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038_robot_playground_ur5.ghx
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038_robot_playground_ur5.ghx
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from compas_rhino.utilities.misc import unload_modules
from compas_ghpython import unload_modules
unload_modules("compas")
unload_modules("compas_fab")
unload_modules("roslibpy")</item>
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<item name="CodeInput" type_name="gh_string" type_code="10">import math
import Grasshopper
from compas_fab.robots import Configuration
if set_joint_positions:
j = 0
for i in range(ghenv.Component.Params.Input.Count):
nslider = ghenv.Component.Params.Input[i].Sources[0]
if nslider.GetType() == Grasshopper.Kernel.Special.GH_NumberSlider:
nslider.TrySetSliderValue(math.degrees(joint_positions[j]))
j += 1
if robot:
joint_positions = [a1, a2, a3, a4, a5, a6]
joint_positions = [math.radians(a) for a in joint_positions]
types = robot.get_configurable_joint_types(group)
configuration = Configuration(joint_positions, types)
print configuration
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