackground}
  \mymulticolumn{2}{p{5.377cm}}{\bf\textcolor{white}{Cheatographer}}  \\
  \vspace{-2pt}gonzalocasas \\
  \uline{cheatography.com/gonzalocasas} \\
  \end{tabulary}
\vfill
\columnbreak
\begin{tabulary}{5.8cm}{L}
  \SetRowColor{FootBackground}
  \mymulticolumn{1}{p{5.377cm}}{\bf\textcolor{white}{Cheat Sheet}}  \\
   \vspace{-2pt}Published 17th November, 2019.\\
   Updated 17th November, 2019.\\
   Page {\thepage} of \pageref{LastPage}.
\end{tabulary}
\vfill
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  \mymulticolumn{1}{p{5.377cm}}{\bf\textcolor{white}{Sponsor}}  \\
  \SetRowColor{white}
  \vspace{-5pt}
  %\includegraphics[width=48px,height=48px]{dave.jpeg}
  Measure your website readability!\\
  www.readability-score.com
\end{tabulary}
\end{multicols}}




\begin{document}
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\begin{multicols*}{2}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Installation}}  \tn
\SetRowColor{white}
\mymulticolumn{1}{x{8.4cm}}{`conda install compas\_fab` \newline % Row Count 1 (+ 1)
{\emph{Anaconda/Miniconda must be installed and the conda-forge channel must be added. Use virtual environments to avoid dependency issues.}}% Row Count 4 (+ 3)
} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{x{4 cm} x{4 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Frames}}  \tn
% Row 0
\SetRowColor{LightBackground}
`Frame.worldXY()` & World XY frame. \tn 
% Row Count 1 (+ 1)
% Row 1
\SetRowColor{white}
`Frame(pt, xaxis, yaxis)` & Create new frame with origin and\{\{nl\}\}vectors `x` and `y`. \tn 
% Row Count 4 (+ 3)
% Row 2
\SetRowColor{LightBackground}
`Frame(pt1, pt2, pt3)` & Create new frame from 3 points. \tn 
% Row Count 6 (+ 2)
% Row 3
\SetRowColor{white}
\{\{nobreak\}\}`Frame.from\_euler\_angles(y, p, r)` & Create new frame from euler angles (yaw, pitch, roll). \tn 
% Row Count 9 (+ 3)
% Row 4
\SetRowColor{LightBackground}
`frame.point` & Origin of the frame. \tn 
% Row Count 10 (+ 1)
% Row 5
\SetRowColor{white}
`frame.normal`, `frame.zaxis` & Normal of the frame. \tn 
% Row Count 12 (+ 2)
% Row 6
\SetRowColor{LightBackground}
`frame.quaternion` & Rotation as quaternion. \tn 
% Row Count 14 (+ 2)
% Row 7
\SetRowColor{white}
\{\{noshy\}\}`frame.axis\_angle\_vector` & Rotation as axis-angle vector. \tn 
% Row Count 16 (+ 2)
% Row 8
\SetRowColor{LightBackground}
\seqsplit{`frame.euler\_angles()`} & Rotation as euler angles. \tn 
% Row Count 18 (+ 2)
% Row 9
\SetRowColor{white}
\{\{noshy\}\}`frame.euler\_angles(False)` & Rotation as non-static euler angles. \tn 
% Row Count 20 (+ 2)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{Frames belong to the robotics fundamentals. Each joint contains a frame and there are several frames as coordinate systems involved (eg. `wcf`, `rcf`). \newline  \newline `from compas.geometry import Frame`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Frames as cartesian coordinate systems}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{p{8.4cm}}{\vspace{1px}\centerline{\includegraphics[width=5.1cm]{/web/www.cheatography.com/public/uploads/gonzalocasas_1573979014_frames.jpg}}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{x{3.68 cm} x{4.32 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Coordinate systems}}  \tn
% Row 0
\SetRowColor{LightBackground}
`wcf` & Root coordinate frame of the world. \tn 
% Row Count 2 (+ 2)
% Row 1
\SetRowColor{white}
`rcf` & Robot coordinate frame, usually on the base of the robot. \tn 
% Row Count 5 (+ 3)
% Row 2
\SetRowColor{LightBackground}
`t0cf` & Tool0 coordinate frame on the last link of the robot. \tn 
% Row Count 8 (+ 3)
% Row 3
\SetRowColor{white}
`tcf` & Tool coordinate frame on the tool of the robot. \tn 
% Row Count 11 (+ 3)
% Row 4
\SetRowColor{LightBackground}
`ocf` & Object coordinate frame, origin of the work area. \tn 
% Row Count 14 (+ 3)
% Row 5
\SetRowColor{white}
\{\{noshy\}\}`rcf.to\_world\_coords(pt)` & Transform point in local coordinates of `rcf` to world coordinates. \tn 
% Row Count 18 (+ 4)
% Row 6
\SetRowColor{LightBackground}
\{\{noshy\}\}`rcf.to\_local\_coords(pt)` & Transform point in world coordinates to local coordinates of `rcf`. \tn 
% Row Count 22 (+ 4)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{x{4 cm} x{4 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Transformations}}  \tn
% Row 0
\SetRowColor{LightBackground}
\{\{noshy\}\}`Transformation.from\_frame(f)` & Create transformation from world XY to `f` frame. \tn 
% Row Count 3 (+ 3)
% Row 1
\SetRowColor{white}
\{\{noshy\}\}`Translation({[}10,~5,~0{]})` & Create translation along `x=10.0, y=5.0, z=0.0` vector. \tn 
% Row Count 6 (+ 3)
% Row 2
\SetRowColor{LightBackground}
`t.inverse()` & Calculate inverse of `t` transformation. \tn 
% Row Count 8 (+ 2)
% Row 3
\SetRowColor{white}
`pt.transform(t)` & In-place transform point `pt` with `t` transformation. \tn 
% Row Count 11 (+ 3)
% Row 4
\SetRowColor{LightBackground}
`pt.transform(t * t2 * t3)` & In-place transform point `pt` with `t`, `t2` and `t3` transformations. \tn 
% Row Count 15 (+ 4)
% Row 5
\SetRowColor{white}
`pt2 = pt.transformed(t)` & Return a transformed copy of point `pt` with `t` transformation. \tn 
% Row Count 19 (+ 4)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{`Transformation` represents a 4x4 transformation matrix. `Translation`, `Scale`, `Reflection`, `Shear` and `Projection` are specialized sub-classes of it. \newline  \newline `from compas.geometry import Transformation, Translation, Rotation \# , ...`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{x{4 cm} x{4 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Geometric primitives}}  \tn
% Row 0
\SetRowColor{LightBackground}
\{\{noshy\}\}`Point(3,~2,~5)` or `{[}3,~2,~5{]}` & 3D point with `x=3.0, y=2.0, z=5.0` coordinates. \tn 
% Row Count 3 (+ 3)
% Row 1
\SetRowColor{white}
\{\{noshy\}\}`Vector(1,~0,~0)` or `{[}1,~0,~0{]}` & Vector `x=1.0, y=0.0, z=0.0` \tn 
% Row Count 7 (+ 4)
% Row 2
\SetRowColor{LightBackground}
\{\{noshy\}\}`Frame(point,~xaxis,~yaxis)` or `(point,~xaxis,~yaxis)` & Frame at `point` origin and `xaxis` and `yaxis` vectors. \tn 
% Row Count 12 (+ 5)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{In COMPAS, geometric primitives can be created either as objects or as iterables (lists, tuples, etc). \newline  \newline `from compas.geometry import Point, Vector, Frame`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Robot models}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{p{8.4cm}}{\vspace{1px}\centerline{\includegraphics[width=5.1cm]{/web/www.cheatography.com/public/uploads/gonzalocasas_1573986187_model.jpg}}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{x{1.84 cm} x{6.16 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Parts of robot model}}  \tn
% Row 0
\SetRowColor{LightBackground}
`Link` & Contains visual \& collision meshes, inertial info, etc. \tn 
% Row Count 2 (+ 2)
% Row 1
\SetRowColor{white}
`Joint` & Contains parent, child links, origin frame, etc. \tn 
% Row Count 4 (+ 2)
% Row 2
\SetRowColor{LightBackground}
\seqsplit{`RobotModel`} & Root of robot model tree. \tn 
% Row Count 6 (+ 2)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{Robot models are a tree structure of {\bf{links}} and {\bf{joints}} based on `URDF` format. \newline  \newline `from compas.robots import RobotModel, Link, Joint`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{x{5.76 cm} x{2.24 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Joint types and units}}  \tn
% Row 0
\SetRowColor{LightBackground}
`Joint.PRISMATIC` & Meters \tn 
% Row Count 1 (+ 1)
% Row 1
\SetRowColor{white}
`Joint.REVOLUTE` & Radians \tn 
% Row Count 2 (+ 1)
% Row 2
\SetRowColor{LightBackground}
`Joint.CONTINUOUS` & Radians \tn 
% Row Count 3 (+ 1)
% Row 3
\SetRowColor{white}
`Joint.FIXED` & - \tn 
% Row Count 4 (+ 1)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Configuration examples}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{Configuration({[}.5, pi{]}, {[}Joint.PRISMATIC, Joint.REVOLUTE{]}) \newline  \newline Configuration.from\_revolute\_values({[}0, 0, pi, 0, 0, 0{]}) \newline  \newline Configuration.from\_prismatic\_and\_revolute\_values({[}8.3{]}, {[}0.0{]} * 6)} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{Configuration describes the positions of each of the joints of a robot model in its corresponding unit. \newline   \newline `from compas\_fab.robots import Configuration`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{ROS backend}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{p{8.4cm}}{\vspace{1px}\centerline{\includegraphics[width=5.1cm]{/web/www.cheatography.com/public/uploads/gonzalocasas_1573988981_ros.PNG}}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Start ROS backend}}  \tn
\SetRowColor{white}
\mymulticolumn{1}{x{8.4cm}}{Download or create a `docker-compose.yml` file (\{\{link="https://gramaziokohler.github.io/compas\_fab/latest/backends/ros.html\#complete-ros-systems-1"\}\}examples\{\{/link\}\}) and start up with: \newline % Row Count 4 (+ 4)
`docker-compose up -d`% Row Count 5 (+ 1)
} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Load robot from ROS}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{from compas\_fab.backends import RosClient \newline  \newline with RosClient('localhost') as client: \newline     robot = client.load\_robot()} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{If using Docker Toolbox, replace localhost with {\bf{192.168.99.100}}.}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Robotic planning with MoveIt!}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{p{8.4cm}}{\vspace{1px}\centerline{\includegraphics[width=5.1cm]{/web/www.cheatography.com/public/uploads/gonzalocasas_1573992708_moveit.PNG}}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{p{2.08 cm} x{5.92 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Forward Kinematics (FK)}}  \tn
% Row 0
\SetRowColor{LightBackground}
Input & `Configuration`. \tn 
% Row Count 1 (+ 1)
% Row 1
\SetRowColor{white}
Output & `Frame` in `rcf`. \tn 
% Row Count 2 (+ 1)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{Calculate end-effector frame in `rcf` for a given configuration.}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Code example}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{config = Configuration.from\_revolute\_values({[}0, 0, 0, 3.14, 0, 0{]}) \newline frame\_rcf = \seqsplit{robot.forward\_kinematics(config)}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{p{1.04 cm} x{6.96 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Inverse Kinematics (IK)}}  \tn
% Row 0
\SetRowColor{LightBackground}
Input & `Frame` in `wcf` and start `Configuration`. \tn 
% Row Count 2 (+ 2)
% Row 1
\SetRowColor{white}
\seqsplit{Output} & `Configuration` \tn 
% Row Count 4 (+ 2)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{Calculate possible configuration(s) for a given frame in `wcf`.}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Code example}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{frame\_wcf = Frame({[}0.3, 0.1, 0.5{]}, {[}1, 0, 0{]}, {[}0, 1, 0{]}) \newline start\_config = \seqsplit{robot.init\_configuration()} \newline config = \seqsplit{robot.inverse\_kinematics(frame\_wcf}, start\_config)} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Path planning}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{p{8.4cm}}{\vspace{1px}\centerline{\includegraphics[width=5.1cm]{/web/www.cheatography.com/public/uploads/gonzalocasas_1573993985_cartesian-vs-kinematic.PNG}}} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{\{\{ac\}\}Cartesian vs free-space planning}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{p{1.04 cm} x{6.96 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Plan cartesian path}}  \tn
% Row 0
\SetRowColor{LightBackground}
Input & List of `Frame` in `wcf` and start `Configuration` \tn 
% Row Count 2 (+ 2)
% Row 1
\SetRowColor{white}
\seqsplit{Output} & `JointTrajectory` \tn 
% Row Count 4 (+ 2)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{Calculate linear joint trajectory for a given list of waypoints defined by frames. \newline  \newline This might return partial solutions, `fraction` attribute indicates degree of completion, e.g. `trajectory.fraction = 0.5` means 50\% of trajectory completed.}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Code example}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{f1 = Frame({[}0.3, 0.1, 0.5{]}, {[}1, 0, 0{]}, {[}0, 1, 0{]}) \newline f2 = Frame({[}0.6, 0.1, 0.4{]}, {[}1, 0, 0{]}, {[}0, 1, 0{]}) \newline start\_config = \seqsplit{robot.init\_configuration()} \newline  \newline trajectory = robot.plan\_cartesian\_motion({[}f1, f2{]}, start\_config)} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{p{1.04 cm} x{6.96 cm} }
\SetRowColor{DarkBackground}
\mymulticolumn{2}{x{8.4cm}}{\bf\textcolor{white}{Plan free-space motion}}  \tn
% Row 0
\SetRowColor{LightBackground}
Input & List of goal `Constraint` and start `Configuration`. \tn 
% Row Count 2 (+ 2)
% Row 1
\SetRowColor{white}
\seqsplit{Output} & `JointTrajectory`. \tn 
% Row Count 4 (+ 2)
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\SetRowColor{LightBackground}
\mymulticolumn{2}{x{8.4cm}}{Calculate joint trajectory for a given start configuration and a list of goal constraints. \newline  \newline `from compas\_fab.robots import JointTrajectory, Constraint, JointConstraint, PositionConstraint, OrientationConstraint`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}--}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Code example}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{pc = \seqsplit{robot.constraints\_from\_frame(f1)} \newline start\_config = \seqsplit{robot.init\_configuration()} \newline  \newline trajectory = robot.plan\_motion(pc, start\_config, planner\_id='RRT')} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Planning scene operations}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{scene = PlanningScene(robot) \newline scene.add\_collision\_mesh(CollisionMesh(mesh, 'floor')) \newline scene.remove\_collision\_mesh('floor') \newline scene.append\_collision\_mesh(CollisionMesh(mesh, 'brick'))} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{Append will group multiple meshes under the same name, and they can be removed with a single call to remove for that name. \newline  \newline `from compas\_fab.robots import PlanningScene, CollisionMesh`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}

\begin{tabularx}{8.4cm}{X}
\SetRowColor{DarkBackground}
\mymulticolumn{1}{x{8.4cm}}{\bf\textcolor{white}{Attach meshes to robot}}  \tn
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{scene = PlanningScene(robot) \newline  \newline gripper = CollisionMesh(mesh, 'gripper') \newline scene.attach\_collision\_mesh\_to\_robot\_end\_effector(gripper) \newline scene.remove\_attached\_collision\_mesh('gripper') \newline  \newline beam = CollisionMesh(mesh, 'beam') \newline acm = \seqsplit{AttachedCollisionMesh(beam}, 'ee\_link', {[}'ee\_link'{]}) \newline scene.add\_attached\_collision\_mesh(acm)} \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\SetRowColor{LightBackground}
\mymulticolumn{1}{x{8.4cm}}{These operations can be used to attach an end-effector geometry, or to attach an element to the end-effector itself. \newline  \newline `from compas\_fab.robots import PlanningScene, CollisionMesh, AttachedCollisionMesh`}  \tn 
\hhline{>{\arrayrulecolor{DarkBackground}}-}
\end{tabularx}
\par\addvspace{1.3em}


% That's all folks
\end{multicols*}

\end{document}