From d892a9a27dff2c29d680f65e32c76de0e9033d2b Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Fri, 14 Jun 2024 13:54:33 +0000
Subject: [PATCH] Deploy to GitHub pages

---
 ...kends.ABB_IRB4600_40_255Kinematics.doctree | Bin 9157 -> 9157 bytes
 ...B_IRB4600_40_255Kinematics.forward.doctree | Bin 5147 -> 5147 bytes
 ...B_IRB4600_40_255Kinematics.inverse.doctree | Bin 5132 -> 5132 bytes
 ...ckends.AnalyticalInverseKinematics.doctree | Bin 12679 -> 12679 bytes
 ...verseKinematics.inverse_kinematics.doctree | Bin 22409 -> 22409 bytes
 ...ends.AnalyticalPlanCartesianMotion.doctree | Bin 9303 -> 9303 bytes
 ...tesianMotion.plan_cartesian_motion.doctree | Bin 16092 -> 16092 bytes
 ...tesianMotion.smooth_configurations.doctree | Bin 5378 -> 5378 bytes
 ...Client.add_attached_collision_mesh.doctree | Bin 5829 -> 5829 bytes
 ...lPyBulletClient.add_collision_mesh.doctree | Bin 5692 -> 5692 bytes
 ...BulletClient.append_collision_mesh.doctree | Bin 5737 -> 5737 bytes
 ...yticalPyBulletClient.body_from_obj.doctree | Bin 18059 -> 18059 bytes
 ...alPyBulletClient.cache_robot_model.doctree | Bin 0 -> 10909 bytes
 ...ck_collision_objects_for_collision.doctree | Bin 6756 -> 6756 bytes
 ...lient.check_collision_with_objects.doctree | Bin 8617 -> 8617 bytes
 ...calPyBulletClient.check_collisions.doctree | Bin 10821 -> 10821 bytes
 ...tClient.check_robot_self_collision.doctree | Bin 8549 -> 8549 bytes
 ...s.AnalyticalPyBulletClient.connect.doctree | Bin 13477 -> 13477 bytes
 ...yBulletClient.convert_mesh_to_body.doctree | Bin 16926 -> 16926 bytes
 ...nalyticalPyBulletClient.disconnect.doctree | Bin 4885 -> 4885 bytes
 ....backends.AnalyticalPyBulletClient.doctree | Bin 53172 -> 53316 bytes
 ...etClient.ensure_cached_robot_model.doctree | Bin 0 -> 6264 bytes
 ...ensure_cached_robot_model_geometry.doctree | Bin 0 -> 6442 bytes
 ...filter_configurations_in_collision.doctree | Bin 11565 -> 11565 bytes
 ...lPyBulletClient.forward_kinematics.doctree | Bin 5690 -> 5690 bytes
 ...etClient.get_cached_robot_filepath.doctree | Bin 9386 -> 9386 bytes
 ...ulletClient.get_cached_robot_model.doctree | Bin 0 -> 9421 bytes
 ...lPyBulletClient.get_planning_scene.doctree | Bin 5692 -> 5692 bytes
 ...lletClient.get_robot_configuration.doctree | Bin 8202 -> 8202 bytes
 ...s.AnalyticalPyBulletClient.get_uid.doctree | Bin 8085 -> 8145 bytes
 ...lPyBulletClient.inverse_kinematics.doctree | Bin 6835 -> 6835 bytes
 ...nalyticalPyBulletClient.load_robot.doctree | Bin 16159 -> 16159 bytes
 ...ticalPyBulletClient.load_semantics.doctree | Bin 8544 -> 8544 bytes
 ....AnalyticalPyBulletClient.load_ur5.doctree | Bin 10986 -> 10986 bytes
 ...BulletClient.plan_cartesian_motion.doctree | Bin 6882 -> 6882 bytes
 ...alyticalPyBulletClient.plan_motion.doctree | Bin 5585 -> 5585 bytes
 ...alPyBulletClient.reload_from_cache.doctree | Bin 7152 -> 7152 bytes
 ...ent.remove_attached_collision_mesh.doctree | Bin 5874 -> 5874 bytes
 ...BulletClient.remove_collision_mesh.doctree | Bin 5737 -> 5737 bytes
 ...yBulletClient.reset_planning_scene.doctree | Bin 5722 -> 5722 bytes
 ...lletClient.set_robot_configuration.doctree | Bin 12018 -> 12018 bytes
 ...icalPyBulletClient.step_simulation.doctree | Bin 5647 -> 5647 bytes
 .../compas_fab.backends.BackendError.doctree  | Bin 5429 -> 5429 bytes
 ...ds.BackendFeatureNotSupportedError.doctree | Bin 5649 -> 5649 bytes
 ...nds.CancellableFutureResult.cancel.doctree | Bin 5499 -> 5499 bytes
 ...b.backends.CancellableFutureResult.doctree | Bin 9935 -> 9935 bytes
 ...nds.CancellableFutureResult.result.doctree | Bin 5982 -> 5982 bytes
 ..._fab.backends.CartesianMotionError.doctree | Bin 5650 -> 5650 bytes
 ...compas_fab.backends.CollisionError.doctree | Bin 5660 -> 5660 bytes
 .../compas_fab.backends.FutureResult.doctree  | Bin 7871 -> 7871 bytes
 ...s_fab.backends.FutureResult.result.doctree | Bin 5828 -> 5828 bytes
 ...ab.backends.InverseKinematicsError.doctree | Bin 5650 -> 5650 bytes
 ...ompas_fab.backends.KinematicsError.doctree | Bin 5494 -> 5494 bytes
 ...lanner.add_attached_collision_mesh.doctree | Bin 9663 -> 9663 bytes
 ....add_attached_collision_mesh_async.doctree | Bin 5848 -> 5848 bytes
 ...s.MoveItPlanner.add_collision_mesh.doctree | Bin 9282 -> 9282 bytes
 ...ItPlanner.add_collision_mesh_async.doctree | Bin 5599 -> 5599 bytes
 ...oveItPlanner.append_collision_mesh.doctree | Bin 9369 -> 9369 bytes
 ...lanner.append_collision_mesh_async.doctree | Bin 5665 -> 5665 bytes
 .../compas_fab.backends.MoveItPlanner.doctree | Bin 41286 -> 41286 bytes
 ...s.MoveItPlanner.forward_kinematics.doctree | Bin 16546 -> 16546 bytes
 ...ItPlanner.forward_kinematics_async.doctree | Bin 5984 -> 5984 bytes
 ...s.MoveItPlanner.get_planning_scene.doctree | Bin 8107 -> 8107 bytes
 ...ItPlanner.get_planning_scene_async.doctree | Bin 5344 -> 5344 bytes
 ...s.MoveItPlanner.inverse_kinematics.doctree | Bin 26375 -> 26375 bytes
 ...ItPlanner.inverse_kinematics_async.doctree | Bin 7115 -> 7115 bytes
 ...oveItPlanner.plan_cartesian_motion.doctree | Bin 26504 -> 26504 bytes
 ..._motion_with_frame_waypoints_async.doctree | Bin 8856 -> 8856 bytes
 ...on_with_point_axis_waypoints_async.doctree | Bin 7875 -> 7875 bytes
 ...backends.MoveItPlanner.plan_motion.doctree | Bin 26966 -> 26966 bytes
 ...ds.MoveItPlanner.plan_motion_async.doctree | Bin 6970 -> 6970 bytes
 ...ner.remove_attached_collision_mesh.doctree | Bin 8772 -> 8772 bytes
 ...move_attached_collision_mesh_async.doctree | Bin 5809 -> 5809 bytes
 ...oveItPlanner.remove_collision_mesh.doctree | Bin 8566 -> 8566 bytes
 ...lanner.remove_collision_mesh_async.doctree | Bin 5605 -> 5605 bytes
 ...MoveItPlanner.reset_planning_scene.doctree | Bin 7648 -> 7648 bytes
 ...Planner.reset_planning_scene_async.doctree | Bin 5414 -> 5414 bytes
 ...fab.backends.OffsetWristKinematics.doctree | Bin 8483 -> 8483 bytes
 ...ends.OffsetWristKinematics.forward.doctree | Bin 5022 -> 5022 bytes
 ...ends.OffsetWristKinematics.inverse.doctree | Bin 5007 -> 5007 bytes
 ...Client.add_attached_collision_mesh.doctree | Bin 5689 -> 5689 bytes
 ....PyBulletClient.add_collision_mesh.doctree | Bin 5552 -> 5552 bytes
 ...BulletClient.append_collision_mesh.doctree | Bin 5597 -> 5597 bytes
 ...kends.PyBulletClient.body_from_obj.doctree | Bin 17899 -> 17899 bytes
 ...s.PyBulletClient.cache_robot_model.doctree | Bin 0 -> 10749 bytes
 ...ck_collision_objects_for_collision.doctree | Bin 6596 -> 6596 bytes
 ...lient.check_collision_with_objects.doctree | Bin 8457 -> 8457 bytes
 ...ds.PyBulletClient.check_collisions.doctree | Bin 10661 -> 10661 bytes
 ...tClient.check_robot_self_collision.doctree | Bin 8389 -> 8389 bytes
 ...ab.backends.PyBulletClient.connect.doctree | Bin 13317 -> 13317 bytes
 ...yBulletClient.convert_mesh_to_body.doctree | Bin 16766 -> 16766 bytes
 ...backends.PyBulletClient.disconnect.doctree | Bin 4745 -> 4745 bytes
 ...compas_fab.backends.PyBulletClient.doctree | Bin 57029 -> 57177 bytes
 ...etClient.ensure_cached_robot_model.doctree | Bin 0 -> 6104 bytes
 ...ensure_cached_robot_model_geometry.doctree | Bin 0 -> 6282 bytes
 ...filter_configurations_in_collision.doctree | Bin 11405 -> 11405 bytes
 ....PyBulletClient.forward_kinematics.doctree | Bin 5550 -> 5550 bytes
 ...etClient.get_cached_robot_filepath.doctree | Bin 9226 -> 9226 bytes
 ...ulletClient.get_cached_robot_model.doctree | Bin 0 -> 9261 bytes
 ....PyBulletClient.get_planning_scene.doctree | Bin 5552 -> 5552 bytes
 ...lletClient.get_robot_configuration.doctree | Bin 8042 -> 8042 bytes
 ...ab.backends.PyBulletClient.get_uid.doctree | Bin 7925 -> 7985 bytes
 ....PyBulletClient.inverse_kinematics.doctree | Bin 5550 -> 5550 bytes
 ...backends.PyBulletClient.load_robot.doctree | Bin 15999 -> 15999 bytes
 ...ends.PyBulletClient.load_semantics.doctree | Bin 8384 -> 8384 bytes
 ...b.backends.PyBulletClient.load_ur5.doctree | Bin 10826 -> 10826 bytes
 ...BulletClient.plan_cartesian_motion.doctree | Bin 5597 -> 5597 bytes
 ...ackends.PyBulletClient.plan_motion.doctree | Bin 5445 -> 5445 bytes
 ...s.PyBulletClient.reload_from_cache.doctree | Bin 6992 -> 6992 bytes
 ...ent.remove_attached_collision_mesh.doctree | Bin 5734 -> 5734 bytes
 ...BulletClient.remove_collision_mesh.doctree | Bin 5597 -> 5597 bytes
 ...yBulletClient.reset_planning_scene.doctree | Bin 5582 -> 5582 bytes
 ...lletClient.set_robot_configuration.doctree | Bin 11858 -> 11858 bytes
 ...nds.PyBulletClient.step_simulation.doctree | Bin 5507 -> 5507 bytes
 .../compas_fab.backends.PyBulletError.doctree | Bin 5724 -> 5724 bytes
 ...lanner.add_attached_collision_mesh.doctree | Bin 20360 -> 20360 bytes
 ...PyBulletPlanner.add_collision_mesh.doctree | Bin 12907 -> 12907 bytes
 ...ulletPlanner.append_collision_mesh.doctree | Bin 11651 -> 11651 bytes
 ...ompas_fab.backends.PyBulletPlanner.doctree | Bin 24873 -> 24873 bytes
 ...PyBulletPlanner.forward_kinematics.doctree | Bin 17154 -> 17154 bytes
 ...PyBulletPlanner.get_planning_scene.doctree | Bin 6648 -> 6648 bytes
 ...PyBulletPlanner.inverse_kinematics.doctree | Bin 27118 -> 27118 bytes
 ...ulletPlanner.plan_cartesian_motion.doctree | Bin 6693 -> 6693 bytes
 ...ckends.PyBulletPlanner.plan_motion.doctree | Bin 6541 -> 6541 bytes
 ...ner.remove_attached_collision_mesh.doctree | Bin 10346 -> 10346 bytes
 ...ulletPlanner.remove_collision_mesh.doctree | Bin 8634 -> 8634 bytes
 ...BulletPlanner.reset_planning_scene.doctree | Bin 6678 -> 6678 bytes
 ...Client.add_attached_collision_mesh.doctree | Bin 5619 -> 5619 bytes
 ...kends.RosClient.add_collision_mesh.doctree | Bin 5482 -> 5482 bytes
 ...ds.RosClient.append_collision_mesh.doctree | Bin 5527 -> 5527 bytes
 ...ab.backends.RosClient.authenticate.doctree | Bin 10551 -> 10551 bytes
 ...osClient.blocking_call_from_thread.doctree | Bin 7925 -> 7925 bytes
 ...kends.RosClient.call_async_service.doctree | Bin 7222 -> 7222 bytes
 ....backends.RosClient.call_in_thread.doctree | Bin 6316 -> 6316 bytes
 ..._fab.backends.RosClient.call_later.doctree | Bin 6942 -> 6942 bytes
 ...ckends.RosClient.call_sync_service.doctree | Bin 8464 -> 8464 bytes
 ...ompas_fab.backends.RosClient.close.doctree | Bin 5080 -> 5080 bytes
 ...pas_fab.backends.RosClient.connect.doctree | Bin 4604 -> 4604 bytes
 ...ab.backends.RosClient.delete_param.doctree | Bin 6864 -> 6864 bytes
 .../compas_fab.backends.RosClient.doctree     | Bin 78732 -> 78732 bytes
 ...compas_fab.backends.RosClient.emit.doctree | Bin 5133 -> 5133 bytes
 ...RosClient.execute_joint_trajectory.doctree | Bin 16132 -> 16132 bytes
 ...ds.RosClient.follow_configurations.doctree | Bin 5961 -> 5961 bytes
 ....RosClient.follow_joint_trajectory.doctree | Bin 16431 -> 16431 bytes
 ...kends.RosClient.forward_kinematics.doctree | Bin 5480 -> 5480 bytes
 ...kends.RosClient.get_action_servers.doctree | Bin 5531 -> 5531 bytes
 ...ckends.RosClient.get_configuration.doctree | Bin 4570 -> 4570 bytes
 ...ends.RosClient.get_message_details.doctree | Bin 7668 -> 7668 bytes
 ...ackends.RosClient.get_node_details.doctree | Bin 7008 -> 7008 bytes
 ...s_fab.backends.RosClient.get_nodes.doctree | Bin 6627 -> 6627 bytes
 ...s_fab.backends.RosClient.get_param.doctree | Bin 7495 -> 7495 bytes
 ..._fab.backends.RosClient.get_params.doctree | Bin 7355 -> 7355 bytes
 ...kends.RosClient.get_planning_scene.doctree | Bin 5482 -> 5482 bytes
 ...lient.get_service_request_callback.doctree | Bin 6897 -> 6897 bytes
 ...Client.get_service_request_details.doctree | Bin 7759 -> 7759 bytes
 ...lient.get_service_response_details.doctree | Bin 7779 -> 7779 bytes
 ...ackends.RosClient.get_service_type.doctree | Bin 7606 -> 7606 bytes
 ...ab.backends.RosClient.get_services.doctree | Bin 7351 -> 7351 bytes
 ...ds.RosClient.get_services_for_type.doctree | Bin 7828 -> 7828 bytes
 ...as_fab.backends.RosClient.get_time.doctree | Bin 7499 -> 7499 bytes
 ....backends.RosClient.get_topic_type.doctree | Bin 7531 -> 7531 bytes
 ..._fab.backends.RosClient.get_topics.doctree | Bin 7287 -> 7287 bytes
 ...ends.RosClient.get_topics_for_type.doctree | Bin 7778 -> 7778 bytes
 ...kends.RosClient.inverse_kinematics.doctree | Bin 5480 -> 5480 bytes
 ..._fab.backends.RosClient.load_robot.doctree | Bin 15842 -> 15842 bytes
 .../compas_fab.backends.RosClient.off.doctree | Bin 7360 -> 7360 bytes
 .../compas_fab.backends.RosClient.on.doctree  | Bin 6371 -> 6371 bytes
 ...as_fab.backends.RosClient.on_ready.doctree | Bin 7171 -> 7171 bytes
 ...ds.RosClient.plan_cartesian_motion.doctree | Bin 5527 -> 5527 bytes
 ...fab.backends.RosClient.plan_motion.doctree | Bin 5375 -> 5375 bytes
 ...ent.remove_attached_collision_mesh.doctree | Bin 5664 -> 5664 bytes
 ...ds.RosClient.remove_collision_mesh.doctree | Bin 5527 -> 5527 bytes
 ...nds.RosClient.reset_planning_scene.doctree | Bin 5512 -> 5512 bytes
 .../compas_fab.backends.RosClient.run.doctree | Bin 5741 -> 5741 bytes
 ....backends.RosClient.run_event_loop.doctree | Bin 4575 -> 4575 bytes
 ...fab.backends.RosClient.run_forever.doctree | Bin 5039 -> 5039 bytes
 ...b.backends.RosClient.send_on_ready.doctree | Bin 6380 -> 6380 bytes
 ...s_fab.backends.RosClient.set_param.doctree | Bin 7018 -> 7018 bytes
 ...ackends.RosClient.set_status_level.doctree | Bin 5030 -> 5030 bytes
 ...s_fab.backends.RosClient.terminate.doctree | Bin 4699 -> 4699 bytes
 .../compas_fab.backends.RosError.doctree      | Bin 5486 -> 5486 bytes
 ....RosFileServerLoader.can_load_mesh.doctree | Bin 7518 -> 7518 bytes
 ...s_fab.backends.RosFileServerLoader.doctree | Bin 17725 -> 17725 bytes
 ...ends.RosFileServerLoader.load_mesh.doctree | Bin 8379 -> 8379 bytes
 ...ds.RosFileServerLoader.load_meshes.doctree | Bin 9131 -> 9131 bytes
 ...ends.RosFileServerLoader.load_srdf.doctree | Bin 8225 -> 8225 bytes
 ...ends.RosFileServerLoader.load_urdf.doctree | Bin 8140 -> 8140 bytes
 ...as_fab.backends.RosValidationError.doctree | Bin 5610 -> 5610 bytes
 ....backends.SphericalWristKinematics.doctree | Bin 8567 -> 8567 bytes
 ...s.SphericalWristKinematics.forward.doctree | Bin 5085 -> 5085 bytes
 ...s.SphericalWristKinematics.inverse.doctree | Bin 5070 -> 5070 bytes
 ....backends.Staubli_TX260LKinematics.doctree | Bin 9065 -> 9065 bytes
 ...s.Staubli_TX260LKinematics.forward.doctree | Bin 5087 -> 5087 bytes
 ...s.Staubli_TX260LKinematics.inverse.doctree | Bin 5072 -> 5072 bytes
 ...compas_fab.backends.UR10Kinematics.doctree | Bin 8800 -> 8800 bytes
 ...ab.backends.UR10Kinematics.forward.doctree | Bin 4924 -> 4924 bytes
 ...ab.backends.UR10Kinematics.inverse.doctree | Bin 4909 -> 4909 bytes
 ...ompas_fab.backends.UR10eKinematics.doctree | Bin 8821 -> 8821 bytes
 ...b.backends.UR10eKinematics.forward.doctree | Bin 4938 -> 4938 bytes
 ...b.backends.UR10eKinematics.inverse.doctree | Bin 4923 -> 4923 bytes
 .../compas_fab.backends.UR3Kinematics.doctree | Bin 8758 -> 8758 bytes
 ...fab.backends.UR3Kinematics.forward.doctree | Bin 4910 -> 4910 bytes
 ...fab.backends.UR3Kinematics.inverse.doctree | Bin 4895 -> 4895 bytes
 ...compas_fab.backends.UR3eKinematics.doctree | Bin 8797 -> 8797 bytes
 ...ab.backends.UR3eKinematics.forward.doctree | Bin 4924 -> 4924 bytes
 ...ab.backends.UR3eKinematics.inverse.doctree | Bin 4909 -> 4909 bytes
 .../compas_fab.backends.UR5Kinematics.doctree | Bin 8758 -> 8758 bytes
 ...fab.backends.UR5Kinematics.forward.doctree | Bin 4910 -> 4910 bytes
 ...fab.backends.UR5Kinematics.inverse.doctree | Bin 4895 -> 4895 bytes
 ...compas_fab.backends.UR5eKinematics.doctree | Bin 8798 -> 8798 bytes
 ...ab.backends.UR5eKinematics.forward.doctree | Bin 4924 -> 4924 bytes
 ...ab.backends.UR5eKinematics.inverse.doctree | Bin 4909 -> 4909 bytes
 ...hon.ReachabilityMapObject.ToString.doctree | Bin 6020 -> 6020 bytes
 ...ghpython.ReachabilityMapObject.add.doctree | Bin 10261 -> 10261 bytes
 ...python.ReachabilityMapObject.clear.doctree | Bin 4839 -> 4839 bytes
 ...hpython.ReachabilityMapObject.copy.doctree | Bin 8586 -> 8586 bytes
 ...fab.ghpython.ReachabilityMapObject.doctree | Bin 28393 -> 28393 bytes
 ...hpython.ReachabilityMapObject.draw.doctree | Bin 5312 -> 5312 bytes
 ...n.ReachabilityMapObject.draw_cloud.doctree | Bin 9146 -> 9146 bytes
 ....ReachabilityMapObject.draw_frames.doctree | Bin 7201 -> 7201 bytes
 ...on.ReachabilityMapObject.from_json.doctree | Bin 9536 -> 9536 bytes
 ...chabilityMapObject.from_jsonstring.doctree | Bin 9592 -> 9592 bytes
 ...ython.ReachabilityMapObject.remove.doctree | Bin 7562 -> 7562 bytes
 ...ython.ReachabilityMapObject.sha256.doctree | Bin 8400 -> 8400 bytes
 ...thon.ReachabilityMapObject.to_json.doctree | Bin 7832 -> 7832 bytes
 ...eachabilityMapObject.to_jsonstring.doctree | Bin 7738 -> 7738 bytes
 ...hon.ReachabilityMapObject.traverse.doctree | Bin 11472 -> 11472 bytes
 ...eachabilityMapObject.validate_data.doctree | Bin 7866 -> 7866 bytes
 ...ino.ReachabilityMapObject.ToString.doctree | Bin 6008 -> 6008 bytes
 ...ab.rhino.ReachabilityMapObject.add.doctree | Bin 10246 -> 10246 bytes
 ...ReachabilityMapObject.add_to_group.doctree | Bin 7997 -> 7997 bytes
 ....rhino.ReachabilityMapObject.clear.doctree | Bin 4827 -> 4827 bytes
 ....ReachabilityMapObject.clear_layer.doctree | Bin 5797 -> 5797 bytes
 ...bilityMapObject.compile_attributes.doctree | Bin 10930 -> 10930 bytes
 ...b.rhino.ReachabilityMapObject.copy.doctree | Bin 8571 -> 8571 bytes
 ...as_fab.rhino.ReachabilityMapObject.doctree | Bin 34477 -> 34477 bytes
 ...b.rhino.ReachabilityMapObject.draw.doctree | Bin 5285 -> 5285 bytes
 ...o.ReachabilityMapObject.draw_cloud.doctree | Bin 10016 -> 10016 bytes
 ....ReachabilityMapObject.draw_frames.doctree | Bin 8068 -> 8068 bytes
 ...no.ReachabilityMapObject.from_json.doctree | Bin 9521 -> 9521 bytes
 ...chabilityMapObject.from_jsonstring.doctree | Bin 9577 -> 9577 bytes
 ...no.ReachabilityMapObject.get_group.doctree | Bin 7318 -> 7318 bytes
 ...rhino.ReachabilityMapObject.remove.doctree | Bin 7547 -> 7547 bytes
 ...rhino.ReachabilityMapObject.sha256.doctree | Bin 8388 -> 8388 bytes
 ...hino.ReachabilityMapObject.to_json.doctree | Bin 7820 -> 7820 bytes
 ...eachabilityMapObject.to_jsonstring.doctree | Bin 7726 -> 7726 bytes
 ...ino.ReachabilityMapObject.traverse.doctree | Bin 11457 -> 11457 bytes
 ...eachabilityMapObject.validate_data.doctree | Bin 7854 -> 7854 bytes
 ...ots.AttachedCollisionMesh.ToString.doctree | Bin 6012 -> 6012 bytes
 ....robots.AttachedCollisionMesh.copy.doctree | Bin 8576 -> 8576 bytes
 ...s_fab.robots.AttachedCollisionMesh.doctree | Bin 30781 -> 30781 bytes
 ...ts.AttachedCollisionMesh.from_json.doctree | Bin 9526 -> 9526 bytes
 ...achedCollisionMesh.from_jsonstring.doctree | Bin 9582 -> 9582 bytes
 ...obots.AttachedCollisionMesh.sha256.doctree | Bin 8392 -> 8392 bytes
 ...bots.AttachedCollisionMesh.to_json.doctree | Bin 7824 -> 7824 bytes
 ...ttachedCollisionMesh.to_jsonstring.doctree | Bin 7730 -> 7730 bytes
 ...ttachedCollisionMesh.validate_data.doctree | Bin 7858 -> 7858 bytes
 ...fab.robots.BoundingVolume.ToString.doctree | Bin 5914 -> 5914 bytes
 ...pas_fab.robots.BoundingVolume.copy.doctree | Bin 6298 -> 6298 bytes
 .../compas_fab.robots.BoundingVolume.doctree  | Bin 37667 -> 37667 bytes
 ...fab.robots.BoundingVolume.from_box.doctree | Bin 9839 -> 9839 bytes
 ...ab.robots.BoundingVolume.from_json.doctree | Bin 9414 -> 9414 bytes
 ...ots.BoundingVolume.from_jsonstring.doctree | Bin 9470 -> 9470 bytes
 ...ab.robots.BoundingVolume.from_mesh.doctree | Bin 9973 -> 9973 bytes
 ....robots.BoundingVolume.from_sphere.doctree | Bin 9936 -> 9936 bytes
 ...as_fab.robots.BoundingVolume.scale.doctree | Bin 6612 -> 6612 bytes
 ...s_fab.robots.BoundingVolume.sha256.doctree | Bin 8294 -> 8294 bytes
 ..._fab.robots.BoundingVolume.to_json.doctree | Bin 7726 -> 7726 bytes
 ...obots.BoundingVolume.to_jsonstring.doctree | Bin 7632 -> 7632 bytes
 ...ab.robots.BoundingVolume.transform.doctree | Bin 7768 -> 7768 bytes
 ...obots.BoundingVolume.validate_data.doctree | Bin 7760 -> 7760 bytes
 ..._fab.robots.CollisionMesh.ToString.doctree | Bin 5900 -> 5900 bytes
 ...mpas_fab.robots.CollisionMesh.copy.doctree | Bin 8448 -> 8448 bytes
 .../compas_fab.robots.CollisionMesh.doctree   | Bin 35145 -> 35145 bytes
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 ...bots.CollisionMesh.from_jsonstring.doctree | Bin 9454 -> 9454 bytes
 ...pas_fab.robots.CollisionMesh.scale.doctree | Bin 6514 -> 6514 bytes
 ...as_fab.robots.CollisionMesh.scaled.doctree | Bin 6572 -> 6572 bytes
 ...as_fab.robots.CollisionMesh.sha256.doctree | Bin 8280 -> 8280 bytes
 ...s_fab.robots.CollisionMesh.to_json.doctree | Bin 7712 -> 7712 bytes
 ...robots.CollisionMesh.to_jsonstring.doctree | Bin 7618 -> 7618 bytes
 ...robots.CollisionMesh.validate_data.doctree | Bin 7746 -> 7746 bytes
 ...obots.ConfigurationTarget.ToString.doctree | Bin 5984 -> 5984 bytes
 ...ab.robots.ConfigurationTarget.copy.doctree | Bin 8544 -> 8544 bytes
 ...pas_fab.robots.ConfigurationTarget.doctree | Bin 29584 -> 29584 bytes
 ...bots.ConfigurationTarget.from_json.doctree | Bin 9494 -> 9494 bytes
 ...onfigurationTarget.from_jsonstring.doctree | Bin 9550 -> 9550 bytes
 ...Target.generate_default_tolerances.doctree | Bin 14265 -> 14265 bytes
 ....robots.ConfigurationTarget.scaled.doctree | Bin 8260 -> 8260 bytes
 ....robots.ConfigurationTarget.sha256.doctree | Bin 8364 -> 8364 bytes
 ...robots.ConfigurationTarget.to_json.doctree | Bin 7796 -> 7796 bytes
 ....ConfigurationTarget.to_jsonstring.doctree | Bin 7702 -> 7702 bytes
 ....ConfigurationTarget.validate_data.doctree | Bin 7830 -> 7830 bytes
 ...pas_fab.robots.Constraint.ToString.doctree | Bin 5858 -> 5858 bytes
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 ...ompas_fab.robots.Constraint.sha256.doctree | Bin 8238 -> 8238 bytes
 ...mpas_fab.robots.Constraint.to_json.doctree | Bin 7670 -> 7670 bytes
 ...ab.robots.Constraint.to_jsonstring.doctree | Bin 7576 -> 7576 bytes
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model.doctree
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.filter_configurations_in_collision.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.filter_configurations_in_collision.doctree
index dd4f4f6b4722f1c28555cb2e80e283f94755d395..e0e4c525ecc520b7be0250ca7536ff52de776fd6 100644
GIT binary patch
delta 27
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delta 27
icmeB;?2X*;oP*umBqc4`G;#7f4m~DQi_LPJ`N{y0QVBBv

diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.forward_kinematics.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.forward_kinematics.doctree
index b3c0c7cf2788a38fb0b285152e35922d2385d641..60e62b6ed3089bfc53887a1289fc43d86e4f1622 100644
GIT binary patch
delta 24
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delta 24
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.doctree
index 6e309f78954b45c08caa2b3ddf7d4c61bcaa42c2..6ab64895918c325fb6aa7c89fe4e405776aa4473 100644
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delta 44
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delta 44
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model.doctree
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_planning_scene.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_planning_scene.doctree
index ba5425a8d6aafde88d38199ddc6deae97d896f75..997a279c7e533374bc05f5c35b310e2aa1cc5bf6 100644
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delta 23
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_robot_configuration.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_robot_configuration.doctree
index f324259f8f0e8bc92f6beb3c635d4e910639678a..b1b2e7c5af8af1fc66ea5f8e5b4fa119958e8024 100644
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delta 30
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_uid.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.get_uid.doctree
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delta 235
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index 221e56b81016f14b1295ebc827ac98d34dc641e4..b57999d72e1f582416e3e1db139b0b9140bc01f9 100644
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delta 24
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.load_robot.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.load_robot.doctree
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delta 30
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.load_semantics.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.load_semantics.doctree
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delta 27
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delta 44
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diff --git a/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.plan_cartesian_motion.doctree b/latest/.doctrees/api/generated/compas_fab.backends.PyBulletClient.plan_cartesian_motion.doctree
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delta 24
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delta 24
fcmX>Xa4ulOTTXU!la#b%)5OUEEDD=NxUA#=d?^S>

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.copy.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.copy.doctree
index f3541b5a9f4920cdd731d179a76cd38adfb1265f..9472dc9b1c562eb9411b75988742d7e3994c8f79 100644
GIT binary patch
delta 24
gcmeyZ^;>JhaaQ(Zv(z-BWP`~K%nF;|vG(!<0D!g$ZvX%Q

delta 24
gcmeyZ^;>JhaaMM7la#b%)5OUQ%nF;|vG(!<0DuMwbN~PV

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.doctree
index aa94e0089eb2ccfd712d2c13f133bd8af63f9b1d..5f81f70e6b51dd2eed785c3edc880ccf12e123a8 100644
GIT binary patch
delta 26
icmZoW$Jlm`aYG>+d$L(-no+XB<eSV2n`f})B>(`2K?$$`

delta 26
icmZoW$Jlm`aYG>+ySYh9TC!>4<eSV2n`f})B>(`1kqNZ`

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.from_json.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.from_json.doctree
index 79fe84eba399ee6f8d6b6374f8a905032f6aa3bd..fcfd27b389085b0adbdfacdd442f46dc8a69192d 100644
GIT binary patch
delta 20
bcmX@+am-@_8wY!`S!$Y5vcYCv4oevTOZf&U

delta 20
bcmX@+am-@_8wb0&NlIF>Y2s#H4oevTOEm^9

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.from_jsonstring.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.from_jsonstring.doctree
index b22c2db5b571aab4110990e1c00c66f1a2ea7ba7..7148562b72b9b3b8102c97f0cc5eeb4aaec85ba7 100644
GIT binary patch
delta 20
bcmez8@y}y}5eIv+S!$Y5vcYCc4p$ifSEUC0

delta 20
bcmez8@y}y}5eK`uNlIF>Y2s!}4p$ifR^bN$

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.from_list.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.from_list.doctree
index 1a3af17fc1c2bb041e54913bb21497c501056c05..2a281add2d592f28099b15399b13216027e75c7a 100644
GIT binary patch
delta 24
fcmdnzw$E+DS9bPfv(z-BWP{0uEDD=tIFzITcccg5

delta 24
fcmdnzw$E+DS9W%Dla#b%)5OV!EDD=tIFzITcJv44

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.gravity_compensated.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.gravity_compensated.doctree
index 844a208aae4b0dca4ab809b0756db4711a16a6fd..9408fa87148806d59c05fd2422f0c6d3f03cade9 100644
GIT binary patch
delta 24
gcmX?GaJFE>MGp34v(z-BWP{0!EDD={aD?gu0D)c!BLDyZ

delta 24
gcmX?GaJFE>MGkgzla#b%)5OV)EDD={aD?gu0D!IuC;$Ke

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.sha256.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.sha256.doctree
index a2e2d2a94f776e2b95d42ba85f9ceefef87dd359..72cb720d71a4ce73da878e6d164b9d340d956b22 100644
GIT binary patch
delta 20
bcmexn|IL2G33m2mv(z-BWP{D;+0`WgU;+o?

delta 20
bcmexn|IL2G33hgKla#b%)5Oi^+0`WgUp@!t

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.to_json.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.to_json.doctree
index d915e581239c3b836f0d786bd8310ebbf8210835..ceb815b63b6c8c27629cf1b7396ef20087cd1e54 100644
GIT binary patch
delta 20
bcmdmIz0Z0>0|$GuS!$Y5vccwd4s%feQTPVw

delta 20
bcmdmIz0Z0>0|&dgNlIF>Y2xN~4s%feQ8Whb

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.to_jsonstring.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.to_jsonstring.doctree
index 55b2c8feed186c71e078824882f530a1781b6efb..5c81b5b98f7cc818c7ed8827ea885e825368c33c 100644
GIT binary patch
delta 20
bcmaE0^}uSwFLw51v(z-BWP{C&9Py$6TrdYl

delta 20
bcmaE0^}uSwFLriwla#b%)5Oh;9Py$6TWkkQ

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.transform.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.transform.doctree
index 8264b38f9872052db1b7ee09df0629dd373cbf14..8a5739ec8600f4bbf8f9216f962ba3a9c035ab4a 100644
GIT binary patch
delta 24
gcmZ2!ztVogdp7oDv(z-BWP{0Tm=!jQu}_u&0Cu|wg8%>k

delta 24
gcmZ2!ztVogdp34+la#b%)5OVZm=!jQu}_u&0Co!qhyVZp

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.transformed.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.transformed.doctree
index 3ae2edcbe4db08f73f43288288d02750900f58d9..47719131528a902a4862dbaadd7f788019cd0073 100644
GIT binary patch
delta 24
fcmccaaNS`8BRhMtS!$Y5vccqgoC=#Y*!3j=Zq5hW

delta 24
fcmccaaNS`8BRjjfNlIF>Y2xI2oC=#Y*!3j=ZXO5V

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.Wrench.validate_data.doctree b/latest/.doctrees/api/generated/compas_fab.robots.Wrench.validate_data.doctree
index 70d3e3bde326663f4cfe82a82b672c521d18370e..32a74bdba53f5b07733806aee19aa2c95a304dfd 100644
GIT binary patch
delta 20
bcmaE0{lI#I7zcZ@S!$Y5vcYCqj>Dn=P(B9b

delta 20
bcmaE0{lI#I7zew#NlIF>Y2s#Cj>Dn=PkILG

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.to_degrees.doctree b/latest/.doctrees/api/generated/compas_fab.robots.to_degrees.doctree
index 735d27477fdc26c616421a68bf5809b19d7bd6c3..106f2c55572e2922c6e47bba02a53a5c651d9c76 100644
GIT binary patch
delta 24
gcmexk|HppAUN-h*v(z-BWP{0bnB_M=W|Ncz0E4FqIRF3v

delta 24
gcmexk|HppAUN&}fla#b%)5OVhnB_M=W|Ncz0D|`kJ^%m!

diff --git a/latest/.doctrees/api/generated/compas_fab.robots.to_radians.doctree b/latest/.doctrees/api/generated/compas_fab.robots.to_radians.doctree
index 6bb186cd428af8533b727874e8458f8b6a2b18f3..3d53383ef86057d39b8bbb9a7a126f79bd97a5eb 100644
GIT binary patch
delta 24
gcmdnvu*YG;UN-h*v(z-BWP{0bnB_M=W{Z>r0C>{~`v3p{

delta 24
gcmdnvu*YG;UN&}fla#b%)5OVhnB_M=W{Z>r0C*z_00000

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.activate_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.activate_flex_mount.doctree
index 2858a4996ac4e216fdd2fee0b2fb537dd45bb0e6..6fd9e0d0342fd579e37e59f84e726c502466da6f 100644
GIT binary patch
delta 24
fcmbQMHCJmxEjxR%S!$Y5vccqVZpF<@*(-PfXe0;i

delta 24
fcmbQMHCJmxEjzopNlIF>Y2xH?ZpF<@*(-PfXLJYh

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.adjust_to_dark_object.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.adjust_to_dark_object.doctree
index 56f37e13aee2f4938c0fbe09e5fa033cbd6bd38a..e6025ba94ca588813a2242dd5f8d5929dc81310e 100644
GIT binary patch
delta 20
bcmcbmeoK8r1v`7PS!$Y5vccwh_GlgeQsxH&

delta 20
bcmcbmeoK8r1v|UBNlIF>Y2xO3_GlgeQX&Tj

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.begin.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.begin.doctree
index f8cbc02a0dd83e82b7a8bf345c6a098c10bcff18..9a32ba4b563c3adfad9d6fe7fad16db34f72dc9e 100644
GIT binary patch
delta 20
ccmbQIIZt!Lb5{0bv(z-BWP{D`SU2zi08<SIzW@LL

delta 20
ccmbQIIZt!Lb5?e9la#b%)5Oj1SU2zi08&W@!~g&Q

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.calculate_checksum.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.calculate_checksum.doctree
index f48920b14c0c30e4a40871e03656e5298b169676..8806149ddf46ea575fd9b347dd7ed20725fc637a 100644
GIT binary patch
delta 24
gcmcbnc1>-A89RHjS!$Y5vccpJ%!-@i*ne;X0C3+3*Z=?k

delta 24
gcmcbnc1>-A89TeVNlIF>Y2xG$%!-@i*ne;X0B|n|-2eap

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.deactivate_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.deactivate_flex_mount.doctree
index 5ef56ba7bd70586bf6d609ce9afd5f33781f5c13..8793ac1baea907654f2203433c34ed50b18985a6 100644
GIT binary patch
delta 24
gcmbQII!|>&H5+@fS!$Y5vccrP%!->Av;F1<0BtV_{r~^~

delta 24
gcmbQII!|>&H5<FRNlIF>Y2xI+%!->Av;F1<0BnB=0{{R3

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.doctree
index c24cc8a4b1862451d94a7eacc6b08458177b278c..a56259cb612a0fcebf46d8af142e71f50573c3cd 100644
GIT binary patch
delta 22
dcmZ42$F#1GX+sAad$L(-no+XB=6<&M4FF*E2vPt5

delta 22
dcmZ42$F#1GX+sAaySYh9TC!>4=6<&M4FF&<2v-0A

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.end.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.end.doctree
index 5940880a5b98929a80a0a923785c710447c947a9..547fd7833dda31ec1509ba0748bb2f29ada7a906 100644
GIT binary patch
delta 24
gcmeyX@mFKRRaW+7v(z-BWP{1_9EzL&vNrGm0DlGvBLDyZ

delta 24
gcmeyX@mFKRRaSO$la#b%)5OX09EzL&vNrGm0De{pC;$Ke

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.format_command.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.format_command.doctree
index 9d9a165762cc615d827c7bc17bc27d38da2eb10a..98221211606e955373b8d31bec324b7aab3936ed 100644
GIT binary patch
delta 24
gcmeyP^+#(%At!sXS!$Y5vccpx%!-?5az5q;0DX`NjQ{`u

delta 24
gcmeyP^+#(%At$@JNlIF>Y2xHJ%!-?5az5q;0DRyHk^lez

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_address.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_address.doctree
index e04c67f4e3f7ab8e20a059896778e2141bed320c..b7200df72201e83e40ba8048a191f766d3445c6a 100644
GIT binary patch
delta 24
fcmeA(?layX&&Hl?mYQaiY%qC0v*KoVHg{nFVIv1v

delta 24
fcmeA(?layX&&F<Ul9HBenmBnsv*KoVHg{nFU~>mu

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_live_monitor_data.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_live_monitor_data.doctree
index 7aa90bca6e9c89f045ef497130018fcb7de74fa8..e45132ed02ee66a50995881ba92994127db15cde 100644
GIT binary patch
delta 24
gcmaE7_|9-cEgO5XS!$Y5vccs4%!-?rvUv&t0DOQ65dZ)H

delta 24
gcmaE7_|9-cEgQSJNlIF>Y2xJn%!-?rvUv&t0DI60761SM

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_measurement.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_measurement.doctree
index 01145d564aab637d37231aa996630858e968d842..a09b059171c85652b1bbf9a1d95e16dac10ffe2e 100644
GIT binary patch
delta 24
fcmX@0e?WhOGaGxdS!$Y5vccrv9EzK>*+K;YZpa8p

delta 24
fcmX@0e?WhOGaI|PNlIF>Y2xJH9EzK>*+K;YZWsto

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_payload.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.get_payload.doctree
index aeb6eb86e8198c149b9b3eae259542ee5d05322b..81afb65189d434b39eac0a903efbc9fcc8393f81 100644
GIT binary patch
delta 20
ccmX@4dPsG{CpPwEv(z-BWP{B=*-ml;09fV-EdT%j

delta 20
ccmX@4dPsG{CpLC-la#b%)5Og`*-ml;09YajG5`Po

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.reset.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.reset.doctree
index 418f4709fd71ce4dd2eee2dd47905b3aa44029eb..d28916dd57e1a5bd3283e1cd6a853a9934b4f79f 100644
GIT binary patch
delta 20
ccmdm>yg_-xb5{0bv(z-BWP{D`SPyXn09679<^TWy

delta 20
ccmdm>yg_-xb5?e9la#b%)5Oj1SPyXn08~B)>i_@%

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.send_command.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.send_command.doctree
index 730197dc59f587cf5e9f0e6305d6223722934d54..cc55f5adf8e6933cc54813a216901f0b840e17c9 100644
GIT binary patch
delta 24
fcmdm;xI1w}JSTgyS!$Y5vccpB%!-@aIZf07coqn@

delta 24
fcmdm;xI1w}JSV%kNlIF>Y2xGu%!-@aIZf07cV-B?

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_edge_height.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_edge_height.doctree
index 935edf00e7c6448b75937e333d655ccbb024ac3e..d0d9262d558a5f436a615e84527d3ceb9c7e1842 100644
GIT binary patch
delta 20
bcmZ2zywG@q1Uq}OS!$Y5vcYC~_9h_!MN|eA

delta 20
bcmZ2zywG@q1UtLANlIF>Y2s#i_9h_!M34p=

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_flex_mount.doctree
index 0cf7dcadd3d32d24c905e729e7cf52093fcdf714..c7e7cf092e10d173602f39a366cd78bff46feacd 100644
GIT binary patch
delta 24
gcmbQJF;Qc~F?RN3v(z-BWP{0pT#B3Du`BZc0BcbQ1^@s6

delta 24
gcmbQJF;Qc~F?M!yla#b%)5OVvT#B3Du`BZc0BWHK3jhEB

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_measurement_type.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_measurement_type.doctree
index 9e36ad5da66674208252a33a283cf545913c842b..b1a07cd41d8cbdd1447e50e1db928a3667881393 100644
GIT binary patch
delta 20
bcmeyI@Ht^aIXio@S!$Y5vccv$_OBWMU)=~=

delta 20
bcmeyI@Ht^aIXk<#NlIF>Y2xNO_OBWMUl|Br

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_precision.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosCon3D.set_precision.doctree
index 3aa8b71f58230058f691c814c463e245e31e255e..2707b9715a274a27a91588ddeb02b05b3ba620d5 100644
GIT binary patch
delta 24
fcmX@)cgSypFgts)S!$Y5vccrpoQj*R+1V8UY_|uG

delta 24
fcmX@)cgSypFgv@sNlIF>Y2xJBoQj*R+1V8UYzGIF

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.activate_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.activate_flex_mount.doctree
index 1a41c89980764d80ffe2e4e41e079afb8b5e57da..84bbbc8d37abf175f4aebadf752bc1dc4de200a9 100644
GIT binary patch
delta 24
gcmeyO{zZL5CL4RQS!$Y5vccq!%!->QvL*8Z0C~>{=l}o!

delta 24
gcmeyO{zZL5CL6oCNlIF>Y2xIM%!->QvL*8Z0C^t>?EnA(

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.doctree
index 80fae535e0508c1dae53c42811e28a664b1eeb46..7133f2698cc26844f0884339f0c725939c77c181 100644
GIT binary patch
delta 20
bcmcbmeoK8r1v`7PS!$Y5vccwh_GlgeQsxH&

delta 20
bcmcbmeoK8r1v|UBNlIF>Y2xO3_GlgeQX&Tj

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.begin.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.begin.doctree
index 2b1fca02f65d2b5ba9f368a79a52ab86228466ff..074a36b207f46e8691f637f8b6c7c620692c5fd5 100644
GIT binary patch
delta 20
ccmbQQIbU<bb5{0bv(z-BWP{D`SU2(k08=#w!T<mO

delta 20
ccmbQQIbU<bb5?e9la#b%)5Oj1SU2(k08()W#{d8T

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.calculate_checksum.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.calculate_checksum.doctree
index 5775341473fe2b2fe863dbb9e0df092f7b1a7e3c..85afc2d1181e329364d0f762f605617d9e0a3e64 100644
GIT binary patch
delta 24
gcmcbnc1>-A89RHjS!$Y5vccpJ%!-@i*ne;X0C3+3*Z=?k

delta 24
gcmcbnc1>-A89TeVNlIF>Y2xG$%!-@i*ne;X0B|n|-2eap

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.deactivate_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.deactivate_flex_mount.doctree
index a54acfefea8793d4b0c43ebd948096c53d73ec19..07f7fe685e31a8274c039a9a30e95a143e7bc049 100644
GIT binary patch
delta 24
gcmbQII!|>&H5+@fS!$Y5vccrP%!->Av;F1<0BtV_{r~^~

delta 24
gcmbQII!|>&H5<FRNlIF>Y2xI+%!->Av;F1<0BnB=0{{R3

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.doctree
index 23aaa635c9ffbf2216c0ac1c1f37f3e6efa6a2ff..48e9bec0e21dbd0001e553c8480d1d7190672b2f 100644
GIT binary patch
delta 22
dcmey`%=ERHX+sAad$L(-no+XB=6<%cY5;052#f##

delta 22
dcmey`%=ERHX+sAaySYh9TC!>4=6<%cY5-|$2$28)

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.end.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.end.doctree
index 75670ff3706e16f1aca2b7c4edc2456813cacaac..a223fa8f10c5bb5b4cbe377b2a782cffb5a8bfbd 100644
GIT binary patch
delta 24
gcmeyX@mFKRRaW+7v(z-BWP{1_9EzL&vNrGm0DlGvBLDyZ

delta 24
gcmeyX@mFKRRaSO$la#b%)5OX09EzL&vNrGm0De{pC;$Ke

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.format_command.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.format_command.doctree
index 280b9f8d59054ed38d0db28a338667729364954d..6f3ff9c56aeb6af86ca31930299d3bdd79aeea75 100644
GIT binary patch
delta 24
gcmeyP^+#(%At!sXS!$Y5vccpx%!-?5az5q;0DX`NjQ{`u

delta 24
gcmeyP^+#(%At$@JNlIF>Y2xHJ%!-?5az5q;0DRyHk^lez

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.get_address.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.get_address.doctree
index ad73107af3684d012a288d5c8822b736122a3f6b..1b2d8a2663d36dc229257ea8be919c82a5131e1c 100644
GIT binary patch
delta 24
fcmeA(?layX&&Hl?mYQaiY%qC0v*KoVHg{nFVIv1v

delta 24
fcmeA(?layX&&F<Ul9HBenmBnsv*KoVHg{nFU~>mu

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.get_measurement.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.get_measurement.doctree
index c20abec29a9a8b15941497315f5387ab22281694..ca2121a422f16551dfe792ec6be4a851624a0372 100644
GIT binary patch
delta 24
fcmX@0e?WhOGaGxdS!$Y5vccrv9EzK>*+K;YZpa8p

delta 24
fcmX@0e?WhOGaI|PNlIF>Y2xJH9EzK>*+K;YZWsto

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.get_payload.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.get_payload.doctree
index f0ed3dea44b9e821f42666c2fc4b6290df27a13e..285a515775386a0fa2768339b17ef65c1d49ab0f 100644
GIT binary patch
delta 20
ccmX@4dPsG{CpPwEv(z-BWP{B=*-ml;09fV-EdT%j

delta 20
ccmX@4dPsG{CpLC-la#b%)5Og`*-ml;09YajG5`Po

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.reset.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.reset.doctree
index 223c1d00701dc85e3760474213b94f055cc65bae..1f563c4f29454ce6e6187b6e290c4382e946f359 100644
GIT binary patch
delta 20
ccmdm>yg_-xb5{0bv(z-BWP{D`SPyXn09679<^TWy

delta 20
ccmdm>yg_-xb5?e9la#b%)5Oj1SPyXn08~B)>i_@%

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.send_command.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.send_command.doctree
index 5a5ba19cb78d68d4750e3397c936d1d5d26651ca..c05739863ddb7cd526c29196e7c062c979969503 100644
GIT binary patch
delta 24
fcmdm!v?pmpJSTgyS!$Y5vcY6VUd7GroLkiaa=-{?

delta 24
fcmdm!v?pmpJSV%kNlIF>Y2su?Ud7GroLkiaau5h>

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.set_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.set_flex_mount.doctree
index a7de6f2370d5538eb6eb35039ed18e443aac4ac7..3a7297edd6240f126653ac6140cf872b3e00e6c8 100644
GIT binary patch
delta 24
gcmbQJF;Qc~F?RN3v(z-BWP{0pT#B3Du`BZc0BcbQ1^@s6

delta 24
gcmbQJF;Qc~F?M!yla#b%)5OVvT#B3Du`BZc0BWHK3jhEB

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.set_measurement_type.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.set_measurement_type.doctree
index 5b64ea66953c1bdd6e288a3e9defa04cb0f661b5..991e83c358b0f0a76a48fa44cab6483cc472ee8d 100644
GIT binary patch
delta 20
bcmez1_rY&NIXio@S!$Y5vccv$_D}KvT+|38

delta 20
bcmez1_rY&NIXk<#NlIF>Y2xNO_D}KvTo4E;

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.set_precision.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.set_precision.doctree
index 644f93ecbc35be6bb4f96ac51202a6aaa0a38806..7834350174c82a55abb08f3bba61babc027ab781 100644
GIT binary patch
delta 24
fcmX@-cg}BvFgts)S!$Y5vccrpoQj*R*@YDVZubYX

delta 24
fcmX@-cg}BvFgv@sNlIF>Y2xJBoQj*R*@YDVZbt{W

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.teach_flex_mount.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.PosConCM.teach_flex_mount.doctree
index fa9c9920cb7b46b155de5be32505a8d979746571..221c6077aea9b2f1c53879831e2bdae81b45acce 100644
GIT binary patch
delta 20
bcmdm>zCnFM5<7dcS!$Y5vccv|c6S~CO5g@=

delta 20
bcmdm>zCnFM5<9!ONlIF>Y2xNgc6S~CN*o4r

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.ProtocolError.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.ProtocolError.doctree
index 41b339b1dc9ad64d52274c7e14d773218b43d47d..272b5f9d52c3411d78d997bdde9fc42022c5023a 100644
GIT binary patch
delta 24
gcmcbqc~f)46gKu`v(z-BWP`~%+^U-ouu1X(0CLX=4gdfE

delta 24
gcmcbqc~f)46gGBqla#b%)5OU-+^U-ouu1X(0CFD)6951J

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.SensorTimeoutError.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.SensorTimeoutError.doctree
index 4f40dad22f81e16afd9e162d1808b2f187c64144..f4f5e9371c4993234446c0435fc1a04e76d9a20b 100644
GIT binary patch
delta 20
bcmZ3fwNh)tb~g58v(z-BWP{E7*s}QmP|621

delta 20
bcmZ3fwNh)tb~bi%la#b%)5OjD*s}QmPzDD%

diff --git a/latest/.doctrees/api/generated/compas_fab.sensors.SerialSensor.doctree b/latest/.doctrees/api/generated/compas_fab.sensors.SerialSensor.doctree
index e969076eb9a9094def5a3f7efa15709a12cf216c..c120fe5bf105e89d8bec97486d1a1edb5f245a0a 100644
GIT binary patch
delta 23
fcmX?Sd(L*l5;pc^v(z-BWP?d8@|#bwu}A;_ZHx!?

delta 23
fcmX?Sd(L*l5;k^ola#b%)5J+E@|#bwu}A;_Y}W_+

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.LazyLoader.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.LazyLoader.doctree
index 692c1df7b9c19bf7c0313baf7c0bd145a51244ca..a31eb2d1af11ca76e814bf7fa7af7c24c04b1c21 100644
GIT binary patch
delta 24
gcmdm_ze#_?1~&F&v(z-BWP{0l+!~wjvt1Sd0CW8bC;$Ke

delta 24
gcmdm_ze#_?1~ztcla#b%)5OVr+!~wjvt1Sd0CP<VEdT%j

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.allclose.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.allclose.doctree
index a8cd8d032c9a1755f4b786bff4f24f3da9fddfca..493a7611e4d181fdb564ac4699b70c34c882b3b6 100644
GIT binary patch
delta 24
fcmcbkb4O>xdk*$wv(z-BWP{1x+$x);IGuO_d3FdI

delta 24
fcmcbkb4O>xdk%JUla#b%)5OW%+$x);IGuO_c*Y1H

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.arange.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.arange.doctree
index cd132925a0de405e498202f55ec5305e81f39735..426db6fdc0e2d8cd79770b9c31a20e49e5c69e27 100644
GIT binary patch
delta 24
fcmdn2wOMP!S9bPfv(z-BWP{0iTq>ItID~ltaOekt

delta 24
fcmdn2wOMP!S9W%Dla#b%)5OVoTq>ItID~lta5x8s

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.argmax.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.argmax.doctree
index 05f1b5f80735d0fb6342c50b5938c2ecc1cb81fe..2b3fc01bb2da26a92013467c9fbc60d6b0c51f49 100644
GIT binary patch
delta 24
gcmeyS{Y`tr1~&F&v(z-BWP`~QnN>F5W|QUz0Da5|;s5{u

delta 24
gcmeyS{Y`tr1~ztcla#b%)5OUWnN>F5W|QUz0DT+?=Kufz

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.argmin.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.argmin.doctree
index 212b15aab8dabb4c7ad6720500aa5c96ea7a8a4e..06f822f970774128cce400fcddf28a5b7d5d891b 100644
GIT binary patch
delta 24
gcmeyW{Z)Iz1~&F&v(z-BWP`~QnN>F5W|QIv0DYVY-v9sr

delta 24
gcmeyW{Z)Iz1~ztcla#b%)5OUWnN>F5W|QIv0DSBS<NyEw

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.argsort.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.argsort.doctree
index bf78853c86f6e63978bed6733cbfcec89e892814..1c8b78081f5a92b45aa5f5d1ed5a58794f0c2de9 100644
GIT binary patch
delta 20
bcmbQDGeu{^PB!*rv(z-BWP{BI*h2ULP3;E!

delta 20
bcmbQDGeu{^PBwOPla#b%)5OgO*h2ULO(_Qf

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.clamp.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.clamp.doctree
index 0603b96ec2a19dd6af6c6cf4d19b8e3a91c81b5d..b6f6941e16b5ac95009b621775a836af298e7e55 100644
GIT binary patch
delta 24
fcmX@BcUEtM90z-{S!$Y5vccr}%qp8bIav4sYCs2V

delta 24
fcmX@BcUEtM90$9(NlIF>Y2xJh%qp8bIav4sX^;nU

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.diffs.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.diffs.doctree
index e41fedda032b68eb582b14f35dbee5fd21c3ee70..e7c54bcd978fc0d55965da05162a17040ede6dc4 100644
GIT binary patch
delta 24
fcmbQGH%o7W4m*3YS!$Y5vccpoW|ht1?1%XQV;Kj_

delta 24
fcmbQGH%o7W4m-QKNlIF>Y2xHAW|ht1?1%XQVrd7^

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.from_tcf_to_t0cf.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.from_tcf_to_t0cf.doctree
index 89f5f0d5173e85ae816a6055e5ad29e91f08e20d..96226d2633da4c1a1a606458d787b4999a9fd942 100644
GIT binary patch
delta 20
bcmbOnFgaj@2M2qyS!$Y5vcYD5jwA8_ONIvI

delta 20
bcmbOnFgaj@2M4>kNlIF>Y2s#ojwA8_O2P)|

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.list_files_in_directory.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.list_files_in_directory.doctree
index 80ce51d896e2a6d64abc9ae937b96833cc7ad497..5d242b581cf61c329014a15d88f41b1014fd802d 100644
GIT binary patch
delta 24
gcmcZ<e<^;$aW3{`v(z-BWP`~HEb5!Ta@|z{0D#{Kr2qf`

delta 24
gcmcZ<e<^;$aV~aqla#b%)5OUNEb5!Ta@|z{0DvzEssI20

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.map_range.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.map_range.doctree
index 67a61f59b285276f2294b6c13fd97c34f5ba9e57..0c11284b9358e2059e1000d7fd2117e331e0b53b 100644
GIT binary patch
delta 20
bcmbQNGg)WDQcm_{v(z-BWP{CXIMaCmOrZwo

delta 20
bcmbQNGg)WDQciYrla#b%)5OhdIMaCmOWg+T

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.range_geometric_row.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.range_geometric_row.doctree
index 1e38c5a43912aa0ae756198ff9d21197a3fd6811..d56db0444c9fb35439d9d331a7f723d2b0698937 100644
GIT binary patch
delta 24
gcmaE(_eO6+ASZjWS!$Y5vccpH+$x)EI6v?L0Cy4z761SM

delta 24
gcmaE(_eO6+ASb)INlIF>Y2xG!+$x)EI6v?L0Cr*t8vp<R

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.read_csv_to_dictionary.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.read_csv_to_dictionary.doctree
index ed505e3336e1dc746f7fe6da9d67a383885bcd94..8bd16a5ae03a9b7b639775c859aa474f5a4d24b7 100644
GIT binary patch
delta 24
gcmaFi_`-1mGbekpS!$Y5vccqo+$x*(ICqHy0CK_zeE<Le

delta 24
gcmaFi_`-1mGbg*bNlIF>Y2xIA+$x*(ICqHy0CExtf&c&j

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.read_data_from_pickle.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.read_data_from_pickle.doctree
index 21212a02495b0260820094be8128ea3d65199bdc..ad6912880ae9b2fb02656bfd2918264831993600 100644
GIT binary patch
delta 24
gcmdmJw$W^Z9y@!oS!$Y5vccqc%qp8B*>4B~0BjcsiU0rr

delta 24
gcmdmJw$W^Z9y`0aNlIF>Y2xH}%qp8B*>4B~0BdImj{pDw

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.sign.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.sign.doctree
index b119131136b73f84f1fe931541903b6915ddb5cf..85717150c359753c400e839d630ecc134c749bfd 100644
GIT binary patch
delta 20
bcmbPWHo<JeOg8ppv(z-BWP{BM*a}1dOqvGi

delta 20
bcmbPWHo<JeOg46Nla#b%)5OgS*a}1dOV$SN

diff --git a/latest/.doctrees/api/generated/compas_fab.utilities.write_data_to_pickle.doctree b/latest/.doctrees/api/generated/compas_fab.utilities.write_data_to_pickle.doctree
index cc03a9900339a9369d0fac798c7b1450afd42ef2..112ad0a910197026af6f6f6072d5eceed17aa526 100644
GIT binary patch
delta 24
gcmexk_Q!0)S$6hhv(z-BWP{1?m{m6aU~dry0EaRP3IG5A

delta 24
gcmexk_Q!0)S$1}Fla#b%)5OW|m{m6aU~dry0EU7J4*&oF

diff --git a/latest/.doctrees/changelog.doctree b/latest/.doctrees/changelog.doctree
index 080bcaef0a6d3023d41fe139c101aa90c7109358..b931488b2779c9ec30a211deee993642f66f51a2 100644
GIT binary patch
delta 983
zcmbQ(!~A~|Giw9u)RL1MSr;)ft&HEil5qiZJ(re3P-<RcZfc4`LO^9wX--aRiE~b7
zYF>$6dTL30a$<5uYD#=jeo}r(f<j3?K}GSo`6;P6V5Ny=`I#vS$@zI{rNx=~c?wCX
zCFQB9c?u;NsR{`}AQOG_>%oc>^MJO4MG_Q}a}tY-_3$_=HLtj|D3!3wu&9GN4$1U-
z3=d(`mY$lQn_5y-i8TbUX#fX8JX{-+g=qHql<0wj7*7Zz$s@VnDKR-a6&P#<If;3B
osYS&KdHLm&qgf{~WfpIK%eo_SG=d?idYDG=#>mZc_Lg!00A3<>LjV8(

delta 73
zcmexAiFslVGiw9uRJLOqSr;)feTv;2m$-m=^2Rjb$tTkKCtEvlZ%#^I5y_ds9y=vN
KECRc{Y!U!Y<Q>WY

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh.doctree
index eefe1274cb764fbf94d0b725027dee0a92fd9d2c..9a34d2aaa39106487eda6ef599b2a51218733769 100644
GIT binary patch
delta 20
bcmbQ>H^Fa1B^P_LS!$Y5vccvCt_d;#P9_Hl

delta 20
bcmbQ>H^Fa1B^SH7NlIF>Y2xMvt_d;#O=1TQ

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.doctree
index 4d608758a23e7c4b40c38b4a5abc0f83f58a1517..c1294aa663b3a5d50499e2ed12a5860e6b997128 100644
GIT binary patch
delta 20
bcmez2_``8S89RHjS!$Y5vccwB_G(E0TPX*d

delta 20
bcmez2_``8S89TeVNlIF>Y2xNu_G(E0T4e{I

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh.doctree
index eb9ff31f3ce2ba8010b79f4c7b8d9fb4126555d0..b0d416ebaec547caeed4c15bff88eaacbf1c5dcb 100644
GIT binary patch
delta 24
gcmX@+b<AtSMo#u*v(z-BWP{0tEascvbB0R;0DB(^7XSbN

delta 24
gcmX@+b<AtSMoxBfla#b%)5OVzEascvbB0R;0D5l;8~^|S

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.doctree
index b80411a10b654e1a4f1148fa686e7c1afb738724..18fb287c4a55acc3bc5046e4b512f2c3477ea37e 100644
GIT binary patch
delta 24
fcmbQ}FwtRy89RHjS!$Y5vccp4Zu8A0>~kdmWLyWx

delta 24
fcmbQ}FwtRy89TeVNlIF>Y2xGnZu8A0>~kdmW2^_w

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh.doctree
index be3bc78a6ac5fe6ecf3f65017e2468cd38aa7a2b..c7ac371ace41f20b80b4f8bbf82014f60fb01901 100644
GIT binary patch
delta 24
gcmdnzz0Z5Yb58bTv(z-BWP`~Ec+5Aea?O+m0DbHU4*&oF

delta 24
gcmdnzz0Z5Yb53@1la#b%)5OUKc+5Aea?O+m0DU|O6aWAK

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.doctree
index 024ddb1c0989250ccd7c19ba67b99b1b6259c1d5..75eb0a186b0a180cc576bb93dfcc0471b7bdc09f 100644
GIT binary patch
delta 24
fcmaFi@WNq(A3J-pS!$Y5vccqRZu8AO>~|ypcYFx|

delta 24
fcmaFi@WNq(A3M9bNlIF>Y2xH;Zu8AO>~|ypcFYL{

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.BackendFeature.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.BackendFeature.doctree
index 70eeefd0e93aecc967afe683d32626390c75b5c4..25b37cb831b14e5f336e3280f85de600e693dd53 100644
GIT binary patch
delta 24
fcmbPZJ;!>38asQkS!$Y5vccp;9`ns9>=t4GW6cL&

delta 24
fcmbPZJ;!>38aunWNlIF>Y2xHW9`ns9>=t4GV;u)%

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh.doctree
index cbf6f21ffa5918d0447ce72a3e153294ee356a28..1fa7ccbf8cfa7319da10ee3479e649132548ec42 100644
GIT binary patch
delta 24
gcmeyV^HXO-6DNDJS!$Y5vccpS9^K8`I1lpx0D9dC9{>OV

delta 24
gcmeyV^HXO-6DPa5NlIF>Y2xG<9^K8`I1lpx0D3J6Bme*a

diff --git a/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_collision_mesh.doctree b/latest/.doctrees/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_collision_mesh.doctree
index e7b9acae3ef82ebd68628f5cb79043ff90dcd69e..9d27c69d0eb053430a4abeb78eb880fdadb1a15c 100644
GIT binary patch
delta 24
fcmeyM{Xu(!J|}y!S!$Y5vccqc+`5~SIeU2kb-M__

delta 24
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diff --git a/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward.html b/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward.html
index be6bb4a85..a42135bff 100644
--- a/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>ABB_IRB4600_40_255Kinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">ABB_IRB4600_40_255Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ABB_IRB4600_40_255Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.html b/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.html
index 41a692f17..ea58e16b5 100644
--- a/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.html
+++ b/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.html
@@ -623,7 +623,7 @@
 <h1>ABB_IRB4600_40_255Kinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ABB_IRB4600_40_255Kinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">ABB_IRB4600_40_255Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L62"><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.backends.</span></span><span class="sig-name descname"><span class="pre">ABB_IRB4600_40_255Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L62"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.SphericalWristKinematics.html#compas_fab.backends.SphericalWristKinematics" title="compas_fab.backends.kinematics.solvers.spherical_wrist_kinematics.SphericalWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">SphericalWristKinematics</span></code></a></p>
 <p>Analytical IK solver for the ABB IRB4600 40/255 robot.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse.html b/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse.html
index 82d9e7143..6488ca53d 100644
--- a/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>ABB_IRB4600_40_255Kinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">ABB_IRB4600_40_255Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ABB_IRB4600_40_255Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.html b/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.html
index 338697339..cff380e41 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalInverseKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalInverseKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">AnalyticalInverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/analytical_inverse_kinematics.py#L10"><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.backends.</span></span><span class="sig-name descname"><span class="pre">AnalyticalInverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/analytical_inverse_kinematics.py#L10"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="../../developer/generated/compas_fab.backends.interfaces.InverseKinematics.html" title="compas_fab.backends.interfaces.backend_features.InverseKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">InverseKinematics</span></code></a></p>
 <p>Callable to calculate the robot’s inverse kinematics for a given frame.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics.html b/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics.html
index cf27f9e60..631c87534 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalInverseKinematics.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/kinematics/analytical_inverse_kinematics.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/kinematics/analytical_inverse_kinematics.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic (IK) for a given frame.</p>
 <p>The IK for 6-axis industrial robots returns by default 8 possible solutions.
 These solutions have an order. That means that if you call IK on two
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.html b/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.html
index c976f475f..17911a051 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPlanCartesianMotion</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPlanCartesianMotion">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">AnalyticalPlanCartesianMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py#L15"><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.backends.</span></span><span class="sig-name descname"><span class="pre">AnalyticalPlanCartesianMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html" title="compas_fab.backends.interfaces.backend_features.PlanCartesianMotion"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlanCartesianMotion</span></code></a></p>
 <p class="rubric">Methods</p>
 <table class="autosummary longtable table autosummary">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion.html b/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion.html
index 0ec4655e8..03166c24f 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPlanCartesianMotion.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a cartesian motion path (linear in tool space).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations.html b/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations.html
index 73c22a1ce..95975666f 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPlanCartesianMotion.smooth_configurations</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">smooth_configurations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py#L127"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">smooth_configurations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/analytical_plan_cartesian_motion.py#L127"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh.html
index 1bcda4827..c3b27d960 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_collision_mesh.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_collision_mesh.html
index 0b9ef1927..077a8fc74 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh.html
index 8c066bf5a..f147d9e87 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.body_from_obj.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.body_from_obj.html
index 23d8eba4b..bb720d64f 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.body_from_obj.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.body_from_obj.html
@@ -59,7 +59,7 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="AnalyticalPyBulletClient.cache_robot" href="compas_fab.backends.AnalyticalPyBulletClient.cache_robot.html" />
+    <link rel="next" title="AnalyticalPyBulletClient.cache_robot_model" href="compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html" />
     <link rel="prev" title="AnalyticalPyBulletClient.append_collision_mesh" href="compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.body_from_obj</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.body_from_obj">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">body_from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0.5,</span> <span class="pre">0.5,</span> <span class="pre">0.5,</span> <span class="pre">1)</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L735"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">body_from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0.5,</span> <span class="pre">0.5,</span> <span class="pre">0.5,</span> <span class="pre">1)</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L743"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a PyBullet body from an OBJ file.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html
new file mode 100644
index 000000000..6668c53b0
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html
@@ -0,0 +1,728 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+    <link rel="icon" href="../../_static/compas.ico" type="image/x-icon">
+    <title>AnalyticalPyBulletClient.cache_robot_model &#8212; COMPAS FAB</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "light";
+  </script>
+  
+  <!-- Loaded before other Sphinx assets -->
+  <link href="../../_static/styles/theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/bootstrap.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/pydata-sphinx-theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+
+  
+  <link href="../../_static/vendor/fontawesome/6.1.2/css/all.min.css?digest=e353d410970836974a52" rel="stylesheet" />
+  <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-solid-900.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
+
+    <link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/copybutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/tabs.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/togglebutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/sphinx-design.5ea377869091fd0449014c60fc090103.min.css" />
+  
+  <!-- Pre-loaded scripts that we'll load fully later -->
+  <link rel="preload" as="script" href="../../_static/scripts/bootstrap.js?digest=e353d410970836974a52" />
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+  <section id="analyticalpybulletclient-cache-robot-model">
+<h1>AnalyticalPyBulletClient.cache_robot_model</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model">
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">cache_robot_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">concavity</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L311"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Saves an editable copy of the robot’s model and its meshes
+for shadowing the state of the robot on the PyBullet server.</p>
+<dl class="field-list">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><dl>
+<dt><strong>robot</strong><span class="classifier"><a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a></span></dt><dd><p>The robot to be saved for use with PyBullet.</p>
+</dd>
+<dt><strong>concavity</strong><span class="classifier"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.12)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bool</span></code></a></span></dt><dd><p>When <code class="docutils literal notranslate"><span class="pre">False</span></code> (the default), the mesh will be loaded as its
+convex hull for collision checking purposes.  When <code class="docutils literal notranslate"><span class="pre">True</span></code>,
+a non-static mesh will be decomposed into convex parts using v-HACD.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><dl class="simple">
+<dt><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-exc docutils literal notranslate"><span class="pre">Exception</span></code></a></dt><dd><p>If geometry has not been loaded.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+
+                </article>
+              
+              
+              
+                <footer class="bd-footer-article">
+                  
+                </footer>
+              
+            </div>
+            
+            
+              
+                <div class="bd-sidebar-secondary bd-toc"><div class="sidebar-secondary-items sidebar-secondary__inner">
+
+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> On this page
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model"><code class="docutils literal notranslate"><span class="pre">AnalyticalPyBulletClient.cache_robot_model()</span></code></a></li>
+</ul>
+  </nav></div>
+
+</div></div>
+              
+            
+          </div>
+          <footer class="bd-footer-content">
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+<script src="../../_static/scripts/pydata-sphinx-theme.js?digest=e353d410970836974a52"></script>
+
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+<div class="bd-footer__inner bd-page-width">
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+      
+        <div class="footer-item">
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+    
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+      
+        <div class="footer-item">
+  <p class="sphinx-version">
+    Created using <a href="https://www.sphinx-doc.org/">Sphinx</a> 6.2.1.
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\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision.html
index dc316ef54..61a059e6a 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision.html
@@ -60,7 +60,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="AnalyticalPyBulletClient.check_collision_with_objects" href="compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects.html" />
-    <link rel="prev" title="AnalyticalPyBulletClient.cache_robot" href="compas_fab.backends.AnalyticalPyBulletClient.cache_robot.html" />
+    <link rel="prev" title="AnalyticalPyBulletClient.cache_robot_model" href="compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.check_collision_objects_for_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_objects_for_collision</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L547"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_objects_for_collision</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L554"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether any of the collision objects are colliding.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects.html
index 087d8f652..2b2ff0c35 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.check_collision_with_objects</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_with_objects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L506"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_with_objects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L513"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether the robot and its attached collision objects with its current
 configuration is is colliding with any collision objects.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collisions.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collisions.html
index 596a13f87..c64021e4d 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collisions.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collisions.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.check_collisions</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.check_collisions">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L483"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L490"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether the current or given configuration is in collision.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision.html
index e2346a065..86295cad5 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.check_robot_self_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_robot_self_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L523"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_robot_self_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L530"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether the robot and its attached collision objects with its current
 configuration is colliding with itself.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.connect.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.connect.html
index f07a2c2e9..493a348ce 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.connect.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.connect.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.connect</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.connect">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">connect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">shadows</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</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">width</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">height</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L47"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">connect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">shadows</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</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">width</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">height</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Connect from the PyBullet server.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body.html
index fbf73de29..cf91d72b5 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.convert_mesh_to_body</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">convert_mesh_to_body</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">_name</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">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L683"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">convert_mesh_to_body</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">_name</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">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L691"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert compas mesh and its frame to a pybullet body.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.disconnect.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.disconnect.html
index cc0ca07a5..5a3f4bb17 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.disconnect.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.disconnect.html
@@ -59,7 +59,7 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="AnalyticalPyBulletClient.ensure_cached_robot" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot.html" />
+    <link rel="next" title="AnalyticalPyBulletClient.ensure_cached_robot_model" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model.html" />
     <link rel="prev" title="AnalyticalPyBulletClient.convert_mesh_to_body" href="compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.disconnect</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.disconnect">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">disconnect</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L104"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">disconnect</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L109"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Disconnect from the PyBullet server.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model.html
new file mode 100644
index 000000000..7e34688aa
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model.html
@@ -0,0 +1,709 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+    <link rel="icon" href="../../_static/compas.ico" type="image/x-icon">
+    <title>AnalyticalPyBulletClient.ensure_cached_robot_model &#8212; COMPAS FAB</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "light";
+  </script>
+  
+  <!-- Loaded before other Sphinx assets -->
+  <link href="../../_static/styles/theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/bootstrap.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/pydata-sphinx-theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+
+  
+  <link href="../../_static/vendor/fontawesome/6.1.2/css/all.min.css?digest=e353d410970836974a52" rel="stylesheet" />
+  <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-solid-900.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
+
+    <link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/copybutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/tabs.css" />
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+  <!-- Pre-loaded scripts that we'll load fully later -->
+  <link rel="preload" as="script" href="../../_static/scripts/bootstrap.js?digest=e353d410970836974a52" />
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+  <section id="analyticalpybulletclient-ensure-cached-robot-model">
+<h1>AnalyticalPyBulletClient.ensure_cached_robot_model</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">ensure_cached_robot_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L361"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p>
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diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry.html
new file mode 100644
index 000000000..5d517a4dc
--- /dev/null
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@@ -0,0 +1,709 @@
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+    
+    <li class="breadcrumb-item active" aria-current="page">AnalyticalPyBulletClient.ensure_cached_robot_model_geometry</li>
+  </ul>
+</nav>
+</div>
+      
+    </div>
+  
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+</div>
+              
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+<div id="searchbox"></div>
+                <article class="bd-article" role="main">
+                  
+  <section id="analyticalpybulletclient-ensure-cached-robot-model-geometry">
+<h1>AnalyticalPyBulletClient.ensure_cached_robot_model_geometry</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">ensure_cached_robot_model_geometry</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L367"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if the geometry of a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p>
+</dd></dl>
+
+</section>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry"><code class="docutils literal notranslate"><span class="pre">AnalyticalPyBulletClient.ensure_cached_robot_model_geometry()</span></code></a></li>
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\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision.html
index 0f79c9e66..971650fd5 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision.html
@@ -60,7 +60,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="AnalyticalPyBulletClient.forward_kinematics" href="compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html" />
-    <link rel="prev" title="AnalyticalPyBulletClient.ensure_cached_robot_geometry" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry.html" />
+    <link rel="prev" title="AnalyticalPyBulletClient.ensure_cached_robot_model_geometry" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.filter_configurations_in_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">filter_configurations_in_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L458"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">filter_configurations_in_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L465"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Filters from a list of configurations those which are in collision.
 Used for a custom inverse kinematics function.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html
index 56cd9f1d5..d637c9ee2 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html
@@ -59,7 +59,7 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="AnalyticalPyBulletClient.get_cached_robot" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot.html" />
+    <link rel="next" title="AnalyticalPyBulletClient.get_cached_robot_filepath" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html" />
     <link rel="prev" title="AnalyticalPyBulletClient.filter_configurations_in_collision" href="compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html
index 014d69cb7..eb3095a88 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html
@@ -59,8 +59,8 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="AnalyticalPyBulletClient.get_planning_scene" href="compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene.html" />
-    <link rel="prev" title="AnalyticalPyBulletClient.get_cached_robot" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot.html" />
+    <link rel="next" title="AnalyticalPyBulletClient.get_cached_robot_model" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html" />
+    <link rel="prev" title="AnalyticalPyBulletClient.forward_kinematics" href="compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.get_cached_robot_filepath</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_cached_robot_filepath</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L390"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_cached_robot_filepath</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L396"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the filepath of the editable copy of the robot’s model for shadowing the state
 of the robot on the PyBullet server.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html
new file mode 100644
index 000000000..5aed10675
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html
@@ -0,0 +1,729 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+    <link rel="icon" href="../../_static/compas.ico" type="image/x-icon">
+    <title>AnalyticalPyBulletClient.get_cached_robot_model &#8212; COMPAS FAB</title>
+  
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+    
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+  </ul>
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+      
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+              
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+                <article class="bd-article" role="main">
+                  
+  <section id="analyticalpybulletclient-get-cached-robot-model">
+<h1>AnalyticalPyBulletClient.get_cached_robot_model</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model">
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_cached_robot_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L373"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Returns the editable copy of the robot’s model for shadowing the state
+of the robot on the PyBullet server.</p>
+<dl class="field-list">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><dl>
+<dt><strong>robot</strong><span class="classifier"><a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a></span></dt><dd><p>The robot saved for use with PyBullet.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><dl class="simple">
+<dt><a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.RobotModel.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.RobotModel</span></code></a></dt><dd></dd>
+</dl>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><dl class="simple">
+<dt><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-exc docutils literal notranslate"><span class="pre">Exception</span></code></a></dt><dd><p>If the robot has not been cached.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+
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+              
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+
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+    <i class="fa-solid fa-list"></i> On this page
+  </div>
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+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model"><code class="docutils literal notranslate"><span class="pre">AnalyticalPyBulletClient.get_cached_robot_model()</span></code></a></li>
+</ul>
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\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene.html
index ef05eaa2c..04d5c35e1 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene.html
@@ -60,7 +60,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="AnalyticalPyBulletClient.get_robot_configuration" href="compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration.html" />
-    <link rel="prev" title="AnalyticalPyBulletClient.get_cached_robot_filepath" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html" />
+    <link rel="prev" title="AnalyticalPyBulletClient.get_cached_robot_model" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration.html
index 8a207883d..a7db1598e 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.get_robot_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L663"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L671"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Gets the robot’s current pose.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_uid.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_uid.html
index 4940af2e1..5202a4ac5 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_uid.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_uid.html
@@ -623,13 +623,13 @@
 <h1>AnalyticalPyBulletClient.get_uid</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.get_uid">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_uid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cached_robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L412"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_uid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cached_robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L419"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the internal PyBullet id of the robot’s model for shadowing the state
 of the robot on the PyBullet server.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><dl>
-<dt><strong>cached_robot</strong><span class="classifier"><a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.RobotModel.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.RobotModel</span></code></a></span></dt><dd><p>The robot model saved for use with PyBullet.</p>
+<dt><strong>cached_robot_model</strong><span class="classifier"><a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.RobotModel.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.RobotModel</span></code></a></span></dt><dd><p>The robot model saved for use with PyBullet.</p>
 </dd>
 </dl>
 </dd>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.html
index 184825345..9fde46985 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">AnalyticalPyBulletClient</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L829"><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.backends.</span></span><span class="sig-name descname"><span class="pre">AnalyticalPyBulletClient</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L837"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.PyBulletClient.html#compas_fab.backends.PyBulletClient" title="compas_fab.backends.pybullet.client.PyBulletClient"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletClient</span></code></a></p>
 <p>Combination of PyBullet as the client for Collision Detection and Analytical Inverse Kinematics.</p>
 <p class="rubric">Methods</p>
@@ -652,7 +652,7 @@ <h1>AnalyticalPyBulletClient</h1>
 <tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.body_from_obj.html#compas_fab.backends.AnalyticalPyBulletClient.body_from_obj" title="compas_fab.backends.AnalyticalPyBulletClient.body_from_obj"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_from_obj</span></code></a></p></td>
 <td><p>Create a PyBullet body from an OBJ file.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.cache_robot.html#compas_fab.backends.AnalyticalPyBulletClient.cache_robot" title="compas_fab.backends.AnalyticalPyBulletClient.cache_robot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cache_robot</span></code></a></p></td>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html#compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model" title="compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cache_robot_model</span></code></a></p></td>
 <td><p>Saves an editable copy of the robot's model and its meshes for shadowing the state of the robot on the PyBullet server.</p></td>
 </tr>
 <tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision.html#compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision" title="compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">check_collision_objects_for_collision</span></code></a></p></td>
@@ -676,10 +676,10 @@ <h1>AnalyticalPyBulletClient</h1>
 <tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.disconnect.html#compas_fab.backends.AnalyticalPyBulletClient.disconnect" title="compas_fab.backends.AnalyticalPyBulletClient.disconnect"><code class="xref py py-obj docutils literal notranslate"><span class="pre">disconnect</span></code></a></p></td>
 <td><p>Disconnect from the PyBullet server.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot" title="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot</span></code></a></p></td>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model" title="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot_model</span></code></a></p></td>
 <td><p>Checks if a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry" title="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot_geometry</span></code></a></p></td>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry" title="compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot_model_geometry</span></code></a></p></td>
 <td><p>Checks if the geometry of a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p></td>
 </tr>
 <tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision.html#compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision" title="compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">filter_configurations_in_collision</span></code></a></p></td>
@@ -688,12 +688,12 @@ <h1>AnalyticalPyBulletClient</h1>
 <tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics.html#compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics" title="compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics"><code class="xref py py-obj docutils literal notranslate"><span class="pre">forward_kinematics</span></code></a></p></td>
 <td><p>Forwards call to appropriate method in the planner.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot" title="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot</span></code></a></p></td>
-<td><p>Returns the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath" title="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot_filepath</span></code></a></p></td>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath" title="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot_filepath</span></code></a></p></td>
 <td><p>Returns the filepath of the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.</p></td>
 </tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model" title="compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot_model</span></code></a></p></td>
+<td><p>Returns the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.</p></td>
+</tr>
 <tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene.html#compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene" title="compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_planning_scene</span></code></a></p></td>
 <td><p>Forwards call to appropriate method in the planner.</p></td>
 </tr>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.inverse_kinematics.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.inverse_kinematics.html
index 0b3ed40bc..eaa4ad3a9 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L835"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L843"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_robot.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_robot.html
index ea122219e..dad458ac1 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_robot.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_robot.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.load_robot</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.load_robot">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">urdf_file</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resource_loaders</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">concavity</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">precision</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L216"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">urdf_file</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resource_loaders</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">concavity</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">precision</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L221"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a pybullet robot using the input urdf file.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_semantics.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_semantics.html
index 6bbe67691..08b353421 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_semantics.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_semantics.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.load_semantics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.load_semantics">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_semantics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">srdf_filename</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L258"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_semantics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">srdf_filename</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L263"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Loads the semantic information of a robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_ur5.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_ur5.html
index df04b79a1..1217718b9 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_ur5.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.load_ur5.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.load_ur5</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.load_ur5">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_ur5</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">load_geometry</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">concavity</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_ur5</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">load_geometry</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">concavity</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L185"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>“Load a UR5 robot to PyBullet.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_cartesian_motion.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_cartesian_motion.html
index 300c3dbf0..fcabbc9d2 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L839"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L847"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_motion.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_motion.html
index 72b3da0dd..e5450ec54 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_motion.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reload_from_cache.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reload_from_cache.html
index 4709fa194..9b32c53b9 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reload_from_cache.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reload_from_cache.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.reload_from_cache</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.reload_from_cache">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reload_from_cache</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L283"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reload_from_cache</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L288"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Reloads the PyBullet server with the robot’s cached model.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_attached_collision_mesh.html
index 66ade38dd..b072311de 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_collision_mesh.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_collision_mesh.html
index 1ee77179a..00ea941bb 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reset_planning_scene.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reset_planning_scene.html
index a2b54526f..07446d493 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reset_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration.html
index 1395bfaca..9ce6eefd1 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.set_robot_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.set_robot_configuration">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">set_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L641"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">set_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L649"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sets the robot’s pose to the given configuration. Should be followed by
 <cite>step_simulation</cite> for visualization purposes.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.step_simulation.html b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.step_simulation.html
index 063cc0167..943fd24bc 100644
--- a/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.step_simulation.html
+++ b/latest/api/generated/compas_fab.backends.AnalyticalPyBulletClient.step_simulation.html
@@ -623,7 +623,7 @@
 <h1>AnalyticalPyBulletClient.step_simulation</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.AnalyticalPyBulletClient.step_simulation">
-<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">step_simulation</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L171"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AnalyticalPyBulletClient.</span></span><span class="sig-name descname"><span class="pre">step_simulation</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L176"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>By default, the physics server will not step the simulation,
 unless you explicitly send a <code class="docutils literal notranslate"><span class="pre">step_simulation</span></code> command.  This
 method will perform all the actions in a single forward dynamics
diff --git a/latest/api/generated/compas_fab.backends.BackendError.html b/latest/api/generated/compas_fab.backends.BackendError.html
index 1a0986c0f..53e3c8f22 100644
--- a/latest/api/generated/compas_fab.backends.BackendError.html
+++ b/latest/api/generated/compas_fab.backends.BackendError.html
@@ -623,7 +623,7 @@
 <h1>BackendError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.BackendError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">BackendError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/exceptions.py#L13"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">BackendError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/exceptions.py#L13"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Exception</span></code></a></p>
 <p>Indicates an exceptional state that caused an error
 within the backend engine.</p>
diff --git a/latest/api/generated/compas_fab.backends.BackendFeatureNotSupportedError.html b/latest/api/generated/compas_fab.backends.BackendFeatureNotSupportedError.html
index 4bcfa91ba..f3becc534 100644
--- a/latest/api/generated/compas_fab.backends.BackendFeatureNotSupportedError.html
+++ b/latest/api/generated/compas_fab.backends.BackendFeatureNotSupportedError.html
@@ -623,7 +623,7 @@
 <h1>BackendFeatureNotSupportedError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.BackendFeatureNotSupportedError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">BackendFeatureNotSupportedError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/exceptions.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">BackendFeatureNotSupportedError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/exceptions.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Exception</span></code></a></p>
 <p>Indicates that the selected backend does not support the selected feature.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.CancellableFutureResult.cancel.html b/latest/api/generated/compas_fab.backends.CancellableFutureResult.cancel.html
index 7716b7cde..52ff7b5e7 100644
--- a/latest/api/generated/compas_fab.backends.CancellableFutureResult.cancel.html
+++ b/latest/api/generated/compas_fab.backends.CancellableFutureResult.cancel.html
@@ -623,7 +623,7 @@
 <h1>CancellableFutureResult.cancel</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.CancellableFutureResult.cancel">
-<span class="sig-prename descclassname"><span class="pre">CancellableFutureResult.</span></span><span class="sig-name descname"><span class="pre">cancel</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/74dfc5a/src/compas_fab/backends/tasks.py#L65"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CancellableFutureResult.</span></span><span class="sig-name descname"><span class="pre">cancel</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/c6ef2c0/src/compas_fab/backends/tasks.py#L65"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Attempt to cancel the operation.</p>
 <p>If the operation is currently being executed and cannot be cancelled
 then the method will return <code class="docutils literal notranslate"><span class="pre">False</span></code>, otherwise the call will
diff --git a/latest/api/generated/compas_fab.backends.CancellableFutureResult.html b/latest/api/generated/compas_fab.backends.CancellableFutureResult.html
index d303c8929..c5bff511e 100644
--- a/latest/api/generated/compas_fab.backends.CancellableFutureResult.html
+++ b/latest/api/generated/compas_fab.backends.CancellableFutureResult.html
@@ -623,7 +623,7 @@
 <h1>CancellableFutureResult</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.CancellableFutureResult">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">CancellableFutureResult</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/tasks.py#L59"><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.backends.</span></span><span class="sig-name descname"><span class="pre">CancellableFutureResult</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/tasks.py#L59"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.FutureResult.html#compas_fab.backends.FutureResult" title="compas_fab.backends.tasks.FutureResult"><code class="xref py py-class docutils literal notranslate"><span class="pre">FutureResult</span></code></a></p>
 <p>Represents a future result of a long-running asynchronous operation that can be cancelled.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.CancellableFutureResult.result.html b/latest/api/generated/compas_fab.backends.CancellableFutureResult.result.html
index 5d9ae81dd..d08e70721 100644
--- a/latest/api/generated/compas_fab.backends.CancellableFutureResult.result.html
+++ b/latest/api/generated/compas_fab.backends.CancellableFutureResult.result.html
@@ -623,7 +623,7 @@
 <h1>CancellableFutureResult.result</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.CancellableFutureResult.result">
-<span class="sig-prename descclassname"><span class="pre">CancellableFutureResult.</span></span><span class="sig-name descname"><span class="pre">result</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</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/74dfc5a/src/compas_fab/backends/tasks.py#L23"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CancellableFutureResult.</span></span><span class="sig-name descname"><span class="pre">result</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</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/c6ef2c0/src/compas_fab/backends/tasks.py#L23"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Return the feedback value returned by the instruction.</p>
 <p>If the instruction has not yet returned feedback, it will wait
 up to <code class="docutils literal notranslate"><span class="pre">timeout</span></code> seconds. If the <code class="docutils literal notranslate"><span class="pre">timeout</span></code> expires, the method
diff --git a/latest/api/generated/compas_fab.backends.CartesianMotionError.html b/latest/api/generated/compas_fab.backends.CartesianMotionError.html
index 16ae6557b..3ce6f2b29 100644
--- a/latest/api/generated/compas_fab.backends.CartesianMotionError.html
+++ b/latest/api/generated/compas_fab.backends.CartesianMotionError.html
@@ -623,7 +623,7 @@
 <h1>CartesianMotionError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.CartesianMotionError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">CartesianMotionError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/exceptions.py#L8"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">CartesianMotionError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/exceptions.py#L8"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.KinematicsError.html#compas_fab.backends.KinematicsError" title="compas_fab.backends.exceptions.KinematicsError"><code class="xref py py-class docutils literal notranslate"><span class="pre">KinematicsError</span></code></a></p>
 <p>Exception raised when no path can be found.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.CollisionError.html b/latest/api/generated/compas_fab.backends.CollisionError.html
index 5862a1b3a..99fb0bad5 100644
--- a/latest/api/generated/compas_fab.backends.CollisionError.html
+++ b/latest/api/generated/compas_fab.backends.CollisionError.html
@@ -623,7 +623,7 @@
 <h1>CollisionError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.CollisionError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">CollisionError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/exceptions.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">CollisionError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/exceptions.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.PyBulletError.html#compas_fab.backends.PyBulletError" title="compas_fab.backends.pybullet.exceptions.PyBulletError"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletError</span></code></a></p>
 <p>Exception raised when two objects have been found to be in collision in PyBullet.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.FutureResult.html b/latest/api/generated/compas_fab.backends.FutureResult.html
index 813cc5a35..c2e26126a 100644
--- a/latest/api/generated/compas_fab.backends.FutureResult.html
+++ b/latest/api/generated/compas_fab.backends.FutureResult.html
@@ -623,7 +623,7 @@
 <h1>FutureResult</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.FutureResult">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">FutureResult</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/tasks.py#L10"><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.backends.</span></span><span class="sig-name descname"><span class="pre">FutureResult</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/tasks.py#L10"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Represents a future result value.</p>
 <p>Futures are the result of asynchronous operations
diff --git a/latest/api/generated/compas_fab.backends.FutureResult.result.html b/latest/api/generated/compas_fab.backends.FutureResult.result.html
index 58f978d58..bd5ebf0e7 100644
--- a/latest/api/generated/compas_fab.backends.FutureResult.result.html
+++ b/latest/api/generated/compas_fab.backends.FutureResult.result.html
@@ -623,7 +623,7 @@
 <h1>FutureResult.result</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.FutureResult.result">
-<span class="sig-prename descclassname"><span class="pre">FutureResult.</span></span><span class="sig-name descname"><span class="pre">result</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</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/74dfc5a/src/compas_fab/backends/tasks.py#L23"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FutureResult.</span></span><span class="sig-name descname"><span class="pre">result</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</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/c6ef2c0/src/compas_fab/backends/tasks.py#L23"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Return the feedback value returned by the instruction.</p>
 <p>If the instruction has not yet returned feedback, it will wait
 up to <code class="docutils literal notranslate"><span class="pre">timeout</span></code> seconds. If the <code class="docutils literal notranslate"><span class="pre">timeout</span></code> expires, the method
diff --git a/latest/api/generated/compas_fab.backends.InverseKinematicsError.html b/latest/api/generated/compas_fab.backends.InverseKinematicsError.html
index d6b4eddde..0dfe06d43 100644
--- a/latest/api/generated/compas_fab.backends.InverseKinematicsError.html
+++ b/latest/api/generated/compas_fab.backends.InverseKinematicsError.html
@@ -623,7 +623,7 @@
 <h1>InverseKinematicsError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.InverseKinematicsError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">InverseKinematicsError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/exceptions.py#L34"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">InverseKinematicsError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/exceptions.py#L34"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.KinematicsError.html#compas_fab.backends.KinematicsError" title="compas_fab.backends.exceptions.KinematicsError"><code class="xref py py-class docutils literal notranslate"><span class="pre">KinematicsError</span></code></a></p>
 <p>Indicates that no IK solution could be found by the kinematic solver.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.KinematicsError.html b/latest/api/generated/compas_fab.backends.KinematicsError.html
index cc5c2bc02..088bf4548 100644
--- a/latest/api/generated/compas_fab.backends.KinematicsError.html
+++ b/latest/api/generated/compas_fab.backends.KinematicsError.html
@@ -623,7 +623,7 @@
 <h1>KinematicsError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.KinematicsError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">KinematicsError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/exceptions.py#L27"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">KinematicsError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/exceptions.py#L27"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.BackendError.html#compas_fab.backends.BackendError" title="compas_fab.backends.exceptions.BackendError"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendError</span></code></a></p>
 <p>Indicates a kinematic solver exception.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh.html
index 390b58dc0..c54235baa 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh and attach it to the robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh_async.html
index 1e2a897b6..7f87a812f 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_attached_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.add_attached_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.add_attached_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh.html
index 2fe6c8064..2b16b78b4 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh_async.html
index dd8373f50..f61bebdee 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.add_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.add_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.add_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh.html
index e1e85aedd..138818cab 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Append a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh_async.html
index d87fd8ecd..ba00fb5b2 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.append_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.append_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.append_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics.html
index 5dd3c9006..372d3f801 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L29"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L29"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s forward kinematic.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics_async.html
index 50b3dcb4c..e003094d6 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.forward_kinematics_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.forward_kinematics_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.forward_kinematics_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L75"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L75"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt FK service.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene.html
index b5284525f..84aeb180f 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L25"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L25"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene_async.html
index 28b188f20..a59536925 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.get_planning_scene_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.get_planning_scene_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.get_planning_scene_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L42"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L42"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.html
index 2ef89d3ab..621e662e5 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanner</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/planner.py#L31"><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.backends.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanner</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/planner.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.html" title="compas_fab.backends.ros.backend_features.move_it_forward_kinematics.MoveItForwardKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItForwardKinematics</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.html" title="compas_fab.backends.ros.backend_features.move_it_inverse_kinematics.MoveItInverseKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItInverseKinematics</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.html" title="compas_fab.backends.ros.backend_features.move_it_plan_motion.MoveItPlanMotion"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItPlanMotion</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.html" title="compas_fab.backends.ros.backend_features.move_it_plan_cartesian_motion.MoveItPlanCartesianMotion"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItPlanCartesianMotion</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.html" title="compas_fab.backends.ros.backend_features.move_it_planning_scene.MoveItPlanningScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItPlanningScene</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.html" title="compas_fab.backends.ros.backend_features.move_it_reset_planning_scene.MoveItResetPlanningScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItResetPlanningScene</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.html" title="compas_fab.backends.ros.backend_features.move_it_add_collision_mesh.MoveItAddCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItAddCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.html" title="compas_fab.backends.ros.backend_features.move_it_remove_collision_mesh.MoveItRemoveCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItRemoveCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.html" title="compas_fab.backends.ros.backend_features.move_it_append_collision_mesh.MoveItAppendCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItAppendCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.html" title="compas_fab.backends.ros.backend_features.move_it_add_attached_collision_mesh.MoveItAddAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItAddAttachedCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.html" title="compas_fab.backends.ros.backend_features.move_it_remove_attached_collision_mesh.MoveItRemoveAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">MoveItRemoveAttachedCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html" title="compas_fab.backends.interfaces.client.PlannerInterface"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlannerInterface</span></code></a></p>
 <p>Implement the planner backend interface based on MoveIt!</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics.html
index c11870cd0..c235d8b27 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L35"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L35"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic for a given frame.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics_async.html
index 9be4b711a..54b0ff073 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.inverse_kinematics_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.inverse_kinematics_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.inverse_kinematics_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L96"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L96"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt IK service.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion.html
index 4659dcbf8..d2e0dc2ed 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion.html
@@ -624,7 +624,7 @@
 <h1>MoveItPlanner.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a cartesian motion path (linear in tool space).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async.html
index b14960853..5103a136a 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_frame_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L110"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_frame_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L110"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt cartesian motion planner service.</p>
 <p><a class="reference internal" href="compas_fab.robots.FrameWaypoints.html#compas_fab.robots.FrameWaypoints" title="compas_fab.robots.FrameWaypoints"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.FrameWaypoints</span></code></a> are converted to <code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.backends.ros.messages.Pose</span></code> that is native to ROS communication</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async.html
index c5461f439..bf28cf1e8 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_point_axis_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L164"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_point_axis_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L164"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt cartesian motion planner service.</p>
 <p>AFAIK MoveIt does not support planning for a relaxed axis under this</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion.html
index b7ced2e60..4db3a2481 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a motion path.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion_async.html
index 297477606..b4ac72507 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.plan_motion_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.plan_motion_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.plan_motion_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_motion_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L95"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_motion_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L95"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt motion planner service.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh.html
index 91c74d834..b1fb87d07 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove an attached collision mesh from the robot.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh_async.html
index cb0f1792e..b1713ef5a 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.remove_attached_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.remove_attached_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh.html
index 465579f8f..4ffed0569 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a collision mesh from the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh_async.html
index 495ab2b18..2f989e7e1 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.remove_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.remove_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.remove_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene.html
index 29be577b0..e8f763be8 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Resets the planning scene, removing all added collision meshes.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene_async.html b/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene_async.html
index 115c961a3..b54b66ce8 100644
--- a/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene_async.html
+++ b/latest/api/generated/compas_fab.backends.MoveItPlanner.reset_planning_scene_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanner.reset_planning_scene_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.MoveItPlanner.reset_planning_scene_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L45"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanner.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L45"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.OffsetWristKinematics.forward.html b/latest/api/generated/compas_fab.backends.OffsetWristKinematics.forward.html
index 726d4dbb7..1509bc19c 100644
--- a/latest/api/generated/compas_fab.backends.OffsetWristKinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.OffsetWristKinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>OffsetWristKinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.OffsetWristKinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">OffsetWristKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OffsetWristKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.OffsetWristKinematics.html b/latest/api/generated/compas_fab.backends.OffsetWristKinematics.html
index 0371e74ba..691ab15ed 100644
--- a/latest/api/generated/compas_fab.backends.OffsetWristKinematics.html
+++ b/latest/api/generated/compas_fab.backends.OffsetWristKinematics.html
@@ -623,7 +623,7 @@
 <h1>OffsetWristKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.OffsetWristKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">OffsetWristKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L63"><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.backends.</span></span><span class="sig-name descname"><span class="pre">OffsetWristKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L63"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p class="rubric">Methods</p>
 <table class="autosummary longtable table autosummary">
diff --git a/latest/api/generated/compas_fab.backends.OffsetWristKinematics.inverse.html b/latest/api/generated/compas_fab.backends.OffsetWristKinematics.inverse.html
index 00cf3ca66..c91dc4cf6 100644
--- a/latest/api/generated/compas_fab.backends.OffsetWristKinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.OffsetWristKinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>OffsetWristKinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.OffsetWristKinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">OffsetWristKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OffsetWristKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.add_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletClient.add_attached_collision_mesh.html
index ae425a0a3..e3d15bbca 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.add_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.add_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletClient.add_collision_mesh.html
index e25f8c3cf..c894b04c0 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.add_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.append_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletClient.append_collision_mesh.html
index 159c1dd28..3ac6768c1 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.append_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.body_from_obj.html b/latest/api/generated/compas_fab.backends.PyBulletClient.body_from_obj.html
index 0e37450d8..5e7f814c6 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.body_from_obj.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.body_from_obj.html
@@ -59,7 +59,7 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="PyBulletClient.cache_robot" href="compas_fab.backends.PyBulletClient.cache_robot.html" />
+    <link rel="next" title="PyBulletClient.cache_robot_model" href="compas_fab.backends.PyBulletClient.cache_robot_model.html" />
     <link rel="prev" title="PyBulletClient" href="compas_fab.backends.PyBulletClient.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.body_from_obj</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.body_from_obj">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">body_from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0.5,</span> <span class="pre">0.5,</span> <span class="pre">0.5,</span> <span class="pre">1)</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L735"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">body_from_obj</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">path</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">(0.5,</span> <span class="pre">0.5,</span> <span class="pre">0.5,</span> <span class="pre">1)</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L743"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a PyBullet body from an OBJ file.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.cache_robot_model.html b/latest/api/generated/compas_fab.backends.PyBulletClient.cache_robot_model.html
new file mode 100644
index 000000000..253af1ee1
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.cache_robot_model.html
@@ -0,0 +1,728 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+    <link rel="icon" href="../../_static/compas.ico" type="image/x-icon">
+    <title>PyBulletClient.cache_robot_model &#8212; COMPAS FAB</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "light";
+  </script>
+  
+  <!-- Loaded before other Sphinx assets -->
+  <link href="../../_static/styles/theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/bootstrap.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/pydata-sphinx-theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+
+  
+  <link href="../../_static/vendor/fontawesome/6.1.2/css/all.min.css?digest=e353d410970836974a52" rel="stylesheet" />
+  <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-solid-900.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
+
+    <link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/copybutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/tabs.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/togglebutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/sphinx-design.5ea377869091fd0449014c60fc090103.min.css" />
+  
+  <!-- Pre-loaded scripts that we'll load fully later -->
+  <link rel="preload" as="script" href="../../_static/scripts/bootstrap.js?digest=e353d410970836974a52" />
+<link rel="preload" as="script" href="../../_static/scripts/pydata-sphinx-theme.js?digest=e353d410970836974a52" />
+
+    <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+    <script src="../../_static/doctools.js"></script>
+    <script src="../../_static/sphinx_highlight.js"></script>
+    <script src="../../_static/clipboard.min.js"></script>
+    <script src="../../_static/copybutton.js"></script>
+    <script src="../../_static/tabs.js"></script>
+    <script>let toggleHintShow = 'Click to show';</script>
+    <script>let toggleHintHide = 'Click to hide';</script>
+    <script>let toggleOpenOnPrint = 'true';</script>
+    <script src="../../_static/togglebutton.js"></script>
+    <script src="../../_static/design-tabs.js"></script>
+    <script>var togglebuttonSelector = '.toggle, .admonition.dropdown';</script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'api/generated/compas_fab.backends.PyBulletClient.cache_robot_model';</script>
+    <script>
+        DOCUMENTATION_OPTIONS.theme_switcher_json_url = 'https://raw.githubusercontent.com/compas-dev/compas_fab/gh-pages/versions.json';
+        DOCUMENTATION_OPTIONS.theme_switcher_version_match = 'latest';
+        </script>
+    <link rel="index" title="Index" href="../../genindex.html" />
+    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="next" title="PyBulletClient.check_collision_objects_for_collision" href="compas_fab.backends.PyBulletClient.check_collision_objects_for_collision.html" />
+    <link rel="prev" title="PyBulletClient.body_from_obj" href="compas_fab.backends.PyBulletClient.body_from_obj.html" />
+  <meta name="viewport" content="width=device-width, initial-scale=1"/>
+  <meta name="docsearch:language" content="en"/>
+  </head>
+  
+  
+  <body data-bs-spy="scroll" data-bs-target=".bd-toc-nav" data-offset="180" data-bs-root-margin="0px 0px -60%" data-default-mode="">
+
+  
+  
+  <a class="skip-link" href="#main-content">Skip to main content</a>
+  
+  <input type="checkbox"
+          class="sidebar-toggle"
+          name="__primary"
+          id="__primary"/>
+  <label class="overlay overlay-primary" for="__primary"></label>
+  
+  <input type="checkbox"
+          class="sidebar-toggle"
+          name="__secondary"
+          id="__secondary"/>
+  <label class="overlay overlay-secondary" for="__secondary"></label>
+  
+  <div class="search-button__wrapper">
+    <div class="search-button__overlay"></div>
+    <div class="search-button__search-container">
+<form class="bd-search d-flex align-items-center"
+      action="../../search.html"
+      method="get">
+  <i class="fa-solid fa-magnifying-glass"></i>
+  <input type="search"
+         class="form-control"
+         name="q"
+         id="search-input"
+         placeholder="Search the docs ..."
+         aria-label="Search the docs ..."
+         autocomplete="off"
+         autocorrect="off"
+         autocapitalize="off"
+         spellcheck="false"/>
+  <span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
+</form></div>
+  </div>
+  
+    <nav class="bd-header navbar navbar-expand-lg bd-navbar">
+<div class="bd-header__inner bd-page-width">
+  <label class="sidebar-toggle primary-toggle" for="__primary">
+    <span class="fa-solid fa-bars"></span>
+  </label>
+  
+  <div class="navbar-header-items__start">
+    
+      <div class="navbar-item">
+  
+
+<a class="navbar-brand logo" href="../../index.html">
+  
+  
+  
+  
+    
+    
+      
+    
+    
+    <img src="../../_static/compas_icon_white.png" class="logo__image only-light" alt="Logo image"/>
+    <script>document.write(`<img src="../../_static/compas_icon_white.png" class="logo__image only-dark" alt="Logo image"/>`);</script>
+  
+  
+    <p class="title logo__title">COMPAS FAB</p>
+  
+</a></div>
+    
+  </div>
+  
+  
+  <div class=" navbar-header-items">
+    
+    <div class="me-auto navbar-header-items__center">
+      
+        <div class="navbar-item"><nav class="navbar-nav">
+  <!-- <p class="sidebar-header-items__title"
+     role="heading"
+     aria-level="1"
+     aria-label="Site Navigation">
+    Site Navigation
+  </p>
+  <ul class="bd-navbar-elements navbar-nav">
+    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../index.html">
+                        Introduction
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../getting_started.html">
+                        Getting started
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../backends.html">
+                        Working with backends
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../examples.html">
+                        Examples
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item current active">
+                      <a class="nav-link nav-internal" href="../../api.html">
+                        API Reference
+                      </a>
+                    </li>
+                
+            <div class="nav-item dropdown">
+                <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+                    More
+                </button>
+                <div class="dropdown-menu">
+                    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../contributing.html">
+                        Contributor’s Guide
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../authors.html">
+                        Citing
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../changelog.html">
+                        CHANGELOG
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../license.html">
+                        License
+                      </a>
+                    </li>
+                
+
+                <li class="nav-item">
+                  <a class="nav-link nav-external" href="https://compas.dev">
+                    COMPAS Framework
+                  </a>
+                </li>
+                
+                </div>
+            </div>
+            
+  </ul> -->
+</nav></div>
+      
+    </div>
+    
+    
+    <div class="navbar-header-items__end">
+      
+        <div class="navbar-item navbar-persistent--container">
+          
+<script>
+document.write(`
+  <button class="btn btn-sm navbar-btn search-button search-button__button" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass"></i>
+  </button>
+`);
+</script>
+        </div>
+      
+      
+        <div class="navbar-item">
+<script>
+document.write(`
+  <div class="version-switcher__container dropdown">
+    <button type="button" class="version-switcher__button btn btn-sm navbar-btn dropdown-toggle" data-bs-toggle="dropdown">
+      latest  <!-- this text may get changed later by javascript -->
+      <span class="caret"></span>
+    </button>
+    <div class="version-switcher__menu dropdown-menu list-group-flush py-0">
+    <!-- dropdown will be populated by javascript on page load -->
+    </div>
+  </div>
+`);
+</script></div>
+      
+        <div class="navbar-item">
+<script>
+document.write(`
+  <button class="theme-switch-button btn btn-sm btn-outline-primary navbar-btn rounded-circle" title="light/dark" aria-label="light/dark" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="theme-switch" data-mode="light"><i class="fa-solid fa-sun"></i></span>
+    <span class="theme-switch" data-mode="dark"><i class="fa-solid fa-moon"></i></span>
+    <span class="theme-switch" data-mode="auto"><i class="fa-solid fa-circle-half-stroke"></i></span>
+  </button>
+`);
+</script></div>
+      
+        <div class="navbar-item"><ul class="navbar-icon-links navbar-nav"
+    aria-label="Icon Links">
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://github.com/compas-dev/compas_fab" title="GitHub" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-github"></i></span>
+            <label class="sr-only">GitHub</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="http://forum.compas-framework.org/" title="Discourse" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-discourse"></i></span>
+            <label class="sr-only">Discourse</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://pypi.org/project/compas_fab/" title="PyPI" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-python"></i></span>
+            <label class="sr-only">PyPI</label></a>
+        </li>
+</ul></div>
+      
+    </div>
+    
+  </div>
+  
+  
+    <div class="navbar-persistent--mobile">
+<script>
+document.write(`
+  <button class="btn btn-sm navbar-btn search-button search-button__button" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass"></i>
+  </button>
+`);
+</script>
+    </div>
+  
+
+  
+    <label class="sidebar-toggle secondary-toggle" for="__secondary">
+      <span class="fa-solid fa-outdent"></span>
+    </label>
+  
+</div>
+
+    </nav>
+  
+  <div class="bd-container">
+    <div class="bd-container__inner bd-page-width">
+      
+      <div class="bd-sidebar-primary bd-sidebar">
+        
+
+  
+  <div class="sidebar-header-items sidebar-primary__section">
+    
+    
+      <div class="sidebar-header-items__center">
+        
+          <div class="navbar-item"><nav class="navbar-nav">
+  <!-- <p class="sidebar-header-items__title"
+     role="heading"
+     aria-level="1"
+     aria-label="Site Navigation">
+    Site Navigation
+  </p>
+  <ul class="bd-navbar-elements navbar-nav">
+    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../index.html">
+                        Introduction
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../getting_started.html">
+                        Getting started
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../backends.html">
+                        Working with backends
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../examples.html">
+                        Examples
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item current active">
+                      <a class="nav-link nav-internal" href="../../api.html">
+                        API Reference
+                      </a>
+                    </li>
+                
+            <div class="nav-item dropdown">
+                <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+                    More
+                </button>
+                <div class="dropdown-menu">
+                    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../contributing.html">
+                        Contributor’s Guide
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../authors.html">
+                        Citing
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../changelog.html">
+                        CHANGELOG
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../license.html">
+                        License
+                      </a>
+                    </li>
+                
+
+                <li class="nav-item">
+                  <a class="nav-link nav-external" href="https://compas.dev">
+                    COMPAS Framework
+                  </a>
+                </li>
+                
+                </div>
+            </div>
+            
+  </ul> -->
+</nav></div>
+        
+      </div>
+    
+    
+    
+      <div class="sidebar-header-items__end">
+        
+          <div class="navbar-item">
+<script>
+document.write(`
+  <div class="version-switcher__container dropdown">
+    <button type="button" class="version-switcher__button btn btn-sm navbar-btn dropdown-toggle" data-bs-toggle="dropdown">
+      latest  <!-- this text may get changed later by javascript -->
+      <span class="caret"></span>
+    </button>
+    <div class="version-switcher__menu dropdown-menu list-group-flush py-0">
+    <!-- dropdown will be populated by javascript on page load -->
+    </div>
+  </div>
+`);
+</script></div>
+        
+          <div class="navbar-item">
+<script>
+document.write(`
+  <button class="theme-switch-button btn btn-sm btn-outline-primary navbar-btn rounded-circle" title="light/dark" aria-label="light/dark" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="theme-switch" data-mode="light"><i class="fa-solid fa-sun"></i></span>
+    <span class="theme-switch" data-mode="dark"><i class="fa-solid fa-moon"></i></span>
+    <span class="theme-switch" data-mode="auto"><i class="fa-solid fa-circle-half-stroke"></i></span>
+  </button>
+`);
+</script></div>
+        
+          <div class="navbar-item"><ul class="navbar-icon-links navbar-nav"
+    aria-label="Icon Links">
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://github.com/compas-dev/compas_fab" title="GitHub" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-github"></i></span>
+            <label class="sr-only">GitHub</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="http://forum.compas-framework.org/" title="Discourse" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-discourse"></i></span>
+            <label class="sr-only">Discourse</label></a>
+        </li>
+        <li class="nav-item">
+          
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+          <a href="https://pypi.org/project/compas_fab/" title="PyPI" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-python"></i></span>
+            <label class="sr-only">PyPI</label></a>
+        </li>
+</ul></div>
+        
+      </div>
+    
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+  
+    <div class="sidebar-primary-items__start sidebar-primary__section">
+        <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
+    <div class="bd-toc-item navbar-nav active">
+        <ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../backends.html">Working with backends</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-1"><i class="fa-solid fa-chevron-down"></i></label><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/02_description_models.html">Description Models</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a></li>
+</ul>
+</li>
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="../../api.html">API Reference</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-3"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
+<li class="toctree-l2 current active"><a class="reference internal" href="../compas_fab.html">compas_fab</a></li>
+</ul>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../contributing.html">Contributor’s Guide</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../developer/backends.html">Backend clients</a></li>
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+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../changelog.html">CHANGELOG</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../license.html">License</a></li>
+</ul>
+
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+</nav></div>
+        <div class="sidebar-primary-item"><div class="sidebar-primary-item">
+    <a href="https://compas.dev" target="_blank">
+        COMPAS.dev <i class="fa fa-external-link" aria-hidden="true"></i>
+    </a>
+</div></div>
+    </div>
+  
+  
+  <div class="sidebar-primary-items__end sidebar-primary__section">
+  </div>
+  
+  <div id="rtd-footer-container"></div>
+
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+      
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+        
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+          <div class="bd-content">
+            <div class="bd-article-container">
+              
+              <div class="bd-header-article">
+<div class="header-article-items header-article__inner">
+  
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+      
+        <div class="header-article-item">
+
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+
+<nav aria-label="Breadcrumbs">
+  <ul class="bd-breadcrumbs" role="navigation" aria-label="Breadcrumb">
+    
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+      <a href="../../index.html" class="nav-link" aria-label="Home">
+        <i class="fa-solid fa-home"></i>
+      </a>
+    </li>
+    
+    <li class="breadcrumb-item"><a href="../../api.html" class="nav-link">API Reference</a></li>
+    
+    
+    <li class="breadcrumb-item"><i class="fa-solid fa-ellipsis"></i></li>
+    
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+    <li class="breadcrumb-item"><a href="compas_fab.backends.PyBulletClient.html" class="nav-link">PyBulletClient</a></li>
+    
+    <li class="breadcrumb-item active" aria-current="page">PyBulletClient.cache_robot_model</li>
+  </ul>
+</nav>
+</div>
+      
+    </div>
+  
+  
+</div>
+</div>
+              
+              
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article" role="main">
+                  
+  <section id="pybulletclient-cache-robot-model">
+<h1>PyBulletClient.cache_robot_model</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.cache_robot_model">
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">cache_robot_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">concavity</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L311"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Saves an editable copy of the robot’s model and its meshes
+for shadowing the state of the robot on the PyBullet server.</p>
+<dl class="field-list">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><dl>
+<dt><strong>robot</strong><span class="classifier"><a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a></span></dt><dd><p>The robot to be saved for use with PyBullet.</p>
+</dd>
+<dt><strong>concavity</strong><span class="classifier"><a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.12)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">bool</span></code></a></span></dt><dd><p>When <code class="docutils literal notranslate"><span class="pre">False</span></code> (the default), the mesh will be loaded as its
+convex hull for collision checking purposes.  When <code class="docutils literal notranslate"><span class="pre">True</span></code>,
+a non-static mesh will be decomposed into convex parts using v-HACD.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">Raises<span class="colon">:</span></dt>
+<dd class="field-even"><dl class="simple">
+<dt><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-exc docutils literal notranslate"><span class="pre">Exception</span></code></a></dt><dd><p>If geometry has not been loaded.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+
+                </article>
+              
+              
+              
+                <footer class="bd-footer-article">
+                  
+                </footer>
+              
+            </div>
+            
+            
+              
+                <div class="bd-sidebar-secondary bd-toc"><div class="sidebar-secondary-items sidebar-secondary__inner">
+
+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> On this page
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compas_fab.backends.PyBulletClient.cache_robot_model"><code class="docutils literal notranslate"><span class="pre">PyBulletClient.cache_robot_model()</span></code></a></li>
+</ul>
+  </nav></div>
+
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+    
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+    Created using <a href="https://www.sphinx-doc.org/">Sphinx</a> 6.2.1.
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+      
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+  </footer>
+  </body>
+</html>
\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_objects_for_collision.html b/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_objects_for_collision.html
index 67a81cf1d..f8e722844 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_objects_for_collision.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_objects_for_collision.html
@@ -60,7 +60,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="PyBulletClient.check_collision_with_objects" href="compas_fab.backends.PyBulletClient.check_collision_with_objects.html" />
-    <link rel="prev" title="PyBulletClient.cache_robot" href="compas_fab.backends.PyBulletClient.cache_robot.html" />
+    <link rel="prev" title="PyBulletClient.cache_robot_model" href="compas_fab.backends.PyBulletClient.cache_robot_model.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.check_collision_objects_for_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.check_collision_objects_for_collision">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_objects_for_collision</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L547"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_objects_for_collision</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L554"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether any of the collision objects are colliding.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_with_objects.html b/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_with_objects.html
index 690db0bda..ad26bf5f6 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_with_objects.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.check_collision_with_objects.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.check_collision_with_objects</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.check_collision_with_objects">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_with_objects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L506"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collision_with_objects</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L513"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether the robot and its attached collision objects with its current
 configuration is is colliding with any collision objects.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.check_collisions.html b/latest/api/generated/compas_fab.backends.PyBulletClient.check_collisions.html
index aaa47a338..e3f97eab6 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.check_collisions.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.check_collisions.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.check_collisions</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.check_collisions">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L483"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_collisions</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L490"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether the current or given configuration is in collision.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.check_robot_self_collision.html b/latest/api/generated/compas_fab.backends.PyBulletClient.check_robot_self_collision.html
index eedeaf44c..a6450f310 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.check_robot_self_collision.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.check_robot_self_collision.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.check_robot_self_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.check_robot_self_collision">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_robot_self_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L523"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">check_robot_self_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L530"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks whether the robot and its attached collision objects with its current
 configuration is colliding with itself.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.connect.html b/latest/api/generated/compas_fab.backends.PyBulletClient.connect.html
index 1223d731f..c7c5ad10e 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.connect.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.connect.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.connect</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.connect">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">connect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">shadows</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</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">width</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">height</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L47"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">connect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">shadows</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">color</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">width</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">height</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Connect from the PyBullet server.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.convert_mesh_to_body.html b/latest/api/generated/compas_fab.backends.PyBulletClient.convert_mesh_to_body.html
index 11bb07ce2..18e3e0dba 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.convert_mesh_to_body.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.convert_mesh_to_body.html
@@ -59,7 +59,7 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="PyBulletClient.ensure_cached_robot" href="compas_fab.backends.PyBulletClient.ensure_cached_robot.html" />
+    <link rel="next" title="PyBulletClient.ensure_cached_robot_model" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_model.html" />
     <link rel="prev" title="PyBulletClient.check_robot_self_collision" href="compas_fab.backends.PyBulletClient.check_robot_self_collision.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.convert_mesh_to_body</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.convert_mesh_to_body">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">convert_mesh_to_body</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">_name</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">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L683"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">convert_mesh_to_body</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">_name</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">concavity</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">mass</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L691"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert compas mesh and its frame to a pybullet body.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.disconnect.html b/latest/api/generated/compas_fab.backends.PyBulletClient.disconnect.html
index fa8f4cf7d..c788ab933 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.disconnect.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.disconnect.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.disconnect</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.disconnect">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">disconnect</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L104"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">disconnect</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L109"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Disconnect from the PyBullet server.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model.html b/latest/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model.html
new file mode 100644
index 000000000..17e03bfb8
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model.html
@@ -0,0 +1,709 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+    <link rel="icon" href="../../_static/compas.ico" type="image/x-icon">
+    <title>PyBulletClient.ensure_cached_robot_model &#8212; COMPAS FAB</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "light";
+  </script>
+  
+  <!-- Loaded before other Sphinx assets -->
+  <link href="../../_static/styles/theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/bootstrap.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/pydata-sphinx-theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+
+  
+  <link href="../../_static/vendor/fontawesome/6.1.2/css/all.min.css?digest=e353d410970836974a52" rel="stylesheet" />
+  <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-solid-900.woff2" />
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+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
+
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+    <script>var togglebuttonSelector = '.toggle, .admonition.dropdown';</script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model';</script>
+    <script>
+        DOCUMENTATION_OPTIONS.theme_switcher_json_url = 'https://raw.githubusercontent.com/compas-dev/compas_fab/gh-pages/versions.json';
+        DOCUMENTATION_OPTIONS.theme_switcher_version_match = 'latest';
+        </script>
+    <link rel="index" title="Index" href="../../genindex.html" />
+    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="next" title="PyBulletClient.ensure_cached_robot_model_geometry" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html" />
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+  <meta name="viewport" content="width=device-width, initial-scale=1"/>
+  <meta name="docsearch:language" content="en"/>
+  </head>
+  
+  
+  <body data-bs-spy="scroll" data-bs-target=".bd-toc-nav" data-offset="180" data-bs-root-margin="0px 0px -60%" data-default-mode="">
+
+  
+  
+  <a class="skip-link" href="#main-content">Skip to main content</a>
+  
+  <input type="checkbox"
+          class="sidebar-toggle"
+          name="__primary"
+          id="__primary"/>
+  <label class="overlay overlay-primary" for="__primary"></label>
+  
+  <input type="checkbox"
+          class="sidebar-toggle"
+          name="__secondary"
+          id="__secondary"/>
+  <label class="overlay overlay-secondary" for="__secondary"></label>
+  
+  <div class="search-button__wrapper">
+    <div class="search-button__overlay"></div>
+    <div class="search-button__search-container">
+<form class="bd-search d-flex align-items-center"
+      action="../../search.html"
+      method="get">
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+  <input type="search"
+         class="form-control"
+         name="q"
+         id="search-input"
+         placeholder="Search the docs ..."
+         aria-label="Search the docs ..."
+         autocomplete="off"
+         autocorrect="off"
+         autocapitalize="off"
+         spellcheck="false"/>
+  <span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
+</form></div>
+  </div>
+  
+    <nav class="bd-header navbar navbar-expand-lg bd-navbar">
+<div class="bd-header__inner bd-page-width">
+  <label class="sidebar-toggle primary-toggle" for="__primary">
+    <span class="fa-solid fa-bars"></span>
+  </label>
+  
+  <div class="navbar-header-items__start">
+    
+      <div class="navbar-item">
+  
+
+<a class="navbar-brand logo" href="../../index.html">
+  
+  
+  
+  
+    
+    
+      
+    
+    
+    <img src="../../_static/compas_icon_white.png" class="logo__image only-light" alt="Logo image"/>
+    <script>document.write(`<img src="../../_static/compas_icon_white.png" class="logo__image only-dark" alt="Logo image"/>`);</script>
+  
+  
+    <p class="title logo__title">COMPAS FAB</p>
+  
+</a></div>
+    
+  </div>
+  
+  
+  <div class=" navbar-header-items">
+    
+    <div class="me-auto navbar-header-items__center">
+      
+        <div class="navbar-item"><nav class="navbar-nav">
+  <!-- <p class="sidebar-header-items__title"
+     role="heading"
+     aria-level="1"
+     aria-label="Site Navigation">
+    Site Navigation
+  </p>
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+    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../index.html">
+                        Introduction
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../getting_started.html">
+                        Getting started
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../backends.html">
+                        Working with backends
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../examples.html">
+                        Examples
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item current active">
+                      <a class="nav-link nav-internal" href="../../api.html">
+                        API Reference
+                      </a>
+                    </li>
+                
+            <div class="nav-item dropdown">
+                <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+                    More
+                </button>
+                <div class="dropdown-menu">
+                    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../contributing.html">
+                        Contributor’s Guide
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../authors.html">
+                        Citing
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../changelog.html">
+                        CHANGELOG
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../license.html">
+                        License
+                      </a>
+                    </li>
+                
+
+                <li class="nav-item">
+                  <a class="nav-link nav-external" href="https://compas.dev">
+                    COMPAS Framework
+                  </a>
+                </li>
+                
+                </div>
+            </div>
+            
+  </ul> -->
+</nav></div>
+      
+    </div>
+    
+    
+    <div class="navbar-header-items__end">
+      
+        <div class="navbar-item navbar-persistent--container">
+          
+<script>
+document.write(`
+  <button class="btn btn-sm navbar-btn search-button search-button__button" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
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+<script>
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+      <span class="caret"></span>
+    </button>
+    <div class="version-switcher__menu dropdown-menu list-group-flush py-0">
+    <!-- dropdown will be populated by javascript on page load -->
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+`);
+</script></div>
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+    <span class="theme-switch" data-mode="dark"><i class="fa-solid fa-moon"></i></span>
+    <span class="theme-switch" data-mode="auto"><i class="fa-solid fa-circle-half-stroke"></i></span>
+  </button>
+`);
+</script></div>
+      
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+<script>
+document.write(`
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+        
+          <div class="navbar-item"><nav class="navbar-nav">
+  <!-- <p class="sidebar-header-items__title"
+     role="heading"
+     aria-level="1"
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+                        Introduction
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+                
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+                      <a class="nav-link nav-internal" href="../../getting_started.html">
+                        Getting started
+                      </a>
+                    </li>
+                
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+                      <a class="nav-link nav-internal" href="../../backends.html">
+                        Working with backends
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+                
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+                      <a class="nav-link nav-internal" href="../../examples.html">
+                        Examples
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+                      <a class="nav-link nav-internal" href="../../api.html">
+                        API Reference
+                      </a>
+                    </li>
+                
+            <div class="nav-item dropdown">
+                <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+                    More
+                </button>
+                <div class="dropdown-menu">
+                    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../contributing.html">
+                        Contributor’s Guide
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../authors.html">
+                        Citing
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../changelog.html">
+                        CHANGELOG
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../license.html">
+                        License
+                      </a>
+                    </li>
+                
+
+                <li class="nav-item">
+                  <a class="nav-link nav-external" href="https://compas.dev">
+                    COMPAS Framework
+                  </a>
+                </li>
+                
+                </div>
+            </div>
+            
+  </ul> -->
+</nav></div>
+        
+      </div>
+    
+    
+    
+      <div class="sidebar-header-items__end">
+        
+          <div class="navbar-item">
+<script>
+document.write(`
+  <div class="version-switcher__container dropdown">
+    <button type="button" class="version-switcher__button btn btn-sm navbar-btn dropdown-toggle" data-bs-toggle="dropdown">
+      latest  <!-- this text may get changed later by javascript -->
+      <span class="caret"></span>
+    </button>
+    <div class="version-switcher__menu dropdown-menu list-group-flush py-0">
+    <!-- dropdown will be populated by javascript on page load -->
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+  </div>
+`);
+</script></div>
+        
+          <div class="navbar-item">
+<script>
+document.write(`
+  <button class="theme-switch-button btn btn-sm btn-outline-primary navbar-btn rounded-circle" title="light/dark" aria-label="light/dark" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="theme-switch" data-mode="light"><i class="fa-solid fa-sun"></i></span>
+    <span class="theme-switch" data-mode="dark"><i class="fa-solid fa-moon"></i></span>
+    <span class="theme-switch" data-mode="auto"><i class="fa-solid fa-circle-half-stroke"></i></span>
+  </button>
+`);
+</script></div>
+        
+          <div class="navbar-item"><ul class="navbar-icon-links navbar-nav"
+    aria-label="Icon Links">
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://github.com/compas-dev/compas_fab" title="GitHub" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-github"></i></span>
+            <label class="sr-only">GitHub</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="http://forum.compas-framework.org/" title="Discourse" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-discourse"></i></span>
+            <label class="sr-only">Discourse</label></a>
+        </li>
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+              
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+                <article class="bd-article" role="main">
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+  <section id="pybulletclient-ensure-cached-robot-model">
+<h1>PyBulletClient.ensure_cached_robot_model</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.ensure_cached_robot_model">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">ensure_cached_robot_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L361"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p>
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\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html b/latest/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html
new file mode 100644
index 000000000..d20f8d04e
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html
@@ -0,0 +1,709 @@
+
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+<li class="toctree-l2"><a class="reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a></li>
+</ul>
+</li>
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="../../api.html">API Reference</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-3"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
+<li class="toctree-l2 current active"><a class="reference internal" href="../compas_fab.html">compas_fab</a></li>
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+<li class="toctree-l1 has-children"><a class="reference internal" href="../../contributing.html">Contributor’s Guide</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
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+        COMPAS.dev <i class="fa fa-external-link" aria-hidden="true"></i>
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+    
+    <li class="breadcrumb-item active" aria-current="page">PyBulletClient.ensure_cached_robot_model_geometry</li>
+  </ul>
+</nav>
+</div>
+      
+    </div>
+  
+  
+</div>
+</div>
+              
+              
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+                
+<div id="searchbox"></div>
+                <article class="bd-article" role="main">
+                  
+  <section id="pybulletclient-ensure-cached-robot-model-geometry">
+<h1>PyBulletClient.ensure_cached_robot_model_geometry</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry">
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">ensure_cached_robot_model_geometry</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L367"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Checks if the geometry of a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p>
+</dd></dl>
+
+</section>
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+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry"><code class="docutils literal notranslate"><span class="pre">PyBulletClient.ensure_cached_robot_model_geometry()</span></code></a></li>
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\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.filter_configurations_in_collision.html b/latest/api/generated/compas_fab.backends.PyBulletClient.filter_configurations_in_collision.html
index 920af66bd..0c296ee4a 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.filter_configurations_in_collision.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.filter_configurations_in_collision.html
@@ -59,8 +59,8 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="PyBulletClient.get_cached_robot" href="compas_fab.backends.PyBulletClient.get_cached_robot.html" />
-    <link rel="prev" title="PyBulletClient.ensure_cached_robot_geometry" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_geometry.html" />
+    <link rel="next" title="PyBulletClient.get_cached_robot_filepath" href="compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html" />
+    <link rel="prev" title="PyBulletClient.ensure_cached_robot_model_geometry" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.filter_configurations_in_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.filter_configurations_in_collision">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">filter_configurations_in_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L458"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">filter_configurations_in_collision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L465"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Filters from a list of configurations those which are in collision.
 Used for a custom inverse kinematics function.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.forward_kinematics.html b/latest/api/generated/compas_fab.backends.PyBulletClient.forward_kinematics.html
index 88250953c..9006414d3 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.forward_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html b/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html
index 6930ab2c4..7f2b8cd14 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html
@@ -59,8 +59,8 @@
         </script>
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
-    <link rel="next" title="PyBulletClient.get_robot_configuration" href="compas_fab.backends.PyBulletClient.get_robot_configuration.html" />
-    <link rel="prev" title="PyBulletClient.get_cached_robot" href="compas_fab.backends.PyBulletClient.get_cached_robot.html" />
+    <link rel="next" title="PyBulletClient.get_cached_robot_model" href="compas_fab.backends.PyBulletClient.get_cached_robot_model.html" />
+    <link rel="prev" title="PyBulletClient.filter_configurations_in_collision" href="compas_fab.backends.PyBulletClient.filter_configurations_in_collision.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.get_cached_robot_filepath</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.get_cached_robot_filepath">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_cached_robot_filepath</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L390"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_cached_robot_filepath</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L396"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the filepath of the editable copy of the robot’s model for shadowing the state
 of the robot on the PyBullet server.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model.html b/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model.html
new file mode 100644
index 000000000..19748a59e
--- /dev/null
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model.html
@@ -0,0 +1,729 @@
+
+
+<!DOCTYPE html>
+
+
+<html lang="en" >
+
+  <head>
+    <meta charset="utf-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.19: https://docutils.sourceforge.io/" />
+    <link rel="icon" href="../../_static/compas.ico" type="image/x-icon">
+    <title>PyBulletClient.get_cached_robot_model &#8212; COMPAS FAB</title>
+  
+  
+  
+  <script data-cfasync="false">
+    document.documentElement.dataset.mode = localStorage.getItem("mode") || "";
+    document.documentElement.dataset.theme = localStorage.getItem("theme") || "light";
+  </script>
+  
+  <!-- Loaded before other Sphinx assets -->
+  <link href="../../_static/styles/theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/bootstrap.css?digest=e353d410970836974a52" rel="stylesheet" />
+<link href="../../_static/styles/pydata-sphinx-theme.css?digest=e353d410970836974a52" rel="stylesheet" />
+
+  
+  <link href="../../_static/vendor/fontawesome/6.1.2/css/all.min.css?digest=e353d410970836974a52" rel="stylesheet" />
+  <link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-solid-900.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-brands-400.woff2" />
+<link rel="preload" as="font" type="font/woff2" crossorigin href="../../_static/vendor/fontawesome/6.1.2/webfonts/fa-regular-400.woff2" />
+
+    <link rel="stylesheet" type="text/css" href="../../_static/pygments.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/css/compas.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/copybutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/tabs.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/togglebutton.css" />
+    <link rel="stylesheet" type="text/css" href="../../_static/sphinx-design.5ea377869091fd0449014c60fc090103.min.css" />
+  
+  <!-- Pre-loaded scripts that we'll load fully later -->
+  <link rel="preload" as="script" href="../../_static/scripts/bootstrap.js?digest=e353d410970836974a52" />
+<link rel="preload" as="script" href="../../_static/scripts/pydata-sphinx-theme.js?digest=e353d410970836974a52" />
+
+    <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+    <script src="../../_static/doctools.js"></script>
+    <script src="../../_static/sphinx_highlight.js"></script>
+    <script src="../../_static/clipboard.min.js"></script>
+    <script src="../../_static/copybutton.js"></script>
+    <script src="../../_static/tabs.js"></script>
+    <script>let toggleHintShow = 'Click to show';</script>
+    <script>let toggleHintHide = 'Click to hide';</script>
+    <script>let toggleOpenOnPrint = 'true';</script>
+    <script src="../../_static/togglebutton.js"></script>
+    <script src="../../_static/design-tabs.js"></script>
+    <script>var togglebuttonSelector = '.toggle, .admonition.dropdown';</script>
+    <script>DOCUMENTATION_OPTIONS.pagename = 'api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model';</script>
+    <script>
+        DOCUMENTATION_OPTIONS.theme_switcher_json_url = 'https://raw.githubusercontent.com/compas-dev/compas_fab/gh-pages/versions.json';
+        DOCUMENTATION_OPTIONS.theme_switcher_version_match = 'latest';
+        </script>
+    <link rel="index" title="Index" href="../../genindex.html" />
+    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="next" title="PyBulletClient.get_robot_configuration" href="compas_fab.backends.PyBulletClient.get_robot_configuration.html" />
+    <link rel="prev" title="PyBulletClient.get_cached_robot_filepath" href="compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html" />
+  <meta name="viewport" content="width=device-width, initial-scale=1"/>
+  <meta name="docsearch:language" content="en"/>
+  </head>
+  
+  
+  <body data-bs-spy="scroll" data-bs-target=".bd-toc-nav" data-offset="180" data-bs-root-margin="0px 0px -60%" data-default-mode="">
+
+  
+  
+  <a class="skip-link" href="#main-content">Skip to main content</a>
+  
+  <input type="checkbox"
+          class="sidebar-toggle"
+          name="__primary"
+          id="__primary"/>
+  <label class="overlay overlay-primary" for="__primary"></label>
+  
+  <input type="checkbox"
+          class="sidebar-toggle"
+          name="__secondary"
+          id="__secondary"/>
+  <label class="overlay overlay-secondary" for="__secondary"></label>
+  
+  <div class="search-button__wrapper">
+    <div class="search-button__overlay"></div>
+    <div class="search-button__search-container">
+<form class="bd-search d-flex align-items-center"
+      action="../../search.html"
+      method="get">
+  <i class="fa-solid fa-magnifying-glass"></i>
+  <input type="search"
+         class="form-control"
+         name="q"
+         id="search-input"
+         placeholder="Search the docs ..."
+         aria-label="Search the docs ..."
+         autocomplete="off"
+         autocorrect="off"
+         autocapitalize="off"
+         spellcheck="false"/>
+  <span class="search-button__kbd-shortcut"><kbd class="kbd-shortcut__modifier">Ctrl</kbd>+<kbd>K</kbd></span>
+</form></div>
+  </div>
+  
+    <nav class="bd-header navbar navbar-expand-lg bd-navbar">
+<div class="bd-header__inner bd-page-width">
+  <label class="sidebar-toggle primary-toggle" for="__primary">
+    <span class="fa-solid fa-bars"></span>
+  </label>
+  
+  <div class="navbar-header-items__start">
+    
+      <div class="navbar-item">
+  
+
+<a class="navbar-brand logo" href="../../index.html">
+  
+  
+  
+  
+    
+    
+      
+    
+    
+    <img src="../../_static/compas_icon_white.png" class="logo__image only-light" alt="Logo image"/>
+    <script>document.write(`<img src="../../_static/compas_icon_white.png" class="logo__image only-dark" alt="Logo image"/>`);</script>
+  
+  
+    <p class="title logo__title">COMPAS FAB</p>
+  
+</a></div>
+    
+  </div>
+  
+  
+  <div class=" navbar-header-items">
+    
+    <div class="me-auto navbar-header-items__center">
+      
+        <div class="navbar-item"><nav class="navbar-nav">
+  <!-- <p class="sidebar-header-items__title"
+     role="heading"
+     aria-level="1"
+     aria-label="Site Navigation">
+    Site Navigation
+  </p>
+  <ul class="bd-navbar-elements navbar-nav">
+    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../index.html">
+                        Introduction
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../getting_started.html">
+                        Getting started
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../backends.html">
+                        Working with backends
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../examples.html">
+                        Examples
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item current active">
+                      <a class="nav-link nav-internal" href="../../api.html">
+                        API Reference
+                      </a>
+                    </li>
+                
+            <div class="nav-item dropdown">
+                <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+                    More
+                </button>
+                <div class="dropdown-menu">
+                    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../contributing.html">
+                        Contributor’s Guide
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../authors.html">
+                        Citing
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../changelog.html">
+                        CHANGELOG
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../license.html">
+                        License
+                      </a>
+                    </li>
+                
+
+                <li class="nav-item">
+                  <a class="nav-link nav-external" href="https://compas.dev">
+                    COMPAS Framework
+                  </a>
+                </li>
+                
+                </div>
+            </div>
+            
+  </ul> -->
+</nav></div>
+      
+    </div>
+    
+    
+    <div class="navbar-header-items__end">
+      
+        <div class="navbar-item navbar-persistent--container">
+          
+<script>
+document.write(`
+  <button class="btn btn-sm navbar-btn search-button search-button__button" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass"></i>
+  </button>
+`);
+</script>
+        </div>
+      
+      
+        <div class="navbar-item">
+<script>
+document.write(`
+  <div class="version-switcher__container dropdown">
+    <button type="button" class="version-switcher__button btn btn-sm navbar-btn dropdown-toggle" data-bs-toggle="dropdown">
+      latest  <!-- this text may get changed later by javascript -->
+      <span class="caret"></span>
+    </button>
+    <div class="version-switcher__menu dropdown-menu list-group-flush py-0">
+    <!-- dropdown will be populated by javascript on page load -->
+    </div>
+  </div>
+`);
+</script></div>
+      
+        <div class="navbar-item">
+<script>
+document.write(`
+  <button class="theme-switch-button btn btn-sm btn-outline-primary navbar-btn rounded-circle" title="light/dark" aria-label="light/dark" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="theme-switch" data-mode="light"><i class="fa-solid fa-sun"></i></span>
+    <span class="theme-switch" data-mode="dark"><i class="fa-solid fa-moon"></i></span>
+    <span class="theme-switch" data-mode="auto"><i class="fa-solid fa-circle-half-stroke"></i></span>
+  </button>
+`);
+</script></div>
+      
+        <div class="navbar-item"><ul class="navbar-icon-links navbar-nav"
+    aria-label="Icon Links">
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://github.com/compas-dev/compas_fab" title="GitHub" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-github"></i></span>
+            <label class="sr-only">GitHub</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="http://forum.compas-framework.org/" title="Discourse" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-discourse"></i></span>
+            <label class="sr-only">Discourse</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://pypi.org/project/compas_fab/" title="PyPI" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-python"></i></span>
+            <label class="sr-only">PyPI</label></a>
+        </li>
+</ul></div>
+      
+    </div>
+    
+  </div>
+  
+  
+    <div class="navbar-persistent--mobile">
+<script>
+document.write(`
+  <button class="btn btn-sm navbar-btn search-button search-button__button" title="Search" aria-label="Search" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <i class="fa-solid fa-magnifying-glass"></i>
+  </button>
+`);
+</script>
+    </div>
+  
+
+  
+    <label class="sidebar-toggle secondary-toggle" for="__secondary">
+      <span class="fa-solid fa-outdent"></span>
+    </label>
+  
+</div>
+
+    </nav>
+  
+  <div class="bd-container">
+    <div class="bd-container__inner bd-page-width">
+      
+      <div class="bd-sidebar-primary bd-sidebar">
+        
+
+  
+  <div class="sidebar-header-items sidebar-primary__section">
+    
+    
+      <div class="sidebar-header-items__center">
+        
+          <div class="navbar-item"><nav class="navbar-nav">
+  <!-- <p class="sidebar-header-items__title"
+     role="heading"
+     aria-level="1"
+     aria-label="Site Navigation">
+    Site Navigation
+  </p>
+  <ul class="bd-navbar-elements navbar-nav">
+    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../index.html">
+                        Introduction
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../getting_started.html">
+                        Getting started
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../backends.html">
+                        Working with backends
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../examples.html">
+                        Examples
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item current active">
+                      <a class="nav-link nav-internal" href="../../api.html">
+                        API Reference
+                      </a>
+                    </li>
+                
+            <div class="nav-item dropdown">
+                <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-haspopup="true" aria-expanded="false">
+                    More
+                </button>
+                <div class="dropdown-menu">
+                    
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../contributing.html">
+                        Contributor’s Guide
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../authors.html">
+                        Citing
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../changelog.html">
+                        CHANGELOG
+                      </a>
+                    </li>
+                
+
+                    <li class="nav-item">
+                      <a class="nav-link nav-internal" href="../../license.html">
+                        License
+                      </a>
+                    </li>
+                
+
+                <li class="nav-item">
+                  <a class="nav-link nav-external" href="https://compas.dev">
+                    COMPAS Framework
+                  </a>
+                </li>
+                
+                </div>
+            </div>
+            
+  </ul> -->
+</nav></div>
+        
+      </div>
+    
+    
+    
+      <div class="sidebar-header-items__end">
+        
+          <div class="navbar-item">
+<script>
+document.write(`
+  <div class="version-switcher__container dropdown">
+    <button type="button" class="version-switcher__button btn btn-sm navbar-btn dropdown-toggle" data-bs-toggle="dropdown">
+      latest  <!-- this text may get changed later by javascript -->
+      <span class="caret"></span>
+    </button>
+    <div class="version-switcher__menu dropdown-menu list-group-flush py-0">
+    <!-- dropdown will be populated by javascript on page load -->
+    </div>
+  </div>
+`);
+</script></div>
+        
+          <div class="navbar-item">
+<script>
+document.write(`
+  <button class="theme-switch-button btn btn-sm btn-outline-primary navbar-btn rounded-circle" title="light/dark" aria-label="light/dark" data-bs-placement="bottom" data-bs-toggle="tooltip">
+    <span class="theme-switch" data-mode="light"><i class="fa-solid fa-sun"></i></span>
+    <span class="theme-switch" data-mode="dark"><i class="fa-solid fa-moon"></i></span>
+    <span class="theme-switch" data-mode="auto"><i class="fa-solid fa-circle-half-stroke"></i></span>
+  </button>
+`);
+</script></div>
+        
+          <div class="navbar-item"><ul class="navbar-icon-links navbar-nav"
+    aria-label="Icon Links">
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://github.com/compas-dev/compas_fab" title="GitHub" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-github"></i></span>
+            <label class="sr-only">GitHub</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="http://forum.compas-framework.org/" title="Discourse" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-discourse"></i></span>
+            <label class="sr-only">Discourse</label></a>
+        </li>
+        <li class="nav-item">
+          
+          
+          
+          
+          
+          
+          
+          
+          <a href="https://pypi.org/project/compas_fab/" title="PyPI" class="nav-link" rel="noopener" target="_blank" data-bs-toggle="tooltip" data-bs-placement="bottom"><span><i class="fa-brands fa-python"></i></span>
+            <label class="sr-only">PyPI</label></a>
+        </li>
+</ul></div>
+        
+      </div>
+    
+  </div>
+  
+    <div class="sidebar-primary-items__start sidebar-primary__section">
+        <div class="sidebar-primary-item"><nav class="bd-links" id="bd-docs-nav" aria-label="Main">
+    <div class="bd-toc-item navbar-nav active">
+        <ul class="current nav bd-sidenav">
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Introduction</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../getting_started.html">Getting started</a></li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../backends.html">Working with backends</a><input class="toctree-checkbox" id="toctree-checkbox-1" name="toctree-checkbox-1" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-1"><i class="fa-solid fa-chevron-down"></i></label><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../backends/pybullet.html">PyBullet</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../backends/ros.html">ROS</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../backends/web_x11_gui.html">Access backend GUI</a></li>
+</ul>
+</li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../examples.html">Examples</a><input class="toctree-checkbox" id="toctree-checkbox-2" name="toctree-checkbox-2" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-2"><i class="fa-solid fa-chevron-down"></i></label><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/01_fundamentals.html">Fundamentals</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/02_description_models.html">Description Models</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/03_backends_ros.html">Backends: ROS</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/05_backends_pybullet.html">Backends: PyBullet</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/06_backends_kinematics.html">Backends: Analytical Kinematics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/07_reachability_map.html">Planning: Reachability Map</a></li>
+</ul>
+</li>
+<li class="toctree-l1 current active has-children"><a class="reference internal" href="../../api.html">API Reference</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-3"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
+<li class="toctree-l2 current active"><a class="reference internal" href="../compas_fab.html">compas_fab</a></li>
+</ul>
+</li>
+<li class="toctree-l1 has-children"><a class="reference internal" href="../../contributing.html">Contributor’s Guide</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../developer/backends.html">Backend clients</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../developer/grasshopper.html">Grasshopper components</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../authors.html">Citing</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../changelog.html">CHANGELOG</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../license.html">License</a></li>
+</ul>
+
+    </div>
+</nav></div>
+        <div class="sidebar-primary-item"><div class="sidebar-primary-item">
+    <a href="https://compas.dev" target="_blank">
+        COMPAS.dev <i class="fa fa-external-link" aria-hidden="true"></i>
+    </a>
+</div></div>
+    </div>
+  
+  
+  <div class="sidebar-primary-items__end sidebar-primary__section">
+  </div>
+  
+  <div id="rtd-footer-container"></div>
+
+
+      </div>
+      
+      <main id="main-content" class="bd-main">
+        
+        
+          <div class="bd-content">
+            <div class="bd-article-container">
+              
+              <div class="bd-header-article">
+<div class="header-article-items header-article__inner">
+  
+    <div class="header-article-items__start">
+      
+        <div class="header-article-item">
+
+
+
+
+
+<nav aria-label="Breadcrumbs">
+  <ul class="bd-breadcrumbs" role="navigation" aria-label="Breadcrumb">
+    
+    <li class="breadcrumb-item breadcrumb-home">
+      <a href="../../index.html" class="nav-link" aria-label="Home">
+        <i class="fa-solid fa-home"></i>
+      </a>
+    </li>
+    
+    <li class="breadcrumb-item"><a href="../../api.html" class="nav-link">API Reference</a></li>
+    
+    
+    <li class="breadcrumb-item"><i class="fa-solid fa-ellipsis"></i></li>
+    
+    
+    <li class="breadcrumb-item"><a href="compas_fab.backends.PyBulletClient.html" class="nav-link">PyBulletClient</a></li>
+    
+    <li class="breadcrumb-item active" aria-current="page">PyBulletClient.get_cached_robot_model</li>
+  </ul>
+</nav>
+</div>
+      
+    </div>
+  
+  
+</div>
+</div>
+              
+              
+              
+                
+<div id="searchbox"></div>
+                <article class="bd-article" role="main">
+                  
+  <section id="pybulletclient-get-cached-robot-model">
+<h1>PyBulletClient.get_cached_robot_model</h1>
+<dl class="py method">
+<dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.get_cached_robot_model">
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_cached_robot_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L373"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<dd><p>Returns the editable copy of the robot’s model for shadowing the state
+of the robot on the PyBullet server.</p>
+<dl class="field-list">
+<dt class="field-odd">Parameters<span class="colon">:</span></dt>
+<dd class="field-odd"><dl>
+<dt><strong>robot</strong><span class="classifier"><a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a></span></dt><dd><p>The robot saved for use with PyBullet.</p>
+</dd>
+</dl>
+</dd>
+<dt class="field-even">Returns<span class="colon">:</span></dt>
+<dd class="field-even"><dl class="simple">
+<dt><a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.RobotModel.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.RobotModel</span></code></a></dt><dd></dd>
+</dl>
+</dd>
+<dt class="field-odd">Raises<span class="colon">:</span></dt>
+<dd class="field-odd"><dl class="simple">
+<dt><a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-exc docutils literal notranslate"><span class="pre">Exception</span></code></a></dt><dd><p>If the robot has not been cached.</p>
+</dd>
+</dl>
+</dd>
+</dl>
+</dd></dl>
+
+</section>
+
+
+                </article>
+              
+              
+              
+                <footer class="bd-footer-article">
+                  
+                </footer>
+              
+            </div>
+            
+            
+              
+                <div class="bd-sidebar-secondary bd-toc"><div class="sidebar-secondary-items sidebar-secondary__inner">
+
+  <div class="sidebar-secondary-item">
+  <div class="page-toc tocsection onthispage">
+    <i class="fa-solid fa-list"></i> On this page
+  </div>
+  <nav class="bd-toc-nav page-toc">
+    <ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#compas_fab.backends.PyBulletClient.get_cached_robot_model"><code class="docutils literal notranslate"><span class="pre">PyBulletClient.get_cached_robot_model()</span></code></a></li>
+</ul>
+  </nav></div>
+
+</div></div>
+              
+            
+          </div>
+          <footer class="bd-footer-content">
+            
+          </footer>
+        
+      </main>
+    </div>
+  </div>
+  
+  <!-- Scripts loaded after <body> so the DOM is not blocked -->
+  <script src="../../_static/scripts/bootstrap.js?digest=e353d410970836974a52"></script>
+<script src="../../_static/scripts/pydata-sphinx-theme.js?digest=e353d410970836974a52"></script>
+
+  <footer class="bd-footer">
+<div class="bd-footer__inner bd-page-width">
+  
+    <div class="footer-items__start">
+      
+        <div class="footer-item">
+  <p class="copyright">
+    
+      © Copyright Gramazio Kohler Research.
+      <br/>
+    
+  </p>
+</div>
+      
+        <div class="footer-item">
+  <p class="sphinx-version">
+    Created using <a href="https://www.sphinx-doc.org/">Sphinx</a> 6.2.1.
+    <br/>
+  </p>
+</div>
+      
+    </div>
+  
+  
+    <div class="footer-items__end">
+      
+        <div class="footer-item"><p class="theme-version">
+  Built with the <a href="https://pydata-sphinx-theme.readthedocs.io/en/stable/index.html">PyData Sphinx Theme</a> 0.13.3.
+</p></div>
+      
+    </div>
+  
+</div>
+
+  </footer>
+  </body>
+</html>
\ No newline at end of file
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.get_planning_scene.html b/latest/api/generated/compas_fab.backends.PyBulletClient.get_planning_scene.html
index b98a9c49b..e7d4ec5f6 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.get_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.get_robot_configuration.html b/latest/api/generated/compas_fab.backends.PyBulletClient.get_robot_configuration.html
index d41c2a255..e16b97fdc 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.get_robot_configuration.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.get_robot_configuration.html
@@ -60,7 +60,7 @@
     <link rel="index" title="Index" href="../../genindex.html" />
     <link rel="search" title="Search" href="../../search.html" />
     <link rel="next" title="PyBulletClient.get_uid" href="compas_fab.backends.PyBulletClient.get_uid.html" />
-    <link rel="prev" title="PyBulletClient.get_cached_robot_filepath" href="compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html" />
+    <link rel="prev" title="PyBulletClient.get_cached_robot_model" href="compas_fab.backends.PyBulletClient.get_cached_robot_model.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.get_robot_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.get_robot_configuration">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L663"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L671"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Gets the robot’s current pose.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.get_uid.html b/latest/api/generated/compas_fab.backends.PyBulletClient.get_uid.html
index d1ab335d8..2c6daa4a2 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.get_uid.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.get_uid.html
@@ -623,13 +623,13 @@
 <h1>PyBulletClient.get_uid</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.get_uid">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_uid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cached_robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L412"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">get_uid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cached_robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L419"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the internal PyBullet id of the robot’s model for shadowing the state
 of the robot on the PyBullet server.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
 <dd class="field-odd"><dl>
-<dt><strong>cached_robot</strong><span class="classifier"><a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.RobotModel.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.RobotModel</span></code></a></span></dt><dd><p>The robot model saved for use with PyBullet.</p>
+<dt><strong>cached_robot_model</strong><span class="classifier"><a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.RobotModel.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.RobotModel</span></code></a></span></dt><dd><p>The robot model saved for use with PyBullet.</p>
 </dd>
 </dl>
 </dd>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.html b/latest/api/generated/compas_fab.backends.PyBulletClient.html
index 1eb048005..5675247e7 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.html
@@ -623,10 +623,10 @@
 <h1>PyBulletClient</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">PyBulletClient</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L123"><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.backends.</span></span><span class="sig-name descname"><span class="pre">PyBulletClient</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L128"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletBase</span></code>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html" title="compas_fab.backends.interfaces.client.ClientInterface"><code class="xref py py-class docutils literal notranslate"><span class="pre">ClientInterface</span></code></a></p>
 <p>Interface to use pybullet as backend.</p>
-<p><code class="xref py py-class docutils literal notranslate"><span class="pre">compasfab.backends.PyBulletClient</span></code> is a context manager type, so it’s best
+<p><a class="reference internal" href="#compas_fab.backends.PyBulletClient" title="compas_fab.backends.PyBulletClient"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.backends.PyBulletClient</span></code></a> is a context manager type, so it’s best
 used in combination with the <code class="docutils literal notranslate"><span class="pre">with</span></code> statement to ensure
 resource deallocation.</p>
 <p>Thanks to Yijiang Huang and his work in <a class="reference external" href="https://github.com/yijiangh/pybullet_planning">pybullet_planning</a> for much inspiration.</p>
@@ -653,7 +653,7 @@ <h1>PyBulletClient</h1>
 <tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.body_from_obj.html#compas_fab.backends.PyBulletClient.body_from_obj" title="compas_fab.backends.PyBulletClient.body_from_obj"><code class="xref py py-obj docutils literal notranslate"><span class="pre">body_from_obj</span></code></a></p></td>
 <td><p>Create a PyBullet body from an OBJ file.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.cache_robot.html#compas_fab.backends.PyBulletClient.cache_robot" title="compas_fab.backends.PyBulletClient.cache_robot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cache_robot</span></code></a></p></td>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.cache_robot_model.html#compas_fab.backends.PyBulletClient.cache_robot_model" title="compas_fab.backends.PyBulletClient.cache_robot_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">cache_robot_model</span></code></a></p></td>
 <td><p>Saves an editable copy of the robot's model and its meshes for shadowing the state of the robot on the PyBullet server.</p></td>
 </tr>
 <tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.check_collision_objects_for_collision.html#compas_fab.backends.PyBulletClient.check_collision_objects_for_collision" title="compas_fab.backends.PyBulletClient.check_collision_objects_for_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">check_collision_objects_for_collision</span></code></a></p></td>
@@ -671,21 +671,21 @@ <h1>PyBulletClient</h1>
 <tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.convert_mesh_to_body.html#compas_fab.backends.PyBulletClient.convert_mesh_to_body" title="compas_fab.backends.PyBulletClient.convert_mesh_to_body"><code class="xref py py-obj docutils literal notranslate"><span class="pre">convert_mesh_to_body</span></code></a></p></td>
 <td><p>Convert compas mesh and its frame to a pybullet body.</p></td>
 </tr>
-<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.ensure_cached_robot.html#compas_fab.backends.PyBulletClient.ensure_cached_robot" title="compas_fab.backends.PyBulletClient.ensure_cached_robot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot</span></code></a></p></td>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_model.html#compas_fab.backends.PyBulletClient.ensure_cached_robot_model" title="compas_fab.backends.PyBulletClient.ensure_cached_robot_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot_model</span></code></a></p></td>
 <td><p>Checks if a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_geometry.html#compas_fab.backends.PyBulletClient.ensure_cached_robot_geometry" title="compas_fab.backends.PyBulletClient.ensure_cached_robot_geometry"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot_geometry</span></code></a></p></td>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html#compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry" title="compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry"><code class="xref py py-obj docutils literal notranslate"><span class="pre">ensure_cached_robot_model_geometry</span></code></a></p></td>
 <td><p>Checks if the geometry of a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> has been cached for use with PyBullet.</p></td>
 </tr>
 <tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.filter_configurations_in_collision.html#compas_fab.backends.PyBulletClient.filter_configurations_in_collision" title="compas_fab.backends.PyBulletClient.filter_configurations_in_collision"><code class="xref py py-obj docutils literal notranslate"><span class="pre">filter_configurations_in_collision</span></code></a></p></td>
 <td><p>Filters from a list of configurations those which are in collision.</p></td>
 </tr>
-<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.get_cached_robot.html#compas_fab.backends.PyBulletClient.get_cached_robot" title="compas_fab.backends.PyBulletClient.get_cached_robot"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot</span></code></a></p></td>
-<td><p>Returns the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.</p></td>
-</tr>
-<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.PyBulletClient.get_cached_robot_filepath" title="compas_fab.backends.PyBulletClient.get_cached_robot_filepath"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot_filepath</span></code></a></p></td>
+<tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.PyBulletClient.get_cached_robot_filepath" title="compas_fab.backends.PyBulletClient.get_cached_robot_filepath"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot_filepath</span></code></a></p></td>
 <td><p>Returns the filepath of the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.</p></td>
 </tr>
+<tr class="row-even"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.get_cached_robot_model.html#compas_fab.backends.PyBulletClient.get_cached_robot_model" title="compas_fab.backends.PyBulletClient.get_cached_robot_model"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_cached_robot_model</span></code></a></p></td>
+<td><p>Returns the editable copy of the robot's model for shadowing the state of the robot on the PyBullet server.</p></td>
+</tr>
 <tr class="row-odd"><td><p><a class="reference internal" href="compas_fab.backends.PyBulletClient.get_robot_configuration.html#compas_fab.backends.PyBulletClient.get_robot_configuration" title="compas_fab.backends.PyBulletClient.get_robot_configuration"><code class="xref py py-obj docutils literal notranslate"><span class="pre">get_robot_configuration</span></code></a></p></td>
 <td><p>Gets the robot's current pose.</p></td>
 </tr>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.inverse_kinematics.html b/latest/api/generated/compas_fab.backends.PyBulletClient.inverse_kinematics.html
index ac0965c9b..4bf173a8a 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.load_robot.html b/latest/api/generated/compas_fab.backends.PyBulletClient.load_robot.html
index f37a87fa2..78ca10612 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.load_robot.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.load_robot.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.load_robot</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.load_robot">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">urdf_file</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resource_loaders</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">concavity</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">precision</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L216"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">urdf_file</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">resource_loaders</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">concavity</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">precision</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L221"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a pybullet robot using the input urdf file.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.load_semantics.html b/latest/api/generated/compas_fab.backends.PyBulletClient.load_semantics.html
index f4a878f07..581259a54 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.load_semantics.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.load_semantics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.load_semantics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.load_semantics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_semantics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">srdf_filename</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L258"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_semantics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">srdf_filename</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L263"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Loads the semantic information of a robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.load_ur5.html b/latest/api/generated/compas_fab.backends.PyBulletClient.load_ur5.html
index c798dd98a..82fb04689 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.load_ur5.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.load_ur5.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.load_ur5</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.load_ur5">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_ur5</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">load_geometry</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">concavity</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">load_ur5</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">load_geometry</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">concavity</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L185"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>“Load a UR5 robot to PyBullet.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.plan_cartesian_motion.html b/latest/api/generated/compas_fab.backends.PyBulletClient.plan_cartesian_motion.html
index 560f206b8..272370cd1 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.plan_motion.html b/latest/api/generated/compas_fab.backends.PyBulletClient.plan_motion.html
index 692468097..6616158c3 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.plan_motion.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.reload_from_cache.html b/latest/api/generated/compas_fab.backends.PyBulletClient.reload_from_cache.html
index 3bc1343b2..37c9850d1 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.reload_from_cache.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.reload_from_cache.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.reload_from_cache</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.reload_from_cache">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reload_from_cache</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/client.py#L283"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reload_from_cache</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L288"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Reloads the PyBullet server with the robot’s cached model.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.remove_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletClient.remove_attached_collision_mesh.html
index 6b006b6fb..3fc791e4c 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.remove_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.remove_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletClient.remove_collision_mesh.html
index c973188e9..5b143880c 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.remove_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.reset_planning_scene.html b/latest/api/generated/compas_fab.backends.PyBulletClient.reset_planning_scene.html
index 6cab49126..abf6a35ad 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.reset_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.set_robot_configuration.html b/latest/api/generated/compas_fab.backends.PyBulletClient.set_robot_configuration.html
index db0ed4622..7a8b51545 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.set_robot_configuration.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.set_robot_configuration.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.set_robot_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.set_robot_configuration">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">set_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L641"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">set_robot_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L649"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sets the robot’s pose to the given configuration. Should be followed by
 <cite>step_simulation</cite> for visualization purposes.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.backends.PyBulletClient.step_simulation.html b/latest/api/generated/compas_fab.backends.PyBulletClient.step_simulation.html
index c854d5f5f..a7510d90a 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletClient.step_simulation.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletClient.step_simulation.html
@@ -623,7 +623,7 @@
 <h1>PyBulletClient.step_simulation</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletClient.step_simulation">
-<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">step_simulation</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/74dfc5a/src/compas_fab/backends/pybullet/client.py#L171"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletClient.</span></span><span class="sig-name descname"><span class="pre">step_simulation</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/c6ef2c0/src/compas_fab/backends/pybullet/client.py#L176"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>By default, the physics server will not step the simulation,
 unless you explicitly send a <code class="docutils literal notranslate"><span class="pre">step_simulation</span></code> command.  This
 method will perform all the actions in a single forward dynamics
diff --git a/latest/api/generated/compas_fab.backends.PyBulletError.html b/latest/api/generated/compas_fab.backends.PyBulletError.html
index 338f058a3..7127f151d 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletError.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletError.html
@@ -623,7 +623,7 @@
 <h1>PyBulletError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">PyBulletError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/exceptions.py#L8"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">PyBulletError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/exceptions.py#L8"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.BackendError.html#compas_fab.backends.BackendError" title="compas_fab.backends.exceptions.BackendError"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendError</span></code></a></p>
 <p>Base case for exceptions in <code class="docutils literal notranslate"><span class="pre">compas_fab.backends.pybullet</span></code>.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_attached_collision_mesh.html
index c17c49def..3a28e8508 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_add_attached_collision_mesh.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_add_attached_collision_mesh.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh and attach it to the robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_collision_mesh.html
index fd69e91cc..783ff34bf 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_add_collision_mesh.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_add_collision_mesh.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.append_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.append_collision_mesh.html
index bb62f6387..1267bbded 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.append_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_append_collision_mesh.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_append_collision_mesh.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Append a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.forward_kinematics.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.forward_kinematics.html
index 962933694..171c74b5c 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.forward_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py#L11"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py#L11"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s forward kinematic.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.get_planning_scene.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.get_planning_scene.html
index c77e29df7..591a41569 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.get_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.html
index db94a6d4d..8c73b56d4 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">PyBulletPlanner</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/planner.py#L24"><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.backends.</span></span><span class="sig-name descname"><span class="pre">PyBulletPlanner</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/planner.py#L24"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.html" title="compas_fab.backends.pybullet.backend_features.pybullet_add_attached_collision_mesh.PyBulletAddAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletAddAttachedCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.html" title="compas_fab.backends.pybullet.backend_features.pybullet_add_collision_mesh.PyBulletAddCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletAddCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.html" title="compas_fab.backends.pybullet.backend_features.pybullet_append_collision_mesh.PyBulletAppendCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletAppendCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.html" title="compas_fab.backends.pybullet.backend_features.pybullet_remove_collision_mesh.PyBulletRemoveCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletRemoveCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.html" title="compas_fab.backends.pybullet.backend_features.pybullet_remove_attached_collision_mesh.PyBulletRemoveAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletRemoveAttachedCollisionMesh</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.html" title="compas_fab.backends.pybullet.backend_features.pybullet_forward_kinematics.PyBulletForwardKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletForwardKinematics</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.html" title="compas_fab.backends.pybullet.backend_features.pybullet_inverse_kinematics.PyBulletInverseKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">PyBulletInverseKinematics</span></code></a>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.interfaces.PlannerInterface.html" title="compas_fab.backends.interfaces.client.PlannerInterface"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlannerInterface</span></code></a></p>
 <p>Implement the planner backend interface for PyBullet.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.inverse_kinematics.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.inverse_kinematics.html
index f9856c71a..51c16856c 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py#L26"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py#L26"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic for a given frame.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_cartesian_motion.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_cartesian_motion.html
index 76d7ee8f8..0b94517b3 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L146"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L146"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_motion.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_motion.html
index 2c3a99059..0ffce4a15 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_motion.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_attached_collision_mesh.html
index deefd0476..50fea52db 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_attached_collision_mesh.py#L19"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_attached_collision_mesh.py#L19"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove an attached collision mesh from the robot.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_collision_mesh.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_collision_mesh.html
index 0ee75bec5..8d265d290 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a collision mesh from the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.PyBulletPlanner.reset_planning_scene.html b/latest/api/generated/compas_fab.backends.PyBulletPlanner.reset_planning_scene.html
index fff04c44c..3e96cecf6 100644
--- a/latest/api/generated/compas_fab.backends.PyBulletPlanner.reset_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.PyBulletPlanner.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>PyBulletPlanner.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.PyBulletPlanner.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L170"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletPlanner.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L170"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.add_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.RosClient.add_attached_collision_mesh.html
index c6a8863b0..72a843cf5 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.add_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosClient.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.add_collision_mesh.html b/latest/api/generated/compas_fab.backends.RosClient.add_collision_mesh.html
index 6781e5f33..0783446c2 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.add_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosClient.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.append_collision_mesh.html b/latest/api/generated/compas_fab.backends.RosClient.append_collision_mesh.html
index fc1575254..eb52238c7 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.append_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosClient.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.authenticate.html b/latest/api/generated/compas_fab.backends.RosClient.authenticate.html
index 4c7909949..a79ae261b 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.authenticate.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.authenticate.html
@@ -623,7 +623,7 @@
 <h1>RosClient.authenticate</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.authenticate">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">authenticate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mac</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dest</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rand</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">t</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">level</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">end</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L558"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">authenticate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mac</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">client</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dest</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rand</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">t</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">level</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">end</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L558"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sends an authorization request to the server.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>Sends authentication on connection.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.blocking_call_from_thread.html b/latest/api/generated/compas_fab.backends.RosClient.blocking_call_from_thread.html
index b62d2ed04..bd24b106c 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.blocking_call_from_thread.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.blocking_call_from_thread.html
@@ -623,7 +623,7 @@
 <h1>RosClient.blocking_call_from_thread</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.blocking_call_from_thread">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">blocking_call_from_thread</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L206"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">blocking_call_from_thread</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L206"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Call the given function from a thread, and wait for the result synchronously
 for as long as the timeout will allow.</p>
 <dl>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.call_async_service.html b/latest/api/generated/compas_fab.backends.RosClient.call_async_service.html
index bb0972366..b0967a1dc 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.call_async_service.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.call_async_service.html
@@ -623,7 +623,7 @@
 <h1>RosClient.call_async_service</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.call_async_service">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_async_service</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L258"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_async_service</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L258"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Send a service request to ROS once the connection is established.</p>
 <p>If a connection to ROS is already available, the request is sent immediately.</p>
 <dl class="simple">
diff --git a/latest/api/generated/compas_fab.backends.RosClient.call_in_thread.html b/latest/api/generated/compas_fab.backends.RosClient.call_in_thread.html
index afad7035a..6cf0bebe9 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.call_in_thread.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.call_in_thread.html
@@ -623,7 +623,7 @@
 <h1>RosClient.call_in_thread</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.call_in_thread">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_in_thread</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L119"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_in_thread</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L119"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Call the given function in a thread.</p>
 <p>The threading implementation is deferred to the factory.</p>
 <dl class="simple">
diff --git a/latest/api/generated/compas_fab.backends.RosClient.call_later.html b/latest/api/generated/compas_fab.backends.RosClient.call_later.html
index 5eb7f5136..4fd184ef3 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.call_later.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.call_later.html
@@ -623,7 +623,7 @@
 <h1>RosClient.call_later</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.call_later">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_later</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">delay</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L129"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_later</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">delay</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L129"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Call the given function after a certain period of time has passed.</p>
 <dl class="simple">
 <dt>Args:</dt><dd><p>delay (<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.12)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">int</span></code></a>): Number of seconds to wait before invoking the callback.
diff --git a/latest/api/generated/compas_fab.backends.RosClient.call_sync_service.html b/latest/api/generated/compas_fab.backends.RosClient.call_sync_service.html
index 29a5cc73c..ee6b3726a 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.call_sync_service.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.call_sync_service.html
@@ -623,7 +623,7 @@
 <h1>RosClient.call_sync_service</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.call_sync_service">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_sync_service</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L242"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">call_sync_service</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L242"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Send a blocking service request to ROS once the connection is established,
 waiting for the result to be return.</p>
 <p>If a connection to ROS is already available, the request is sent immediately.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.close.html b/latest/api/generated/compas_fab.backends.RosClient.close.html
index d1d2169dd..8530e8447 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.close.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.close.html
@@ -623,7 +623,7 @@
 <h1>RosClient.close</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.close">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L77"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">close</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L77"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Disconnect from ROS.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.connect.html b/latest/api/generated/compas_fab.backends.RosClient.connect.html
index 8b2b20a70..b2e6cb066 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.connect.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.connect.html
@@ -623,7 +623,7 @@
 <h1>RosClient.connect</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.connect">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">connect</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L63"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">connect</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L63"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Connect to ROS.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.delete_param.html b/latest/api/generated/compas_fab.backends.RosClient.delete_param.html
index 30361c8ce..6932bb1eb 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.delete_param.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.delete_param.html
@@ -623,7 +623,7 @@
 <h1>RosClient.delete_param</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.delete_param">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">delete_param</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L507"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">delete_param</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L507"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Delete parameter from the ROS Parameter Server.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.emit.html b/latest/api/generated/compas_fab.backends.RosClient.emit.html
index 178d9519c..16728a1e7 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.emit.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.emit.html
@@ -623,7 +623,7 @@
 <h1>RosClient.emit</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.emit">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">emit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_name</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L167"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">emit</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_name</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L167"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Trigger a named event.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.execute_joint_trajectory.html b/latest/api/generated/compas_fab.backends.RosClient.execute_joint_trajectory.html
index e90b294da..7716a2574 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.execute_joint_trajectory.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.execute_joint_trajectory.html
@@ -623,7 +623,7 @@
 <h1>RosClient.execute_joint_trajectory</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.execute_joint_trajectory">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">execute_joint_trajectory</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_trajectory</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">action_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/execute_trajectory'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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">feedback_callback</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">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">60000</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/client.py#L337"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">execute_joint_trajectory</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_trajectory</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">action_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/execute_trajectory'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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">feedback_callback</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">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">60000</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/client.py#L337"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Execute a joint trajectory via the MoveIt infrastructure.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.follow_configurations.html b/latest/api/generated/compas_fab.backends.RosClient.follow_configurations.html
index d39c9542c..aa2eceafa 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.follow_configurations.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.follow_configurations.html
@@ -623,7 +623,7 @@
 <h1>RosClient.follow_configurations</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.follow_configurations">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">follow_configurations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timesteps</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">60000</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/client.py#L222"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">follow_configurations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configurations</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timesteps</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">60000</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/client.py#L222"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.follow_joint_trajectory.html b/latest/api/generated/compas_fab.backends.RosClient.follow_joint_trajectory.html
index 76d07adee..69e6af462 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.follow_joint_trajectory.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.follow_joint_trajectory.html
@@ -623,7 +623,7 @@
 <h1>RosClient.follow_joint_trajectory</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.follow_joint_trajectory">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">follow_joint_trajectory</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_trajectory</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">action_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/joint_trajectory_action'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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">feedback_callback</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">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">60000</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/client.py#L265"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">follow_joint_trajectory</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_trajectory</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">action_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/joint_trajectory_action'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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">feedback_callback</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">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">60000</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/client.py#L265"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Follow the joint trajectory as computed by MoveIt planner.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.forward_kinematics.html b/latest/api/generated/compas_fab.backends.RosClient.forward_kinematics.html
index 5d3097c6f..54e62e850 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.forward_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>RosClient.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_action_servers.html b/latest/api/generated/compas_fab.backends.RosClient.get_action_servers.html
index 9a6a7ef9b..310608b6a 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_action_servers.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_action_servers.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_action_servers</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_action_servers">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_action_servers</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L516"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_action_servers</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L516"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of action servers in ROS.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_configuration.html b/latest/api/generated/compas_fab.backends.RosClient.get_configuration.html
index 8818daca9..9201eebd3 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_configuration.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_configuration.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_configuration">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_configuration</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/74dfc5a/src/compas_fab/backends/ros/client.py#L219"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_configuration</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/c6ef2c0/src/compas_fab/backends/ros/client.py#L219"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_message_details.html b/latest/api/generated/compas_fab.backends.RosClient.get_message_details.html
index d045be331..49d6c9cb4 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_message_details.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_message_details.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_message_details</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_message_details">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_message_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L449"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_message_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L449"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve details of a message type in ROS.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_node_details.html b/latest/api/generated/compas_fab.backends.RosClient.get_node_details.html
index ca31cef47..a7fa5d7fb 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_node_details.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_node_details.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_node_details</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_node_details">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_node_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">node</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L538"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_node_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">node</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L538"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list subscribed topics, publishing topics and services of a specific node name.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_nodes.html b/latest/api/generated/compas_fab.backends.RosClient.get_nodes.html
index aac89189d..a87ac0203 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_nodes.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_nodes.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_nodes</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_nodes">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_nodes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L522"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_nodes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L522"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of active node names in ROS.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_param.html b/latest/api/generated/compas_fab.backends.RosClient.get_param.html
index c174db2f7..1b95170a9 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_param.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_param.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_param</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_param">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_param</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L486"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_param</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L486"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the value of a parameter from the ROS Parameter Server.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_params.html b/latest/api/generated/compas_fab.backends.RosClient.get_params.html
index 4adc6cb50..27d16041b 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_params.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_params.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_params</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_params">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_params</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L467"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_params</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L467"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of param names from the ROS Parameter Server.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_planning_scene.html b/latest/api/generated/compas_fab.backends.RosClient.get_planning_scene.html
index f5948bcc3..48a3a1a4e 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_service_request_callback.html b/latest/api/generated/compas_fab.backends.RosClient.get_service_request_callback.html
index 482fdfe60..ee0b4ce2d 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_service_request_callback.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_service_request_callback.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_service_request_callback</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_service_request_callback">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_request_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L220"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_request_callback</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L220"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the callback which, when called, sends the service request.</p>
 <dl class="simple">
 <dt>Args:</dt><dd><p>message (<code class="xref py py-class docutils literal notranslate"><span class="pre">Message</span></code>): ROS Bridge Message containing the request.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_service_request_details.html b/latest/api/generated/compas_fab.backends.RosClient.get_service_request_details.html
index 85b22f5d1..8ccb76846 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_service_request_details.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_service_request_details.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_service_request_details</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_service_request_details">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_request_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L413"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_request_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L413"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve details of a ROS Service Request.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_service_response_details.html b/latest/api/generated/compas_fab.backends.RosClient.get_service_response_details.html
index c34d508bc..7aed755e8 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_service_response_details.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_service_response_details.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_service_response_details</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_service_response_details">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_response_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L431"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_response_details</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L431"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve details of a ROS Service Response.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_service_type.html b/latest/api/generated/compas_fab.backends.RosClient.get_service_type.html
index a1adb9495..d8df4c2a3 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_service_type.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_service_type.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_service_type</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_service_type">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L375"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_service_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L375"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve the type of a service in ROS.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_services.html b/latest/api/generated/compas_fab.backends.RosClient.get_services.html
index 02e4d807d..b78718353 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_services.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_services.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_services</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_services">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_services</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L356"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_services</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L356"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of active service names in ROS.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_services_for_type.html b/latest/api/generated/compas_fab.backends.RosClient.get_services_for_type.html
index 7dd57a7fb..12d133ce7 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_services_for_type.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_services_for_type.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_services_for_type</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_services_for_type">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_services_for_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L394"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_services_for_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">service_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L394"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of services in ROS matching the specified type.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_time.html b/latest/api/generated/compas_fab.backends.RosClient.get_time.html
index 16091f23b..2b03b9845 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_time.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_time.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_time</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_time">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_time</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L280"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_time</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L280"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve the current ROS time.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_topic_type.html b/latest/api/generated/compas_fab.backends.RosClient.get_topic_type.html
index 448497ab5..471a13506 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_topic_type.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_topic_type.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_topic_type</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_topic_type">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_topic_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">topic</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L318"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_topic_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">topic</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L318"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve the type of a topic in ROS.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_topics.html b/latest/api/generated/compas_fab.backends.RosClient.get_topics.html
index eb60b3ce9..a93a1a5f0 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_topics.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_topics.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_topics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_topics">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_topics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L299"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_topics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L299"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of topics in ROS.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.get_topics_for_type.html b/latest/api/generated/compas_fab.backends.RosClient.get_topics_for_type.html
index 5f0d9dfae..4af80e684 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.get_topics_for_type.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.get_topics_for_type.html
@@ -623,7 +623,7 @@
 <h1>RosClient.get_topics_for_type</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.get_topics_for_type">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_topics_for_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">topic_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L337"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">get_topics_for_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">topic_type</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L337"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve list of topics in ROS matching the specified type.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.html b/latest/api/generated/compas_fab.backends.RosClient.html
index 075207916..35b04bc02 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.html
@@ -623,7 +623,7 @@
 <h1>RosClient</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">RosClient</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/client.py#L102"><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.backends.</span></span><span class="sig-name descname"><span class="pre">RosClient</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/client.py#L102"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">Ros</span></code>, <a class="reference internal" href="../../developer/generated/compas_fab.backends.interfaces.ClientInterface.html" title="compas_fab.backends.interfaces.client.ClientInterface"><code class="xref py py-class docutils literal notranslate"><span class="pre">ClientInterface</span></code></a></p>
 <p>Interface to use ROS as backend via the <strong>rosbridge</strong>.</p>
 <p>The connection is managed by <code class="docutils literal notranslate"><span class="pre">roslibpy</span></code>.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.inverse_kinematics.html b/latest/api/generated/compas_fab.backends.RosClient.inverse_kinematics.html
index 38f5c8f3d..d64ee96e8 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>RosClient.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.load_robot.html b/latest/api/generated/compas_fab.backends.RosClient.load_robot.html
index c77bc8c69..5cc2f57c0 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.load_robot.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.load_robot.html
@@ -623,7 +623,7 @@
 <h1>RosClient.load_robot</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.load_robot">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">load_robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">load_geometry</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">urdf_param_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">srdf_param_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description_semantic'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">precision</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">local_cache_directory</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/74dfc5a/src/compas_fab/backends/ros/client.py#L158"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">load_robot</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">load_geometry</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">urdf_param_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">srdf_param_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description_semantic'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">precision</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">local_cache_directory</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/c6ef2c0/src/compas_fab/backends/ros/client.py#L158"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Load an entire robot instance -including model and semantics- directly from ROS.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.off.html b/latest/api/generated/compas_fab.backends.RosClient.off.html
index 2d3e50749..427191130 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.off.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.off.html
@@ -623,7 +623,7 @@
 <h1>RosClient.off</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.off">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">off</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L154"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">off</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L154"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a callback from an arbitrary named event.</p>
 <dl>
 <dt>Args:</dt><dd><p>event_name (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.12)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></a>): Name of the event from which to unsubscribe.
diff --git a/latest/api/generated/compas_fab.backends.RosClient.on.html b/latest/api/generated/compas_fab.backends.RosClient.on.html
index 0764b2345..533366e56 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.on.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.on.html
@@ -623,7 +623,7 @@
 <h1>RosClient.on</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.on">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">on</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L145"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">on</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">event_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L145"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a callback to an arbitrary named event.</p>
 <dl class="simple">
 <dt>Args:</dt><dd><p>event_name (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.12)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></a>): Name of the event to which to subscribe.
diff --git a/latest/api/generated/compas_fab.backends.RosClient.on_ready.html b/latest/api/generated/compas_fab.backends.RosClient.on_ready.html
index a585af409..06d76472b 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.on_ready.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.on_ready.html
@@ -623,7 +623,7 @@
 <h1>RosClient.on_ready</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.on_ready">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">on_ready</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_in_thread</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L171"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">on_ready</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">run_in_thread</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L171"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a callback to be executed when the connection is established.</p>
 <p>If a connection to ROS is already available, the callback is executed immediately.</p>
 <dl class="simple">
diff --git a/latest/api/generated/compas_fab.backends.RosClient.plan_cartesian_motion.html b/latest/api/generated/compas_fab.backends.RosClient.plan_cartesian_motion.html
index 6c4a1e008..1ba3cedcc 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>RosClient.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.plan_motion.html b/latest/api/generated/compas_fab.backends.RosClient.plan_motion.html
index 7e88e424e..b5309007d 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.plan_motion.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>RosClient.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.remove_attached_collision_mesh.html b/latest/api/generated/compas_fab.backends.RosClient.remove_attached_collision_mesh.html
index 63cca9e9e..d5c9dc0b6 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.remove_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosClient.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.remove_collision_mesh.html b/latest/api/generated/compas_fab.backends.RosClient.remove_collision_mesh.html
index aa1f91fb5..eafc9bd44 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.remove_collision_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosClient.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.reset_planning_scene.html b/latest/api/generated/compas_fab.backends.RosClient.reset_planning_scene.html
index fd3856a47..920223067 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.reset_planning_scene.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>RosClient.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosClient.run.html b/latest/api/generated/compas_fab.backends.RosClient.run.html
index ff783b162..458cd36cb 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.run.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.run.html
@@ -623,7 +623,7 @@
 <h1>RosClient.run</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.run">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L93"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">run</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">timeout</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">10</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L93"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Kick-starts a non-blocking event loop.</p>
 <dl class="simple">
 <dt>Args:</dt><dd><p>timeout: Timeout to wait until connection is ready.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.run_event_loop.html b/latest/api/generated/compas_fab.backends.RosClient.run_event_loop.html
index 9fb65eb0e..99cd35c65 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.run_event_loop.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.run_event_loop.html
@@ -623,7 +623,7 @@
 <h1>RosClient.run_event_loop</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.run_event_loop">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">run_event_loop</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L115"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">run_event_loop</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L115"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.run_forever.html b/latest/api/generated/compas_fab.backends.RosClient.run_forever.html
index fd8927930..f20a712fd 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.run_forever.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.run_forever.html
@@ -623,7 +623,7 @@
 <h1>RosClient.run_forever</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.run_forever">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">run_forever</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L107"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">run_forever</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L107"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Kick-starts a blocking loop to wait for events.</p>
 <p>Depending on the implementations, and the client applications,
 running this might be required or not.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.send_on_ready.html b/latest/api/generated/compas_fab.backends.RosClient.send_on_ready.html
index cc6fe9876..030e52f10 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.send_on_ready.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.send_on_ready.html
@@ -623,7 +623,7 @@
 <h1>RosClient.send_on_ready</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.send_on_ready">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">send_on_ready</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L191"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">send_on_ready</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">message</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L191"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Send message to ROS once the connection is established.</p>
 <p>If a connection to ROS is already available, the message is sent immediately.</p>
 <dl class="simple">
diff --git a/latest/api/generated/compas_fab.backends.RosClient.set_param.html b/latest/api/generated/compas_fab.backends.RosClient.set_param.html
index 20945cbca..ec62ebca4 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.set_param.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.set_param.html
@@ -623,7 +623,7 @@
 <h1>RosClient.set_param</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.set_param">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">set_param</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L498"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">set_param</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">callback</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">errback</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L498"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Set the value of a parameter from the ROS Parameter Server.</p>
 <dl class="simple">
 <dt>Note:</dt><dd><p>To make this a blocking call, pass <code class="docutils literal notranslate"><span class="pre">None</span></code> to the <code class="docutils literal notranslate"><span class="pre">callback</span></code> parameter .</p>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.set_status_level.html b/latest/api/generated/compas_fab.backends.RosClient.set_status_level.html
index d9743a50c..f698565d0 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.set_status_level.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.set_status_level.html
@@ -623,7 +623,7 @@
 <h1>RosClient.set_status_level</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.set_status_level">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">set_status_level</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">identifier</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L275"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">set_status_level</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">level</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">identifier</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L275"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.RosClient.terminate.html b/latest/api/generated/compas_fab.backends.RosClient.terminate.html
index 469499ccc..ecb3ed2bf 100644
--- a/latest/api/generated/compas_fab.backends.RosClient.terminate.html
+++ b/latest/api/generated/compas_fab.backends.RosClient.terminate.html
@@ -623,7 +623,7 @@
 <h1>RosClient.terminate</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosClient.terminate">
-<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">terminate</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L138"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosClient.</span></span><span class="sig-name descname"><span class="pre">terminate</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/roslibpy/ros.py#L138"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Signals the termination of the main event loop.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.backends.RosError.html b/latest/api/generated/compas_fab.backends.RosError.html
index d65798894..284322dba 100644
--- a/latest/api/generated/compas_fab.backends.RosError.html
+++ b/latest/api/generated/compas_fab.backends.RosError.html
@@ -623,7 +623,7 @@
 <h1>RosError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.RosError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">RosError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/exceptions.py#L13"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">RosError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/exceptions.py#L13"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.BackendError.html#compas_fab.backends.BackendError" title="compas_fab.backends.exceptions.BackendError"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendError</span></code></a></p>
 <p>Wraps an exception that occurred on the communication with ROS.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.RosFileServerLoader.can_load_mesh.html b/latest/api/generated/compas_fab.backends.RosFileServerLoader.can_load_mesh.html
index 6c533b639..a35f3678a 100644
--- a/latest/api/generated/compas_fab.backends.RosFileServerLoader.can_load_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosFileServerLoader.can_load_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosFileServerLoader.can_load_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosFileServerLoader.can_load_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">can_load_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">url</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/fileserver_loader.py#L164"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">can_load_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">url</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/fileserver_loader.py#L164"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Determine whether this loader can load a given mesh URL.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosFileServerLoader.html b/latest/api/generated/compas_fab.backends.RosFileServerLoader.html
index dd882c8e0..008d99564 100644
--- a/latest/api/generated/compas_fab.backends.RosFileServerLoader.html
+++ b/latest/api/generated/compas_fab.backends.RosFileServerLoader.html
@@ -623,7 +623,7 @@
 <h1>RosFileServerLoader</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.RosFileServerLoader">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">RosFileServerLoader</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/fileserver_loader.py#L50"><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.backends.</span></span><span class="sig-name descname"><span class="pre">RosFileServerLoader</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/fileserver_loader.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Allows to retrieve the mesh files specified in the robot model from the
 ROS File Server. Optionally, it stores them on the local file system,
diff --git a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_mesh.html b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_mesh.html
index 8ed336cd7..a4b2e89c3 100644
--- a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_mesh.html
+++ b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_mesh.html
@@ -623,7 +623,7 @@
 <h1>RosFileServerLoader.load_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosFileServerLoader.load_mesh">
-<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">url</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/fileserver_loader.py#L230"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">url</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/fileserver_loader.py#L230"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Load the mesh from the given URL.</p>
 <div class="deprecated">
 <p><span class="versionmodified deprecated">Deprecated since version 0.23: </span>Use <a class="reference internal" href="compas_fab.backends.RosFileServerLoader.load_meshes.html#compas_fab.backends.RosFileServerLoader.load_meshes" title="compas_fab.backends.RosFileServerLoader.load_meshes"><code class="xref py py-meth docutils literal notranslate"><span class="pre">load_meshes()</span></code></a> instead.</p>
diff --git a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_meshes.html b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_meshes.html
index defb0bdd8..1107ec5e9 100644
--- a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_meshes.html
+++ b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_meshes.html
@@ -623,7 +623,7 @@
 <h1>RosFileServerLoader.load_meshes</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosFileServerLoader.load_meshes">
-<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_meshes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">url</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">precision</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/74dfc5a/src/compas_fab/backends/ros/fileserver_loader.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_meshes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">url</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">precision</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/c6ef2c0/src/compas_fab/backends/ros/fileserver_loader.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Load meshes from the given URL in the ROS file server.</p>
 <p>A single mesh url can contain multiple meshes depending on the format.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_srdf.html b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_srdf.html
index 0546f95d1..699c882ac 100644
--- a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_srdf.html
+++ b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_srdf.html
@@ -623,7 +623,7 @@
 <h1>RosFileServerLoader.load_srdf</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosFileServerLoader.load_srdf">
-<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_srdf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">parameter_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description_semantic'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/fileserver_loader.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_srdf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">parameter_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description_semantic'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/fileserver_loader.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Loads an SRDF model from the specified ROS parameter.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_urdf.html b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_urdf.html
index 3ea257c3f..635209114 100644
--- a/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_urdf.html
+++ b/latest/api/generated/compas_fab.backends.RosFileServerLoader.load_urdf.html
@@ -623,7 +623,7 @@
 <h1>RosFileServerLoader.load_urdf</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.RosFileServerLoader.load_urdf">
-<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_urdf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">parameter_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/fileserver_loader.py#L98"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RosFileServerLoader.</span></span><span class="sig-name descname"><span class="pre">load_urdf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">parameter_name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'/robot_description'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/fileserver_loader.py#L98"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Loads a URDF model from the specified ROS parameter.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.backends.RosValidationError.html b/latest/api/generated/compas_fab.backends.RosValidationError.html
index cb290d282..373ae9060 100644
--- a/latest/api/generated/compas_fab.backends.RosValidationError.html
+++ b/latest/api/generated/compas_fab.backends.RosValidationError.html
@@ -623,7 +623,7 @@
 <h1>RosValidationError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.backends.RosValidationError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">RosValidationError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/exceptions.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">RosValidationError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/exceptions.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.BackendError.html#compas_fab.backends.BackendError" title="compas_fab.backends.exceptions.BackendError"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendError</span></code></a></p>
 <p>Wraps an exception that occurred on validation of a ROS response.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.backends.SphericalWristKinematics.forward.html b/latest/api/generated/compas_fab.backends.SphericalWristKinematics.forward.html
index f20e7a6a3..f5967859c 100644
--- a/latest/api/generated/compas_fab.backends.SphericalWristKinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.SphericalWristKinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>SphericalWristKinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.SphericalWristKinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">SphericalWristKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SphericalWristKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.SphericalWristKinematics.html b/latest/api/generated/compas_fab.backends.SphericalWristKinematics.html
index 9394aa5cc..f6cfff504 100644
--- a/latest/api/generated/compas_fab.backends.SphericalWristKinematics.html
+++ b/latest/api/generated/compas_fab.backends.SphericalWristKinematics.html
@@ -623,7 +623,7 @@
 <h1>SphericalWristKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.SphericalWristKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">SphericalWristKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L11"><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.backends.</span></span><span class="sig-name descname"><span class="pre">SphericalWristKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L11"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p class="rubric">Methods</p>
 <table class="autosummary longtable table autosummary">
diff --git a/latest/api/generated/compas_fab.backends.SphericalWristKinematics.inverse.html b/latest/api/generated/compas_fab.backends.SphericalWristKinematics.inverse.html
index 7408f23fa..ac7da6ef4 100644
--- a/latest/api/generated/compas_fab.backends.SphericalWristKinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.SphericalWristKinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>SphericalWristKinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.SphericalWristKinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">SphericalWristKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">SphericalWristKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.forward.html b/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.forward.html
index 025ac0260..02c64e8d9 100644
--- a/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>Staubli_TX260LKinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.Staubli_TX260LKinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">Staubli_TX260LKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Staubli_TX260LKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.html b/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.html
index 374a04fdd..08953a275 100644
--- a/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.html
+++ b/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.html
@@ -623,7 +623,7 @@
 <h1>Staubli_TX260LKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.Staubli_TX260LKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">Staubli_TX260LKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L33"><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.backends.</span></span><span class="sig-name descname"><span class="pre">Staubli_TX260LKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L33"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.SphericalWristKinematics.html#compas_fab.backends.SphericalWristKinematics" title="compas_fab.backends.kinematics.solvers.spherical_wrist_kinematics.SphericalWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">SphericalWristKinematics</span></code></a></p>
 <p>Analytical IK solver for the Stäubli TX2 60L robot.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.inverse.html b/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.inverse.html
index a08edc3b8..63cb2a949 100644
--- a/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.Staubli_TX260LKinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>Staubli_TX260LKinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.Staubli_TX260LKinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">Staubli_TX260LKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Staubli_TX260LKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/spherical_wrist_kinematics.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR10Kinematics.forward.html b/latest/api/generated/compas_fab.backends.UR10Kinematics.forward.html
index 87d61e2d3..293795b41 100644
--- a/latest/api/generated/compas_fab.backends.UR10Kinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.UR10Kinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>UR10Kinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR10Kinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">UR10Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR10Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR10Kinematics.html b/latest/api/generated/compas_fab.backends.UR10Kinematics.html
index 14f3cd10e..a7cb360c1 100644
--- a/latest/api/generated/compas_fab.backends.UR10Kinematics.html
+++ b/latest/api/generated/compas_fab.backends.UR10Kinematics.html
@@ -623,7 +623,7 @@
 <h1>UR10Kinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.UR10Kinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">UR10Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L108"><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.backends.</span></span><span class="sig-name descname"><span class="pre">UR10Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L108"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.OffsetWristKinematics.html#compas_fab.backends.OffsetWristKinematics" title="compas_fab.backends.kinematics.solvers.offset_wrist_kinematics.OffsetWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">OffsetWristKinematics</span></code></a></p>
 <p>Analytical IK solver for UR10 e-Series robots.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.UR10Kinematics.inverse.html b/latest/api/generated/compas_fab.backends.UR10Kinematics.inverse.html
index e1aea5fd2..1231e9dda 100644
--- a/latest/api/generated/compas_fab.backends.UR10Kinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.UR10Kinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>UR10Kinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR10Kinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">UR10Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR10Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR10eKinematics.forward.html b/latest/api/generated/compas_fab.backends.UR10eKinematics.forward.html
index e9a9ef57f..0cc7672c7 100644
--- a/latest/api/generated/compas_fab.backends.UR10eKinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.UR10eKinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>UR10eKinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR10eKinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">UR10eKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR10eKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR10eKinematics.html b/latest/api/generated/compas_fab.backends.UR10eKinematics.html
index 82312d475..818b0f3cf 100644
--- a/latest/api/generated/compas_fab.backends.UR10eKinematics.html
+++ b/latest/api/generated/compas_fab.backends.UR10eKinematics.html
@@ -623,7 +623,7 @@
 <h1>UR10eKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.UR10eKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">UR10eKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L116"><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.backends.</span></span><span class="sig-name descname"><span class="pre">UR10eKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L116"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.OffsetWristKinematics.html#compas_fab.backends.OffsetWristKinematics" title="compas_fab.backends.kinematics.solvers.offset_wrist_kinematics.OffsetWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">OffsetWristKinematics</span></code></a></p>
 <p>Analytical IK solver for UR10 e-Series robots.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.UR10eKinematics.inverse.html b/latest/api/generated/compas_fab.backends.UR10eKinematics.inverse.html
index a7b122f1d..af0bc1b5d 100644
--- a/latest/api/generated/compas_fab.backends.UR10eKinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.UR10eKinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>UR10eKinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR10eKinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">UR10eKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR10eKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR3Kinematics.forward.html b/latest/api/generated/compas_fab.backends.UR3Kinematics.forward.html
index 0d1883553..21497121c 100644
--- a/latest/api/generated/compas_fab.backends.UR3Kinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.UR3Kinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>UR3Kinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR3Kinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">UR3Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR3Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR3Kinematics.html b/latest/api/generated/compas_fab.backends.UR3Kinematics.html
index 10c61038b..c0b9ff759 100644
--- a/latest/api/generated/compas_fab.backends.UR3Kinematics.html
+++ b/latest/api/generated/compas_fab.backends.UR3Kinematics.html
@@ -623,7 +623,7 @@
 <h1>UR3Kinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.UR3Kinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">UR3Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L76"><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.backends.</span></span><span class="sig-name descname"><span class="pre">UR3Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L76"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.OffsetWristKinematics.html#compas_fab.backends.OffsetWristKinematics" title="compas_fab.backends.kinematics.solvers.offset_wrist_kinematics.OffsetWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">OffsetWristKinematics</span></code></a></p>
 <p>Analytical IK solver for UR3 robots.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.UR3Kinematics.inverse.html b/latest/api/generated/compas_fab.backends.UR3Kinematics.inverse.html
index c1f3affae..fb66669bc 100644
--- a/latest/api/generated/compas_fab.backends.UR3Kinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.UR3Kinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>UR3Kinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR3Kinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">UR3Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR3Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR3eKinematics.forward.html b/latest/api/generated/compas_fab.backends.UR3eKinematics.forward.html
index da412c9ea..1f6c2e7d8 100644
--- a/latest/api/generated/compas_fab.backends.UR3eKinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.UR3eKinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>UR3eKinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR3eKinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">UR3eKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR3eKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR3eKinematics.html b/latest/api/generated/compas_fab.backends.UR3eKinematics.html
index 52138e956..02339bb44 100644
--- a/latest/api/generated/compas_fab.backends.UR3eKinematics.html
+++ b/latest/api/generated/compas_fab.backends.UR3eKinematics.html
@@ -623,7 +623,7 @@
 <h1>UR3eKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.UR3eKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">UR3eKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L84"><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.backends.</span></span><span class="sig-name descname"><span class="pre">UR3eKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L84"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.OffsetWristKinematics.html#compas_fab.backends.OffsetWristKinematics" title="compas_fab.backends.kinematics.solvers.offset_wrist_kinematics.OffsetWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">OffsetWristKinematics</span></code></a></p>
 <p>Analytical IK solver for UR3 e-Series robots.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.UR3eKinematics.inverse.html b/latest/api/generated/compas_fab.backends.UR3eKinematics.inverse.html
index 1768e05b1..36bd33988 100644
--- a/latest/api/generated/compas_fab.backends.UR3eKinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.UR3eKinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>UR3eKinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR3eKinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">UR3eKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR3eKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR5Kinematics.forward.html b/latest/api/generated/compas_fab.backends.UR5Kinematics.forward.html
index 6620e9fc8..07201ea5e 100644
--- a/latest/api/generated/compas_fab.backends.UR5Kinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.UR5Kinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>UR5Kinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR5Kinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">UR5Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR5Kinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR5Kinematics.html b/latest/api/generated/compas_fab.backends.UR5Kinematics.html
index e58c7b83a..ed365b982 100644
--- a/latest/api/generated/compas_fab.backends.UR5Kinematics.html
+++ b/latest/api/generated/compas_fab.backends.UR5Kinematics.html
@@ -623,7 +623,7 @@
 <h1>UR5Kinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.UR5Kinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">UR5Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L92"><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.backends.</span></span><span class="sig-name descname"><span class="pre">UR5Kinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L92"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.OffsetWristKinematics.html#compas_fab.backends.OffsetWristKinematics" title="compas_fab.backends.kinematics.solvers.offset_wrist_kinematics.OffsetWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">OffsetWristKinematics</span></code></a></p>
 <p>Analytical IK solver for UR5 robots.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.UR5Kinematics.inverse.html b/latest/api/generated/compas_fab.backends.UR5Kinematics.inverse.html
index 567c12aa2..0ce1446c1 100644
--- a/latest/api/generated/compas_fab.backends.UR5Kinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.UR5Kinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>UR5Kinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR5Kinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">UR5Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR5Kinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR5eKinematics.forward.html b/latest/api/generated/compas_fab.backends.UR5eKinematics.forward.html
index ad9fddfce..8b1eae5b5 100644
--- a/latest/api/generated/compas_fab.backends.UR5eKinematics.forward.html
+++ b/latest/api/generated/compas_fab.backends.UR5eKinematics.forward.html
@@ -623,7 +623,7 @@
 <h1>UR5eKinematics.forward</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR5eKinematics.forward">
-<span class="sig-prename descclassname"><span class="pre">UR5eKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR5eKinematics.</span></span><span class="sig-name descname"><span class="pre">forward</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">joint_values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L69"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.backends.UR5eKinematics.html b/latest/api/generated/compas_fab.backends.UR5eKinematics.html
index cb9e649ea..df631df49 100644
--- a/latest/api/generated/compas_fab.backends.UR5eKinematics.html
+++ b/latest/api/generated/compas_fab.backends.UR5eKinematics.html
@@ -623,7 +623,7 @@
 <h1>UR5eKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.UR5eKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.</span></span><span class="sig-name descname"><span class="pre">UR5eKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L100"><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.backends.</span></span><span class="sig-name descname"><span class="pre">UR5eKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L100"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.OffsetWristKinematics.html#compas_fab.backends.OffsetWristKinematics" title="compas_fab.backends.kinematics.solvers.offset_wrist_kinematics.OffsetWristKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">OffsetWristKinematics</span></code></a></p>
 <p>Analytical IK solver for UR5 e-Series robots.</p>
 <p class="rubric">Inherited Methods</p>
diff --git a/latest/api/generated/compas_fab.backends.UR5eKinematics.inverse.html b/latest/api/generated/compas_fab.backends.UR5eKinematics.inverse.html
index 68e2126ef..c46495707 100644
--- a/latest/api/generated/compas_fab.backends.UR5eKinematics.inverse.html
+++ b/latest/api/generated/compas_fab.backends.UR5eKinematics.inverse.html
@@ -623,7 +623,7 @@
 <h1>UR5eKinematics.inverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.UR5eKinematics.inverse">
-<span class="sig-prename descclassname"><span class="pre">UR5eKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">UR5eKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_rcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.ToString.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.ToString.html
index 655072e09..45750e6b6 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.ToString.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.ToString.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.ToString">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.add.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.add.html
index e89395c58..c0672dc7c 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.add.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.add.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.add</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.add">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">add</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">item</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">add</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">item</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a child item to the scene object.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.clear.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.clear.html
index ad3d5e480..7f51cfc20 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.clear.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.clear.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.clear</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.clear">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">clear</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L250"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">clear</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L250"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>The main clearing method.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.copy.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.copy.html
index 00eb88cb0..a09297f3b 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.copy.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.copy.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.copy">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw.html
index 1b7f8927a..97f08ac42 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.draw</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.draw">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/ghpython/reachabilitymapobject.py#L44"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/ghpython/reachabilitymapobject.py#L44"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>The main drawing method.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_cloud.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_cloud.html
index e17d6947c..cf6aaa51b 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_cloud.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_cloud.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.draw_cloud</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.draw_cloud">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_cloud</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">points</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/74dfc5a/src/compas_fab/ghpython/reachabilitymapobject.py#L47"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_cloud</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">points</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/c6ef2c0/src/compas_fab/ghpython/reachabilitymapobject.py#L47"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the points and colors to create a point cloud.</p>
 <p>The colors are calculated on the score at the respective frame. If the
 frames are a 2D list, the point of the first frame of the list is used.</p>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_frames.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_frames.html
index 1ae73cda8..461405f82 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_frames.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.draw_frames.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.draw_frames</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.draw_frames">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ik_index</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/74dfc5a/src/compas_fab/ghpython/reachabilitymapobject.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ik_index</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/c6ef2c0/src/compas_fab/ghpython/reachabilitymapobject.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the frames of the reachability map.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_json.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_json.html
index db7af9f97..57c387eed 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_json.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_json.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_jsonstring.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_jsonstring.html
index 1d27548b9..b8bf8fa92 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.html
index 6988b9f05..5348d36a3 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.ghpython.</span></span><span class="sig-name descname"><span class="pre">ReachabilityMapObject</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/ghpython/reachabilitymapobject.py#L6"><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.ghpython.</span></span><span class="sig-name descname"><span class="pre">ReachabilityMapObject</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/ghpython/reachabilitymapobject.py#L6"><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/api/generated/compas_ghpython.scene.GHSceneObject.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">GHSceneObject</span></code></a></p>
 <p>Scene object for drawing a reachability map.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.remove.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.remove.html
index eb58aae84..ae5c85a3e 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.remove.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.remove.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.remove</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.remove">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">remove</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">node</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">remove</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">node</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a child node from this node.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.sha256.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.sha256.html
index ab5cdb0e6..95fa10220 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.sha256.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.sha256.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.sha256">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_json.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_json.html
index 12ac71b8a..5b4384144 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_json.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_json.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.to_json">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_jsonstring.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_jsonstring.html
index 3879fa617..ec0eeda18 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.traverse.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.traverse.html
index f8545fa6d..2542b9c28 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.traverse.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.traverse.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.traverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.traverse">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">traverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">strategy</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'depthfirst'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">order</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'preorder'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L167"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">traverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">strategy</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'depthfirst'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">order</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'preorder'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L167"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Traverse the tree from this node.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.validate_data.html b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.validate_data.html
index 358f0c198..f1f0b1f99 100644
--- a/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.validate_data.html
+++ b/latest/api/generated/compas_fab.ghpython.ReachabilityMapObject.validate_data.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.ghpython.ReachabilityMapObject.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.ToString.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.ToString.html
index 6391c71c0..411dc44b3 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.ToString.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.ToString.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.ToString">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add.html
index d58788b96..6bdde6bd8 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.add</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.add">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">add</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">item</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">add</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">item</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a child item to the scene object.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add_to_group.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add_to_group.html
index fae1f31c9..114e43f6d 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add_to_group.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.add_to_group.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.add_to_group</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.add_to_group">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">add_to_group</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">guids</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L55"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">add_to_group</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">guids</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L55"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add the objects to the group.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear.html
index fd0f4f6cc..70e0ddde2 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.clear</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.clear">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">clear</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L250"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">clear</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/scene/sceneobject.py#L250"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>The main clearing method.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear_layer.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear_layer.html
index a18ca92d2..c21cf7535 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear_layer.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.clear_layer.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.clear_layer</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.clear_layer">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">clear_layer</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L74"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">clear_layer</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L74"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Clear the layer of the scene object.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.compile_attributes.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.compile_attributes.html
index 6efd2f357..53d03167c 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.compile_attributes.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.compile_attributes.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.compile_attributes</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.compile_attributes">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">compile_attributes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</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">color</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">arrow</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L85"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">compile_attributes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</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">color</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">arrow</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L85"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Compile Rhino DocObject Attributes.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.copy.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.copy.html
index 809bdcfdb..1135a0ff6 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.copy.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.copy.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.copy">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw.html
index 133a11d61..69a811afe 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.draw</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.draw">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/rhino/reachabilitymapobject.py#L53"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/rhino/reachabilitymapobject.py#L53"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>The main drawing method.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_cloud.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_cloud.html
index 5bfeadbe5..3525a2bd6 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_cloud.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_cloud.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.draw_cloud</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.draw_cloud">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_cloud</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">points</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/74dfc5a/src/compas_fab/rhino/reachabilitymapobject.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_cloud</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">colormap</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'viridis'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">points</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/c6ef2c0/src/compas_fab/rhino/reachabilitymapobject.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the points and colors to create a point cloud.</p>
 <p>The colors are calculated on the score at the respective frame. If the
 frames are a 2D list, the point of the first frame of the list is used.</p>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_frames.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_frames.html
index f805b55d8..8cdb223c6 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_frames.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.draw_frames.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.draw_frames</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.draw_frames">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ik_index</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/74dfc5a/src/compas_fab/rhino/reachabilitymapobject.py#L26"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">draw_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ik_index</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/c6ef2c0/src/compas_fab/rhino/reachabilitymapobject.py#L26"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the frames of the reachability map.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_json.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_json.html
index 67ea93bee..466345284 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_json.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_json.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_jsonstring.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_jsonstring.html
index 4b580d544..7c280c73b 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.get_group.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.get_group.html
index 653ebf3a8..425cb551c 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.get_group.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.get_group.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.get_group</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.get_group">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">get_group</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L35"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">get_group</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_rhino/scene/sceneobject.py#L35"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Find the group with the given name, or create a new one.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.html
index 9f18232c0..fff56363c 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.rhino.</span></span><span class="sig-name descname"><span class="pre">ReachabilityMapObject</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/rhino/reachabilitymapobject.py#L6"><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.rhino.</span></span><span class="sig-name descname"><span class="pre">ReachabilityMapObject</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/rhino/reachabilitymapobject.py#L6"><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/api/generated/compas_rhino.scene.RhinoSceneObject.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">RhinoSceneObject</span></code></a></p>
 <p>Scene object for drawing a reachability map.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.remove.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.remove.html
index 0965d26bf..3a1a6648d 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.remove.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.remove.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.remove</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.remove">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">remove</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">node</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">remove</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">node</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a child node from this node.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.sha256.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.sha256.html
index a3e38eca1..1390e82e0 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.sha256.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.sha256.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.sha256">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_json.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_json.html
index 6b104c9e2..0502f14d5 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_json.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_json.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.to_json">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_jsonstring.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_jsonstring.html
index e334737c1..0377370ef 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.traverse.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.traverse.html
index ab62471ab..6b64dc822 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.traverse.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.traverse.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.traverse</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.traverse">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">traverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">strategy</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'depthfirst'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">order</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'preorder'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L167"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">traverse</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">strategy</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'depthfirst'</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">order</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'preorder'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/datastructures/tree/tree.py#L167"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Traverse the tree from this node.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.validate_data.html b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.validate_data.html
index f575099f5..1d148be98 100644
--- a/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.validate_data.html
+++ b/latest/api/generated/compas_fab.rhino.ReachabilityMapObject.validate_data.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMapObject.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.rhino.ReachabilityMapObject.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMapObject.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.ToString.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.ToString.html
index c87d9d42a..bba330840 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.ToString.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.ToString.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.ToString">
-<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.copy.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.copy.html
index d0ff01b11..5e6e9a060 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.copy.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.copy.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.copy">
-<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_json.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_json.html
index 7f3546bc2..500a9acf7 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_json.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_json.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_jsonstring.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_jsonstring.html
index a433b3f51..f44213a42 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.html
index 160f455a3..37a88af95 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">AttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L121"><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.robots.</span></span><span class="sig-name descname"><span class="pre">AttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L121"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents a collision mesh that is attached to a <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">Robot</span></code></a>’s <a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.model.Link.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.model.Link</span></code></a>.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.sha256.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.sha256.html
index 16dda4dfb..78197dbb9 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.sha256.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.sha256.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.sha256">
-<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_json.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_json.html
index 189102f08..875020dc7 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_json.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_json.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.to_json">
-<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_jsonstring.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_jsonstring.html
index ae36b5df8..25ef44c49 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.validate_data.html b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.validate_data.html
index c9458ea90..ddd5b49f6 100644
--- a/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.AttachedCollisionMesh.validate_data.html
@@ -623,7 +623,7 @@
 <h1>AttachedCollisionMesh.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.AttachedCollisionMesh.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">AttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.ToString.html b/latest/api/generated/compas_fab.robots.BoundingVolume.ToString.html
index 377efef0c..b5dc9702d 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.ToString.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.ToString.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.ToString">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.copy.html b/latest/api/generated/compas_fab.robots.BoundingVolume.copy.html
index 6f3434969..fb26aa0da 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.copy.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.copy.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.copy">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">copy</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/74dfc5a/src/compas_fab/robots/constraints.py#L169"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">copy</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/c6ef2c0/src/compas_fab/robots/constraints.py#L169"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Make a copy of this <a class="reference internal" href="compas_fab.robots.BoundingVolume.html#compas_fab.robots.BoundingVolume" title="compas_fab.robots.BoundingVolume"><code class="xref py py-class docutils literal notranslate"><span class="pre">BoundingVolume</span></code></a>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.from_box.html b/latest/api/generated/compas_fab.robots.BoundingVolume.from_box.html
index d3c4f6098..777d9344e 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.from_box.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.from_box.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.from_box</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.from_box">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">from_box</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">box</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L70"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">from_box</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">box</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L70"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.BoundingVolume.html#compas_fab.robots.BoundingVolume" title="compas_fab.robots.BoundingVolume"><code class="xref py py-class docutils literal notranslate"><span class="pre">BoundingVolume</span></code></a> from a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Box.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Box</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.from_json.html b/latest/api/generated/compas_fab.robots.BoundingVolume.from_json.html
index 942b70dac..f892da326 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.from_json.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.from_json.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.from_jsonstring.html b/latest/api/generated/compas_fab.robots.BoundingVolume.from_jsonstring.html
index 51bfda1b1..f9aad9d56 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.from_mesh.html b/latest/api/generated/compas_fab.robots.BoundingVolume.from_mesh.html
index c56966077..bb2762f19 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.from_mesh.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.from_mesh.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.from_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.from_mesh">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">from_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L119"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">from_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L119"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.BoundingVolume.html#compas_fab.robots.BoundingVolume" title="compas_fab.robots.BoundingVolume"><code class="xref py py-class docutils literal notranslate"><span class="pre">BoundingVolume</span></code></a> from a <a class="reference external" href="https://compas.dev/compas/latest/api/compas.datastructures.Mesh.html#compas.datastructures.Mesh" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.datastructures.Mesh</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.from_sphere.html b/latest/api/generated/compas_fab.robots.BoundingVolume.from_sphere.html
index 9a82804b1..f902b0b21 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.from_sphere.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.from_sphere.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.from_sphere</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.from_sphere">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">from_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sphere</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L95"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">from_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">sphere</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L95"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.BoundingVolume.html#compas_fab.robots.BoundingVolume" title="compas_fab.robots.BoundingVolume"><code class="xref py py-class docutils literal notranslate"><span class="pre">BoundingVolume</span></code></a> from a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Sphere.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Sphere</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.html b/latest/api/generated/compas_fab.robots.BoundingVolume.html
index 67c65f32a..52b38f097 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">BoundingVolume</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L15"><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.robots.</span></span><span class="sig-name descname"><span class="pre">BoundingVolume</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L15"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>A container for describing a bounding volume.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.scale.html b/latest/api/generated/compas_fab.robots.BoundingVolume.scale.html
index c1d2bb071..27cd435ab 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.scale.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.scale.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.scale">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L144"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L144"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scale the volume uniformly.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.sha256.html b/latest/api/generated/compas_fab.robots.BoundingVolume.sha256.html
index 52ccf3e56..4b4aa4230 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.sha256.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.sha256.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.sha256">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.to_json.html b/latest/api/generated/compas_fab.robots.BoundingVolume.to_json.html
index 3e39faa72..223eb1bdb 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.to_json.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.to_json.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.to_json">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.to_jsonstring.html b/latest/api/generated/compas_fab.robots.BoundingVolume.to_jsonstring.html
index 0077833cd..b71a8e67f 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.transform.html b/latest/api/generated/compas_fab.robots.BoundingVolume.transform.html
index 615591fbb..3d87d170e 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.transform.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.transform.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.transform</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.transform">
-<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L155"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L155"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Transform the volume using a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Transformation.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Transformation</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.BoundingVolume.validate_data.html b/latest/api/generated/compas_fab.robots.BoundingVolume.validate_data.html
index c0b05a326..8a164bc86 100644
--- a/latest/api/generated/compas_fab.robots.BoundingVolume.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.BoundingVolume.validate_data.html
@@ -623,7 +623,7 @@
 <h1>BoundingVolume.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.BoundingVolume.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">BoundingVolume.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.ToString.html b/latest/api/generated/compas_fab.robots.CollisionMesh.ToString.html
index 4b4a69e73..a44739c93 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.ToString.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.ToString.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.ToString">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.copy.html b/latest/api/generated/compas_fab.robots.CollisionMesh.copy.html
index 28cf35fc4..fbd815754 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.copy.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.copy.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.copy">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.from_json.html b/latest/api/generated/compas_fab.robots.CollisionMesh.from_json.html
index 43c16d0e8..5fb83ca20 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.from_json.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.from_json.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.from_jsonstring.html b/latest/api/generated/compas_fab.robots.CollisionMesh.from_jsonstring.html
index eb8e45859..16175da67 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.html b/latest/api/generated/compas_fab.robots.CollisionMesh.html
index 0aa00f3ad..117a95897 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">CollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L17"><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.robots.</span></span><span class="sig-name descname"><span class="pre">CollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L17"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents a collision mesh.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.scale.html b/latest/api/generated/compas_fab.robots.CollisionMesh.scale.html
index 74a3679b8..f614dbfdc 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.scale.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.scale.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.scale">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L65"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L65"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scales the collision mesh uniformly.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.scaled.html b/latest/api/generated/compas_fab.robots.CollisionMesh.scaled.html
index e658fd437..2ffefa462 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.scaled.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.scaled.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.scaled">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L76"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L76"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Copies the collision mesh, and scales the copy uniformly.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.sha256.html b/latest/api/generated/compas_fab.robots.CollisionMesh.sha256.html
index 364ecffc7..be8abc0d0 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.sha256.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.sha256.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.sha256">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.to_json.html b/latest/api/generated/compas_fab.robots.CollisionMesh.to_json.html
index 06dfd8b92..558041a7f 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.to_json.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.to_json.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.to_json">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.to_jsonstring.html b/latest/api/generated/compas_fab.robots.CollisionMesh.to_jsonstring.html
index efac65ee0..4ee04cd0d 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">CollisionMesh.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.CollisionMesh.validate_data.html b/latest/api/generated/compas_fab.robots.CollisionMesh.validate_data.html
index 8b8b3876d..916004df5 100644
--- a/latest/api/generated/compas_fab.robots.CollisionMesh.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.CollisionMesh.validate_data.html
@@ -623,7 +623,7 @@
 <h1>CollisionMesh.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.CollisionMesh.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">CollisionMesh.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">CollisionMesh.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.ToString.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.ToString.html
index d2fbb5213..34aaa4bb3 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.ToString.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.ToString.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.ToString">
-<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.copy.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.copy.html
index fc4f1037a..937725ea4 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.copy.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.copy.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.copy">
-<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_json.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_json.html
index 3c0de3eec..d61fa39ed 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_json.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_json.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_jsonstring.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_jsonstring.html
index c970c7e55..b08d4aa27 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.generate_default_tolerances.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.generate_default_tolerances.html
index 2ce4238f7..1b75eab78 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.generate_default_tolerances.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.generate_default_tolerances.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.generate_default_tolerances</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.generate_default_tolerances">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</span></span><span class="sig-name descname"><span class="pre">generate_default_tolerances</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_prismatic</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_revolute</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L338"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</span></span><span class="sig-name descname"><span class="pre">generate_default_tolerances</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_prismatic</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_revolute</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L338"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Generates tolerances values for the target configuration based on the joint types.</p>
 <p>The parameters <cite>tolerance_prismatic</cite> and <cite>tolerance_revolute</cite> are used to generate the
 list of values for <cite>tolerances_above</cite>, <cite>tolerances_below</cite>. The length of the list is equal to the
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.html
index 2d64c3795..3276f254e 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">ConfigurationTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L283"><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.robots.</span></span><span class="sig-name descname"><span class="pre">ConfigurationTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L283"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Target.html#compas_fab.robots.Target" title="compas_fab.robots.targets.Target"><code class="xref py py-class docutils literal notranslate"><span class="pre">Target</span></code></a></p>
 <p>Represents a configuration target for the robot’s end-effector motion planning.</p>
 <p>The configuration target is a joint configuration of the robot’s joints.
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.scaled.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.scaled.html
index 0d4402617..691242bb1 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.scaled.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.scaled.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.scaled">
-<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L388"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L388"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns copy of the target where the target configuration and tolerances are scaled.</p>
 <p>This function should only be needed if the ConfigurationTarget was created
 with a distance unit other than meters.</p>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.sha256.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.sha256.html
index b1e2023b1..b42cf029d 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.sha256.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.sha256.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.sha256">
-<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_json.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_json.html
index 074839347..d2f8ea624 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_json.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_json.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.to_json">
-<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_jsonstring.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_jsonstring.html
index 9e5e9c0e0..32738f72e 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConfigurationTarget.validate_data.html b/latest/api/generated/compas_fab.robots.ConfigurationTarget.validate_data.html
index bb0595b5d..ca8b75e57 100644
--- a/latest/api/generated/compas_fab.robots.ConfigurationTarget.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.ConfigurationTarget.validate_data.html
@@ -623,7 +623,7 @@
 <h1>ConfigurationTarget.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConfigurationTarget.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConfigurationTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Constraint.ToString.html b/latest/api/generated/compas_fab.robots.Constraint.ToString.html
index 62d22a695..4a3e39399 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.ToString.html
@@ -623,7 +623,7 @@
 <h1>Constraint.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.ToString">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Constraint.copy.html b/latest/api/generated/compas_fab.robots.Constraint.copy.html
index eb43e65ef..5baf7152c 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.copy.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.copy.html
@@ -623,7 +623,7 @@
 <h1>Constraint.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.copy">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/74dfc5a/src/compas_fab/robots/constraints.py#L255"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/c6ef2c0/src/compas_fab/robots/constraints.py#L255"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a copy of this <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.from_json.html b/latest/api/generated/compas_fab.robots.Constraint.from_json.html
index 74af5ec77..5ab8310b7 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.from_json.html
@@ -623,7 +623,7 @@
 <h1>Constraint.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Constraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Constraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Constraint.from_jsonstring.html
index 79dd1dbdb..33cd9f5ab 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Constraint.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Constraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Constraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.html b/latest/api/generated/compas_fab.robots.Constraint.html
index 923d2b43e..9543e7217 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.html
@@ -623,7 +623,7 @@
 <h1>Constraint</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Constraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L181"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Constraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L181"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Base class for robot constraints.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.Constraint.scale.html b/latest/api/generated/compas_fab.robots.Constraint.scale.html
index 123c340db..b7c3f24fa 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.scale.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.scale.html
@@ -623,7 +623,7 @@
 <h1>Constraint.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.scale">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L239"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L239"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scale the <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Constraint.scaled.html b/latest/api/generated/compas_fab.robots.Constraint.scaled.html
index a3095860a..f7eacc320 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.scaled.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.scaled.html
@@ -623,7 +623,7 @@
 <h1>Constraint.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.scaled">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a scaled copy of this <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.sha256.html b/latest/api/generated/compas_fab.robots.Constraint.sha256.html
index 484383baf..844023ea7 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.sha256.html
@@ -623,7 +623,7 @@
 <h1>Constraint.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.sha256">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.to_json.html b/latest/api/generated/compas_fab.robots.Constraint.to_json.html
index 113db1c09..071c348b4 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.to_json.html
@@ -623,7 +623,7 @@
 <h1>Constraint.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.to_json">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Constraint.to_jsonstring.html
index 6d75ca10d..c64078e7b 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Constraint.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Constraint.transform.html b/latest/api/generated/compas_fab.robots.Constraint.transform.html
index 85a317618..a1c90e6b8 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.transform.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.transform.html
@@ -623,7 +623,7 @@
 <h1>Constraint.transform</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.transform">
-<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L235"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L235"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Transform the <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Constraint.validate_data.html b/latest/api/generated/compas_fab.robots.Constraint.validate_data.html
index 13fa439ae..9aefc40df 100644
--- a/latest/api/generated/compas_fab.robots.Constraint.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Constraint.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Constraint.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Constraint.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Constraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.ToString.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.ToString.html
index 3e40166c8..bd3f5d403 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.ToString.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.ToString.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.ToString">
-<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.copy.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.copy.html
index 2fbc014ec..01b6fe426 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.copy.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.copy.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.copy">
-<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_json.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_json.html
index 0d05f610a..f1e4344db 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_json.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_json.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_jsonstring.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_jsonstring.html
index e31bf4418..c080baf1b 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.html
index 687d8d7cd..8c9a546dc 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">ConstraintSetTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L429"><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.robots.</span></span><span class="sig-name descname"><span class="pre">ConstraintSetTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L429"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Target.html#compas_fab.robots.Target" title="compas_fab.robots.targets.Target"><code class="xref py py-class docutils literal notranslate"><span class="pre">Target</span></code></a></p>
 <p>Represents a list of Constraint as the target for motion planning.</p>
 <p>Given a ConstraintSetTarget, the planner aims to find a path moving
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.scaled.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.scaled.html
index 8951ae22d..1550d9c51 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.scaled.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.scaled.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.scaled">
-<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L471"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L471"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a scaled copy of the target.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.sha256.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.sha256.html
index 2f1f26cfe..b45ce81da 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.sha256.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.sha256.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.sha256">
-<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_json.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_json.html
index 9309ff922..042da4803 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_json.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_json.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.to_json">
-<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_jsonstring.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_jsonstring.html
index afd4637e1..b6cd90f74 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.validate_data.html b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.validate_data.html
index b5502118c..c30ec3505 100644
--- a/latest/api/generated/compas_fab.robots.ConstraintSetTarget.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.ConstraintSetTarget.validate_data.html
@@ -623,7 +623,7 @@
 <h1>ConstraintSetTarget.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ConstraintSetTarget.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ConstraintSetTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.DeviationVectorsGenerator.html b/latest/api/generated/compas_fab.robots.DeviationVectorsGenerator.html
index ca2aec068..d432c1283 100644
--- a/latest/api/generated/compas_fab.robots.DeviationVectorsGenerator.html
+++ b/latest/api/generated/compas_fab.robots.DeviationVectorsGenerator.html
@@ -623,7 +623,7 @@
 <h1>DeviationVectorsGenerator</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.DeviationVectorsGenerator">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">DeviationVectorsGenerator</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/reachability_map/vector_generators.py#L72"><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.robots.</span></span><span class="sig-name descname"><span class="pre">DeviationVectorsGenerator</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/reachability_map/vector_generators.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Calculates equally distributed vectors that deviate from the specified one by a maximal angle of <cite>max_alpha</cite>.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.Duration.ToString.html b/latest/api/generated/compas_fab.robots.Duration.ToString.html
index 21b3d9d59..5fac7556a 100644
--- a/latest/api/generated/compas_fab.robots.Duration.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Duration.ToString.html
@@ -623,7 +623,7 @@
 <h1>Duration.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.ToString">
-<span class="sig-prename descclassname"><span class="pre">Duration.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Duration.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Duration.copy.html b/latest/api/generated/compas_fab.robots.Duration.copy.html
index 7496c5d06..cfed1f869 100644
--- a/latest/api/generated/compas_fab.robots.Duration.copy.html
+++ b/latest/api/generated/compas_fab.robots.Duration.copy.html
@@ -623,7 +623,7 @@
 <h1>Duration.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.copy">
-<span class="sig-prename descclassname"><span class="pre">Duration.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Duration.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Duration.from_json.html b/latest/api/generated/compas_fab.robots.Duration.from_json.html
index cc08eb226..fd8553d37 100644
--- a/latest/api/generated/compas_fab.robots.Duration.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Duration.from_json.html
@@ -623,7 +623,7 @@
 <h1>Duration.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Duration.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Duration.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Duration.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Duration.from_jsonstring.html
index 305a02e6c..48c61f242 100644
--- a/latest/api/generated/compas_fab.robots.Duration.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Duration.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Duration.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Duration.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Duration.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Duration.html b/latest/api/generated/compas_fab.robots.Duration.html
index d6f88a53f..75e288938 100644
--- a/latest/api/generated/compas_fab.robots.Duration.html
+++ b/latest/api/generated/compas_fab.robots.Duration.html
@@ -623,7 +623,7 @@
 <h1>Duration</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Duration</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/time_.py#L12"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Duration</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/time_.py#L12"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Duration is used to accurately describe the passage of time.
 It consists of seconds and nanoseconds, the total duration is the sum of the two values.</p>
diff --git a/latest/api/generated/compas_fab.robots.Duration.sha256.html b/latest/api/generated/compas_fab.robots.Duration.sha256.html
index 29c30cea4..deaa711e8 100644
--- a/latest/api/generated/compas_fab.robots.Duration.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Duration.sha256.html
@@ -623,7 +623,7 @@
 <h1>Duration.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.sha256">
-<span class="sig-prename descclassname"><span class="pre">Duration.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Duration.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Duration.to_json.html b/latest/api/generated/compas_fab.robots.Duration.to_json.html
index eeadc1f16..4e83a8932 100644
--- a/latest/api/generated/compas_fab.robots.Duration.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Duration.to_json.html
@@ -623,7 +623,7 @@
 <h1>Duration.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.to_json">
-<span class="sig-prename descclassname"><span class="pre">Duration.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Duration.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Duration.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Duration.to_jsonstring.html
index d1419d4a8..27cfc5a91 100644
--- a/latest/api/generated/compas_fab.robots.Duration.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Duration.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Duration.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Duration.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Duration.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Duration.validate_data.html b/latest/api/generated/compas_fab.robots.Duration.validate_data.html
index 6df9cf217..8aaf7906c 100644
--- a/latest/api/generated/compas_fab.robots.Duration.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Duration.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Duration.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Duration.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Duration.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Duration.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.ToString.html b/latest/api/generated/compas_fab.robots.FrameTarget.ToString.html
index 8e4b9bebe..96f610be9 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.ToString.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.ToString.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.ToString">
-<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.copy.html b/latest/api/generated/compas_fab.robots.FrameTarget.copy.html
index 280ff85ff..2abe690be 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.copy.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.copy.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.copy">
-<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.from_json.html b/latest/api/generated/compas_fab.robots.FrameTarget.from_json.html
index e86480911..c9dbc56de 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.from_json.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.from_json.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.from_jsonstring.html b/latest/api/generated/compas_fab.robots.FrameTarget.from_jsonstring.html
index 368c4a262..77da1457c 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.from_transformation.html b/latest/api/generated/compas_fab.robots.FrameTarget.from_transformation.html
index ee5f4e069..0d7f7e690 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.from_transformation.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.from_transformation.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.from_transformation</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.from_transformation">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</span></span><span class="sig-name descname"><span class="pre">from_transformation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</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">tolerance_orientation</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">tool_coordinate_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">name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'Frame</span> <span class="pre">Target'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</span></span><span class="sig-name descname"><span class="pre">from_transformation</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</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">tolerance_orientation</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">tool_coordinate_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">name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'Frame</span> <span class="pre">Target'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Creates a FrameTarget from a transformation matrix.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.html b/latest/api/generated/compas_fab.robots.FrameTarget.html
index 3cd86aaaf..8b3464515 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">FrameTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L68"><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.robots.</span></span><span class="sig-name descname"><span class="pre">FrameTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Target.html#compas_fab.robots.Target" title="compas_fab.robots.targets.Target"><code class="xref py py-class docutils literal notranslate"><span class="pre">Target</span></code></a></p>
 <p>Represents a fully constrained pose target for the robot’s end-effector using a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Frame.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Frame</span></code></a>.</p>
 <p>When using a FrameTarget, the end-effector has no translational or rotational freedom.
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.scaled.html b/latest/api/generated/compas_fab.robots.FrameTarget.scaled.html
index 9a1128290..8b174676d 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.scaled.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.scaled.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.scaled">
-<span class="sig-prename descclassname"><span class="pre">FrameTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L166"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L166"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a copy of the <a class="reference internal" href="compas_fab.robots.FrameTarget.html#compas_fab.robots.FrameTarget" title="compas_fab.robots.FrameTarget"><code class="xref py py-class docutils literal notranslate"><span class="pre">FrameTarget</span></code></a> where the target frame and tolerances are scaled.</p>
 <p>By convention, compas_fab robots use meters as the default unit of measure.
 If user model is created in millimeters, the FrameTarget should be scaled by a factor
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.sha256.html b/latest/api/generated/compas_fab.robots.FrameTarget.sha256.html
index 0fbd00935..736fbc8ce 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.sha256.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.sha256.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.sha256">
-<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.to_json.html b/latest/api/generated/compas_fab.robots.FrameTarget.to_json.html
index d6f8d3344..91a5935e8 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.to_json.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.to_json.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.to_json">
-<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.to_jsonstring.html b/latest/api/generated/compas_fab.robots.FrameTarget.to_jsonstring.html
index 6828403f9..2c3aaf766 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameTarget.validate_data.html b/latest/api/generated/compas_fab.robots.FrameTarget.validate_data.html
index 0ba682dca..922030f56 100644
--- a/latest/api/generated/compas_fab.robots.FrameTarget.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.FrameTarget.validate_data.html
@@ -623,7 +623,7 @@
 <h1>FrameTarget.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameTarget.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.ToString.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.ToString.html
index 215ef529c..7ae3ad950 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.ToString.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.ToString.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.ToString">
-<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.copy.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.copy.html
index c587d7020..2d458be54 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.copy.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.copy.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.copy">
-<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.from_json.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.from_json.html
index d21096a63..a6ec2bea4 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.from_json.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.from_json.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.from_jsonstring.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.from_jsonstring.html
index bddf04f96..b78a5b64c 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.from_transformations.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.from_transformations.html
index 3b0e47ed9..2515e72eb 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.from_transformations.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.from_transformations.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.from_transformations</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.from_transformations">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</span></span><span class="sig-name descname"><span class="pre">from_transformations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformations</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</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">tolerance_orientation</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">tool_coordinate_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">name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'Frame</span> <span class="pre">Waypoints'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L588"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</span></span><span class="sig-name descname"><span class="pre">from_transformations</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformations</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</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">tolerance_orientation</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">tool_coordinate_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">name</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">'Frame</span> <span class="pre">Waypoints'</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L588"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Creates a FrameWaypoints from a list of transformation matrices.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.html
index 2aba4e60b..f77b06935 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">FrameWaypoints</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L536"><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.robots.</span></span><span class="sig-name descname"><span class="pre">FrameWaypoints</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L536"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Waypoints.html#compas_fab.robots.Waypoints" title="compas_fab.robots.targets.Waypoints"><code class="xref py py-class docutils literal notranslate"><span class="pre">Waypoints</span></code></a></p>
 <p>Represents a sequence of fully constrained pose target for the robot’s end-effector using a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Frame.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Frame</span></code></a>.</p>
 <p>When using a FrameWaypoints, the end-effector has no translational or rotational freedom.
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.scaled.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.scaled.html
index 459bc5441..236fe8d75 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.scaled.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.scaled.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.scaled">
-<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L624"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L624"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a copy of the <a class="reference internal" href="compas_fab.robots.FrameWaypoints.html#compas_fab.robots.FrameWaypoints" title="compas_fab.robots.FrameWaypoints"><code class="xref py py-class docutils literal notranslate"><span class="pre">FrameWaypoints</span></code></a> where the target frames and tolerances are scaled.</p>
 <p>By convention, compas_fab robots use meters as the default unit of measure.
 If user model is created in millimeters, the FrameWaypoints should be scaled by a factor
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.sha256.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.sha256.html
index 5c0c99ef6..79fe95f64 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.sha256.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.sha256.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.sha256">
-<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.to_json.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.to_json.html
index 176ae7614..6cce47481 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.to_json.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.to_json.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.to_json">
-<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.to_jsonstring.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.to_jsonstring.html
index b65954cde..f0f578796 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.FrameWaypoints.validate_data.html b/latest/api/generated/compas_fab.robots.FrameWaypoints.validate_data.html
index 415328c43..16fc1bc0d 100644
--- a/latest/api/generated/compas_fab.robots.FrameWaypoints.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.FrameWaypoints.validate_data.html
@@ -623,7 +623,7 @@
 <h1>FrameWaypoints.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.FrameWaypoints.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">FrameWaypoints.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Inertia.calculate_inertia_tensor.html b/latest/api/generated/compas_fab.robots.Inertia.calculate_inertia_tensor.html
index 56e5b93d7..45492b6b5 100644
--- a/latest/api/generated/compas_fab.robots.Inertia.calculate_inertia_tensor.html
+++ b/latest/api/generated/compas_fab.robots.Inertia.calculate_inertia_tensor.html
@@ -623,7 +623,7 @@
 <h1>Inertia.calculate_inertia_tensor</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Inertia.calculate_inertia_tensor">
-<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Inertia.</span></span><span class="sig-name descname"><span class="pre">calculate_inertia_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cls</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/inertia.py#L59"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">static</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Inertia.</span></span><span class="sig-name descname"><span class="pre">calculate_inertia_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">cls</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/inertia.py#L59"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the inertia tensor.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Inertia.html b/latest/api/generated/compas_fab.robots.Inertia.html
index 22ab0f9e3..6b7a82a29 100644
--- a/latest/api/generated/compas_fab.robots.Inertia.html
+++ b/latest/api/generated/compas_fab.robots.Inertia.html
@@ -623,7 +623,7 @@
 <h1>Inertia</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Inertia">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Inertia</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/inertia.py#L8"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Inertia</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/inertia.py#L8"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>The moments of inertia represent the spatial distribution of mass in a rigid body.</p>
 <p>It depends on the mass, size, and shape of a rigid body with units of
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.ToString.html b/latest/api/generated/compas_fab.robots.JointConstraint.ToString.html
index bdfedaa5b..7cb2f7815 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.ToString.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.ToString.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.ToString">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.copy.html b/latest/api/generated/compas_fab.robots.JointConstraint.copy.html
index 5f399e122..1d4e15eaf 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.copy.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.copy.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.copy">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/74dfc5a/src/compas_fab/robots/constraints.py#L338"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/c6ef2c0/src/compas_fab/robots/constraints.py#L338"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a copy of this <a class="reference internal" href="compas_fab.robots.JointConstraint.html#compas_fab.robots.JointConstraint" title="compas_fab.robots.JointConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">JointConstraint</span></code></a>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.from_json.html b/latest/api/generated/compas_fab.robots.JointConstraint.from_json.html
index 004dbba8d..97f1d717f 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.from_json.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.from_json.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.from_jsonstring.html b/latest/api/generated/compas_fab.robots.JointConstraint.from_jsonstring.html
index d257e0c2b..2429ee72d 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.html b/latest/api/generated/compas_fab.robots.JointConstraint.html
index 3138e01c2..44a80ca01 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">JointConstraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L266"><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.robots.</span></span><span class="sig-name descname"><span class="pre">JointConstraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L266"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.constraints.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a></p>
 <p>Constrains the value of a joint to be within a certain bound.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.joint_constraints_from_configuration.html b/latest/api/generated/compas_fab.robots.JointConstraint.joint_constraints_from_configuration.html
index d4f5c1e66..a844b2165 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.joint_constraints_from_configuration.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.joint_constraints_from_configuration.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.joint_constraints_from_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.joint_constraints_from_configuration">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">joint_constraints_from_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerances_above</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerances_below</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L348"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">joint_constraints_from_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerances_above</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerances_below</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L348"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create joint constraints for all joints of the configuration.
 One constraint is created for each joint.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.scale.html b/latest/api/generated/compas_fab.robots.JointConstraint.scale.html
index 31faeaecf..5c9955659 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.scale.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.scale.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.scale">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L320"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L320"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scale (multiply) the constraint with a factor.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.scaled.html b/latest/api/generated/compas_fab.robots.JointConstraint.scaled.html
index 6fbe1482e..178814e4c 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.scaled.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.scaled.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.scaled">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a scaled copy of this <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.sha256.html b/latest/api/generated/compas_fab.robots.JointConstraint.sha256.html
index 8d8bc3dd6..d0313289a 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.sha256.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.sha256.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.sha256">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.to_json.html b/latest/api/generated/compas_fab.robots.JointConstraint.to_json.html
index 636a43eeb..17f656b6b 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.to_json.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.to_json.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.to_json">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.to_jsonstring.html b/latest/api/generated/compas_fab.robots.JointConstraint.to_jsonstring.html
index bfb1c39de..4ffa7dfcb 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.transform.html b/latest/api/generated/compas_fab.robots.JointConstraint.transform.html
index 891658482..5ce79b118 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.transform.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.transform.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.transform</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.transform">
-<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L235"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L235"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Transform the <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.JointConstraint.validate_data.html b/latest/api/generated/compas_fab.robots.JointConstraint.validate_data.html
index 05b79f820..73e82e75c 100644
--- a/latest/api/generated/compas_fab.robots.JointConstraint.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.JointConstraint.validate_data.html
@@ -623,7 +623,7 @@
 <h1>JointConstraint.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointConstraint.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointConstraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.ToString.html b/latest/api/generated/compas_fab.robots.JointTrajectory.ToString.html
index 19a498ff1..1af0d3375 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.ToString.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.ToString.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.ToString">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.copy.html b/latest/api/generated/compas_fab.robots.JointTrajectory.copy.html
index d7f08788a..c55e0d29c 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.copy.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.copy.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.copy">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.from_json.html b/latest/api/generated/compas_fab.robots.JointTrajectory.from_json.html
index 4dda301fd..ebb692c77 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.from_json.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.from_json.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.from_jsonstring.html b/latest/api/generated/compas_fab.robots.JointTrajectory.from_jsonstring.html
index 2bacf8e35..79e5775c5 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.html b/latest/api/generated/compas_fab.robots.JointTrajectory.html
index 02e28ccb5..ff497d426 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">JointTrajectory</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/trajectory.py#L275"><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.robots.</span></span><span class="sig-name descname"><span class="pre">JointTrajectory</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/trajectory.py#L275"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Trajectory.html#compas_fab.robots.Trajectory" title="compas_fab.robots.trajectory.Trajectory"><code class="xref py py-class docutils literal notranslate"><span class="pre">Trajectory</span></code></a></p>
 <p>Describes a joint trajectory as a list of trajectory points.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.sha256.html b/latest/api/generated/compas_fab.robots.JointTrajectory.sha256.html
index 09081c989..df8f4ced1 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.sha256.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.sha256.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.sha256">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.to_json.html b/latest/api/generated/compas_fab.robots.JointTrajectory.to_json.html
index 6d2d03b7f..e090887e9 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.to_json.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.to_json.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.to_json">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.to_jsonstring.html b/latest/api/generated/compas_fab.robots.JointTrajectory.to_jsonstring.html
index 6b43bfa37..f6a3ef15e 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectory.validate_data.html b/latest/api/generated/compas_fab.robots.JointTrajectory.validate_data.html
index 756de842f..3ece0a318 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectory.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectory.validate_data.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectory.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectory.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectory.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectory.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.ToString.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.ToString.html
index 8e7107b68..0aa452ece 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.ToString.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.ToString.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.ToString">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.check_joint_names.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.check_joint_names.html
index 1fbea76cd..8511b5931 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.check_joint_names.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.check_joint_names.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.check_joint_names</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.check_joint_names">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">check_joint_names</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L520"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">check_joint_names</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L520"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Raises an error if there is not a joint name for every value.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.close_to.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.close_to.html
index 75a675f21..bc313a3bd 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.close_to.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.close_to.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.close_to</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.close_to">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">close_to</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.001</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L487"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">close_to</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.001</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L487"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns <code class="docutils literal notranslate"><span class="pre">True</span></code> if the other <cite>Configuration</cite>’s joint_values are within a certain range.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.copy.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.copy.html
index f3cf448bd..efb816d0d 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.copy.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.copy.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.copy">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_json.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_json.html
index bff92da6a..e02f3bffe 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_json.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_json.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_jsonstring.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_jsonstring.html
index 2fcbef178..0fab82c40 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_prismatic_and_revolute_values.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_prismatic_and_revolute_values.html
index 73f23cd96..2fc8dab44 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_prismatic_and_revolute_values.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_prismatic_and_revolute_values.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.from_prismatic_and_revolute_values</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.from_prismatic_and_revolute_values">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">from_prismatic_and_revolute_values</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prismatic_values</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">revolute_values</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L314"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">from_prismatic_and_revolute_values</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">prismatic_values</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">revolute_values</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L314"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct a configuration from prismatic and revolute joint values.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_revolute_values.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_revolute_values.html
index db186f844..f3bd93d98 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_revolute_values.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.from_revolute_values.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.from_revolute_values</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.from_revolute_values">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">from_revolute_values</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">values</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L288"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">from_revolute_values</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">values</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_names</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L288"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct a configuration from revolute joint values in radians.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.get.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.get.html
index 4d175277c..f1be83fb0 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.get.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.get.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.get</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.get">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">get</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">default</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L281"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">get</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">key</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">default</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L281"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.html
index 9d998789a..309949f35 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">JointTrajectoryPoint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/trajectory.py#L20"><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.robots.</span></span><span class="sig-name descname"><span class="pre">JointTrajectoryPoint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/trajectory.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_robots/latest/api/generated/compas_robots.Configuration.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Configuration</span></code></a></p>
 <p>Defines a point within a trajectory.</p>
 <p>A trajectory point is a sub-class of <a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.Configuration.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.Configuration</span></code></a> extended
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.items.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.items.html
index 53acad54d..480f70809 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.items.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.items.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.items</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.items">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">items</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L272"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">items</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L272"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.iter_differences.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.iter_differences.html
index 0898b9aa2..1b8992945 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.iter_differences.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.iter_differences.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.iter_differences</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.iter_differences">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">iter_differences</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L412"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">iter_differences</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L412"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Generator over the differences to another <cite>Configuration</cite>’s joint_values.</p>
 <p>If the joint type is revolute or continuous, the smaller difference
 (+/- 2*:math:<cite>pi</cite>) is calculated.</p>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.keys.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.keys.html
index d7df6a25f..b47d90cc0 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.keys.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.keys.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.keys</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.keys">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">keys</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L275"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">keys</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L275"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.max_difference.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.max_difference.html
index 5566f6a66..6e18c6d1f 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.max_difference.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.max_difference.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.max_difference</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.max_difference">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">max_difference</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L465"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">max_difference</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L465"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the maximum difference to another <cite>Configuration</cite>’s joint values.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merge.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merge.html
index 0a67470fa..58de7a611 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merge.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merge.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.merge</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.merge">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">merge</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L544"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">merge</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L544"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Merge the configuration with another configuration in place along joint names.
 The other configuration takes precedence over this configuration in
 case a joint value is present in both.</p>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merged.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merged.html
index 7f9992361..49182e257 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merged.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.merged.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.merged</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.merged">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">merged</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/trajectory.py#L193"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">merged</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">other</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/trajectory.py#L193"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a new <code class="docutils literal notranslate"><span class="pre">JointTrajectoryPoint</span></code> with this <code class="docutils literal notranslate"><span class="pre">JointTrajectoryPoint</span></code> merged
 with another <code class="docutils literal notranslate"><span class="pre">JointTrajectoryPoint</span></code>.  The other <code class="docutils literal notranslate"><span class="pre">JointTrajectoryPoint</span></code>
 takes precedence over this <code class="docutils literal notranslate"><span class="pre">JointTrajectoryPoint</span></code> in case a joint value is present in both.</p>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scale.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scale.html
index 2ebe603de..b46f2ff6c 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scale.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scale.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.scale">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L371"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L371"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scales the joint positions of the current configuration.</p>
 <p>Only scalable joints are scaled, i.e. planar and prismatic joints.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scaled.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scaled.html
index 111041452..21ea30e16 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scaled.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.scaled.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.scaled">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L394"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L394"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Return a scaled copy of this configuration.</p>
 <p>Only scalable joints are scaled, i.e. planar and prismatic joints.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.sha256.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.sha256.html
index c1ebe2eab..b5d7b0988 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.sha256.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.sha256.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.sha256">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_json.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_json.html
index e29c77bbb..06471ccc1 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_json.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_json.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.to_json">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_jsonstring.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_jsonstring.html
index c2388cb94..643681355 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.validate_data.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.validate_data.html
index f9aeefb0c..63bc30c31 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.validate_data.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.values.html b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.values.html
index db8aa424e..0c6da892f 100644
--- a/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.values.html
+++ b/latest/api/generated/compas_fab.robots.JointTrajectoryPoint.values.html
@@ -623,7 +623,7 @@
 <h1>JointTrajectoryPoint.values</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.JointTrajectoryPoint.values">
-<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">values</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L278"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">JointTrajectoryPoint.</span></span><span class="sig-name descname"><span class="pre">values</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas_robots/configuration.py#L278"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.ToString.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.ToString.html
index fce26e5af..3a60c87f2 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.ToString.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.ToString.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.ToString">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.copy.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.copy.html
index e17e5c22b..7f01d6628 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.copy.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.copy.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.copy">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/74dfc5a/src/compas_fab/robots/constraints.py#L506"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/c6ef2c0/src/compas_fab/robots/constraints.py#L506"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a copy of this <a class="reference internal" href="compas_fab.robots.OrientationConstraint.html#compas_fab.robots.OrientationConstraint" title="compas_fab.robots.OrientationConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">OrientationConstraint</span></code></a>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.from_frame.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.from_frame.html
index 1c08e8493..7216405b7 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.from_frame.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.from_frame.html
@@ -624,7 +624,7 @@
 <h1>OrientationConstraint.from_frame</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.from_frame">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">from_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerances_orientation</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_coordinate_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">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L516"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">from_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerances_orientation</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_coordinate_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">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L516"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create an <a class="reference internal" href="compas_fab.robots.OrientationConstraint.html#compas_fab.robots.OrientationConstraint" title="compas_fab.robots.OrientationConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">OrientationConstraint</span></code></a> from a frame on the group’s end-effector link.
 Only the orientation of the frame is considered for the constraint, expressed
 as a quaternion.</p>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.from_json.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.from_json.html
index d1930b210..b6115b6d2 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.from_json.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.from_json.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.from_jsonstring.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.from_jsonstring.html
index 6f5289fae..8eacbecc7 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.html
index 3079aa7aa..680458434 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.html
@@ -624,7 +624,7 @@
 <h1>OrientationConstraint</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">OrientationConstraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L422"><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.robots.</span></span><span class="sig-name descname"><span class="pre">OrientationConstraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L422"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.constraints.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a></p>
 <p>Constrains a link to be within a certain orientation.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.scale.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.scale.html
index 9a1c716ac..5abbcd942 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.scale.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.scale.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.scale">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L239"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L239"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scale the <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.scaled.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.scaled.html
index 06600f231..3e476ba39 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.scaled.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.scaled.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.scaled">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a scaled copy of this <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.sha256.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.sha256.html
index 59faac5d7..cb7c260e5 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.sha256.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.sha256.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.sha256">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.to_json.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.to_json.html
index d2086d3d1..81fba5b64 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.to_json.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.to_json.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.to_json">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.to_jsonstring.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.to_jsonstring.html
index 0432cfbff..58b1297b9 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.transform.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.transform.html
index 24968b971..e3d09853c 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.transform.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.transform.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.transform</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.transform">
-<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L488"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L488"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Transform the volume using a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Transformation.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Transformation</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.OrientationConstraint.validate_data.html b/latest/api/generated/compas_fab.robots.OrientationConstraint.validate_data.html
index 1d919cbf4..a15c0d02f 100644
--- a/latest/api/generated/compas_fab.robots.OrientationConstraint.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.OrientationConstraint.validate_data.html
@@ -623,7 +623,7 @@
 <h1>OrientationConstraint.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.OrientationConstraint.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">OrientationConstraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.OrthonormalVectorsFromAxisGenerator.html b/latest/api/generated/compas_fab.robots.OrthonormalVectorsFromAxisGenerator.html
index f2b5958bf..77f746ef8 100644
--- a/latest/api/generated/compas_fab.robots.OrthonormalVectorsFromAxisGenerator.html
+++ b/latest/api/generated/compas_fab.robots.OrthonormalVectorsFromAxisGenerator.html
@@ -623,7 +623,7 @@
 <h1>OrthonormalVectorsFromAxisGenerator</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.OrthonormalVectorsFromAxisGenerator">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">OrthonormalVectorsFromAxisGenerator</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/reachability_map/vector_generators.py#L11"><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.robots.</span></span><span class="sig-name descname"><span class="pre">OrthonormalVectorsFromAxisGenerator</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/reachability_map/vector_generators.py#L11"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Generate vectors that are orthonormal to an axis.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_collision_mesh.html b/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_collision_mesh.html
index bf5b7bb4f..15506b717 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L344"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L344"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add an attached collision object to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_tool.html b/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_tool.html
index 1fddfd125..ceffcc67c 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_tool.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.add_attached_tool.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.add_attached_tool</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.add_attached_tool">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">add_attached_tool</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool</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">group</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L445"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">add_attached_tool</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool</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">group</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L445"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add the robot’s attached tool to the planning scene if tool is set.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.add_collision_mesh.html b/latest/api/generated/compas_fab.robots.PlanningScene.add_collision_mesh.html
index 32fb3abe0..228d345e3 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.add_collision_mesh.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L242"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L242"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh to the planning scene.</p>
 <p>If there is already a <a class="reference internal" href="compas_fab.robots.CollisionMesh.html#compas_fab.robots.CollisionMesh" title="compas_fab.robots.CollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">CollisionMesh</span></code></a> in the
 <a class="reference internal" href="compas_fab.robots.PlanningScene.html#compas_fab.robots.PlanningScene" title="compas_fab.robots.PlanningScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlanningScene</span></code></a> with the same <cite>id</cite> it will be replaced.</p>
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.append_collision_mesh.html b/latest/api/generated/compas_fab.robots.PlanningScene.append_collision_mesh.html
index ca63d9bb2..29924bcd2 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.append_collision_mesh.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L301"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L301"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Append a collision mesh to the planning scene.</p>
 <p>Appends a <a class="reference internal" href="compas_fab.robots.CollisionMesh.html#compas_fab.robots.CollisionMesh" title="compas_fab.robots.CollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">CollisionMesh</span></code></a> to the <a class="reference internal" href="compas_fab.robots.PlanningScene.html#compas_fab.robots.PlanningScene" title="compas_fab.robots.PlanningScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlanningScene</span></code></a> using
 <cite>id</cite> as an identifier of a group or cluster of collision meshes. If the group
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.attach_collision_mesh_to_robot_end_effector.html b/latest/api/generated/compas_fab.robots.PlanningScene.attach_collision_mesh_to_robot_end_effector.html
index fa6b10607..5b498c429 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.attach_collision_mesh_to_robot_end_effector.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.attach_collision_mesh_to_robot_end_effector.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.attach_collision_mesh_to_robot_end_effector</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.attach_collision_mesh_to_robot_end_effector">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">attach_collision_mesh_to_robot_end_effector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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">group</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L405"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">attach_collision_mesh_to_robot_end_effector</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">scale</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">group</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L405"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Attaches a collision mesh to the robot’s end-effector.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.ensure_client.html b/latest/api/generated/compas_fab.robots.PlanningScene.ensure_client.html
index a0a9fa521..50382d182 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.ensure_client.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.ensure_client.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.ensure_client</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.ensure_client">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">ensure_client</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L226"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">ensure_client</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L226"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Ensure that the planning scene’s robot has a defined client.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.html b/latest/api/generated/compas_fab.robots.PlanningScene.html
index 305fc7689..83f36d794 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">PlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L202"><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.robots.</span></span><span class="sig-name descname"><span class="pre">PlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L202"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Represents the planning scene.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_collision_mesh.html b/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_collision_mesh.html
index ff060d6a0..f25d97dc9 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_collision_mesh.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L381"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L381"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove an attached collision object from the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_tool.html b/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_tool.html
index eb413a198..6ed589b95 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_tool.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.remove_attached_tool.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.remove_attached_tool</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.remove_attached_tool">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">remove_attached_tool</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L456"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">remove_attached_tool</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L456"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove the robot’s attached tool from the planning scene.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.remove_collision_mesh.html b/latest/api/generated/compas_fab.robots.PlanningScene.remove_collision_mesh.html
index 072018021..574caa88f 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.remove_collision_mesh.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/planning_scene.py#L279"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/planning_scene.py#L279"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a collision object from the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PlanningScene.reset.html b/latest/api/generated/compas_fab.robots.PlanningScene.reset.html
index 216b11d58..0e79ec128 100644
--- a/latest/api/generated/compas_fab.robots.PlanningScene.reset.html
+++ b/latest/api/generated/compas_fab.robots.PlanningScene.reset.html
@@ -623,7 +623,7 @@
 <h1>PlanningScene.reset</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PlanningScene.reset">
-<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset</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/74dfc5a/src/compas_fab/robots/planning_scene.py#L237"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset</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/c6ef2c0/src/compas_fab/robots/planning_scene.py#L237"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Resets the planning scene, removing all added collision meshes.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.ToString.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.ToString.html
index 705c4540d..6bf6ff2c6 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.ToString.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.ToString.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.ToString">
-<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.copy.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.copy.html
index 0cb36d6d5..2897c4ffd 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.copy.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.copy.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.copy">
-<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.from_json.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.from_json.html
index 18333acf8..237c23dde 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.from_json.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.from_json.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.from_jsonstring.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.from_jsonstring.html
index d16b33001..a23b47ccb 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.html
index 2908f7d79..52594b3fd 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">PointAxisTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L191"><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.robots.</span></span><span class="sig-name descname"><span class="pre">PointAxisTarget</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L191"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Target.html#compas_fab.robots.Target" title="compas_fab.robots.targets.Target"><code class="xref py py-class docutils literal notranslate"><span class="pre">Target</span></code></a></p>
 <p>Represents a point and axis target for the robot’s end-effector motion planning.</p>
 <p>This target allows one degree of rotational freedom, enabling the end-effector
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.scaled.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.scaled.html
index 8a9ebabc4..c647a0a2e 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.scaled.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.scaled.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.scaled">
-<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L263"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L263"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a copy of the target where the target point and tolerances are scaled.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.sha256.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.sha256.html
index 2620b2d33..5a570166d 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.sha256.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.sha256.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.sha256">
-<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.to_json.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.to_json.html
index 340aa4286..b724152a6 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.to_json.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.to_json.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.to_json">
-<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.to_jsonstring.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.to_jsonstring.html
index 4d52f780f..a6bc878b9 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisTarget.validate_data.html b/latest/api/generated/compas_fab.robots.PointAxisTarget.validate_data.html
index 17a2d0908..9525e9f72 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisTarget.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisTarget.validate_data.html
@@ -623,7 +623,7 @@
 <h1>PointAxisTarget.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisTarget.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisTarget.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.ToString.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.ToString.html
index 7577b3e70..79840a43b 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.ToString.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.ToString.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.ToString">
-<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.copy.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.copy.html
index 4fcaa8429..46a45a4cb 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.copy.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.copy.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.copy">
-<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_json.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_json.html
index c4216fc25..9f4e3a736 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_json.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_json.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_jsonstring.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_jsonstring.html
index 4aa487ad1..3c7980c29 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.html
index 331a05e7c..5a195fcf3 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">PointAxisWaypoints</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L650"><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.robots.</span></span><span class="sig-name descname"><span class="pre">PointAxisWaypoints</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L650"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Waypoints.html#compas_fab.robots.Waypoints" title="compas_fab.robots.targets.Waypoints"><code class="xref py py-class docutils literal notranslate"><span class="pre">Waypoints</span></code></a></p>
 <p>Represents a sequence of point and axis targets for the robot’s end-effector motion planning.</p>
 <p>PointAxisTarget is suitable for tasks like drawing, milling, and 3D printing,
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.scaled.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.scaled.html
index cfae9664a..b0b587a6b 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.scaled.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.scaled.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.scaled">
-<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L700"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L700"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a copy of the target where the target points and tolerances are scaled.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.sha256.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.sha256.html
index 9fb5b0309..66e4f1489 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.sha256.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.sha256.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.sha256">
-<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_json.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_json.html
index 8737490fb..a18893509 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_json.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_json.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.to_json">
-<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_jsonstring.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_jsonstring.html
index a75cba85b..65f6493b7 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.validate_data.html b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.validate_data.html
index 424057c18..89d4ec71e 100644
--- a/latest/api/generated/compas_fab.robots.PointAxisWaypoints.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.PointAxisWaypoints.validate_data.html
@@ -623,7 +623,7 @@
 <h1>PointAxisWaypoints.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PointAxisWaypoints.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PointAxisWaypoints.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.ToString.html b/latest/api/generated/compas_fab.robots.PositionConstraint.ToString.html
index 564cd24cc..346c4e883 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.ToString.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.ToString.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.ToString">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.copy.html b/latest/api/generated/compas_fab.robots.PositionConstraint.copy.html
index 0fa1d695b..34b433381 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.copy.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.copy.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.copy">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/74dfc5a/src/compas_fab/robots/constraints.py#L809"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">copy</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/c6ef2c0/src/compas_fab/robots/constraints.py#L809"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a copy of this <a class="reference internal" href="compas_fab.robots.PositionConstraint.html#compas_fab.robots.PositionConstraint" title="compas_fab.robots.PositionConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">PositionConstraint</span></code></a>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_box.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_box.html
index 707a9be21..1082e1f46 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_box.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_box.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_box</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_box">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_box</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">box</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L676"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_box</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">box</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L676"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.PositionConstraint.html#compas_fab.robots.PositionConstraint" title="compas_fab.robots.PositionConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">PositionConstraint</span></code></a> from a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Box.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Box</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_frame.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_frame.html
index d343f991b..387793347 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_frame.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_frame.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_frame</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_frame">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_coordinate_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">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L627"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_coordinate_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">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L627"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.PositionConstraint.html#compas_fab.robots.PositionConstraint" title="compas_fab.robots.PositionConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">PositionConstraint</span></code></a> from a frame on the group’s end-effector link.
 Only the position of the frame is considered for the constraint.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_json.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_json.html
index 5e1788ab5..c3fc29f46 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_json.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_json.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_jsonstring.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_jsonstring.html
index 2147281a3..2cb6fafd2 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_mesh.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_mesh.html
index f0b99ef5a..b6f0470a5 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_mesh.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_mesh.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_mesh">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L757"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L757"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.PositionConstraint.html#compas_fab.robots.PositionConstraint" title="compas_fab.robots.PositionConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">PositionConstraint</span></code></a> from a <a class="reference external" href="https://compas.dev/compas/latest/api/compas.datastructures.Mesh.html#compas.datastructures.Mesh" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.datastructures.Mesh</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_point.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_point.html
index c168ba9ac..bb499e885 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_point.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_point.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_point</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_point">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">point</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L732"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_point</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">point</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tolerance_position</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L732"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.PositionConstraint.html#compas_fab.robots.PositionConstraint" title="compas_fab.robots.PositionConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">PositionConstraint</span></code></a> from a point.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.from_sphere.html b/latest/api/generated/compas_fab.robots.PositionConstraint.from_sphere.html
index c86020088..eceac18e7 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.from_sphere.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.from_sphere.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.from_sphere</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.from_sphere">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sphere</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L704"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">from_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sphere</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">weight</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.0</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L704"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create a <a class="reference internal" href="compas_fab.robots.PositionConstraint.html#compas_fab.robots.PositionConstraint" title="compas_fab.robots.PositionConstraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">PositionConstraint</span></code></a> from a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Sphere.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Sphere</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.html b/latest/api/generated/compas_fab.robots.PositionConstraint.html
index e899f94cd..3e6ff5bad 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">PositionConstraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L581"><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.robots.</span></span><span class="sig-name descname"><span class="pre">PositionConstraint</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L581"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.constraints.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a></p>
 <p>Constrains a link to be within a certain bounding volume.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.scale.html b/latest/api/generated/compas_fab.robots.PositionConstraint.scale.html
index af7a839ed..d95e6640a 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.scale.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.scale.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.scale">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L786"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L786"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scale the <code class="xref py py-attr docutils literal notranslate"><span class="pre">bounding_volume</span></code> uniformely.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.scaled.html b/latest/api/generated/compas_fab.robots.PositionConstraint.scaled.html
index ef7c7281d..802e1a27f 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.scaled.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.scaled.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.scaled">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">scale_factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L243"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a scaled copy of this <a class="reference internal" href="compas_fab.robots.Constraint.html#compas_fab.robots.Constraint" title="compas_fab.robots.Constraint"><code class="xref py py-class docutils literal notranslate"><span class="pre">Constraint</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.sha256.html b/latest/api/generated/compas_fab.robots.PositionConstraint.sha256.html
index 237b88fc9..d787e7205 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.sha256.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.sha256.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.sha256">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.to_json.html b/latest/api/generated/compas_fab.robots.PositionConstraint.to_json.html
index 86a94a777..24eb31447 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.to_json.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.to_json.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.to_json">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.to_jsonstring.html b/latest/api/generated/compas_fab.robots.PositionConstraint.to_jsonstring.html
index 5113c1ec6..2cacecbb1 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.transform.html b/latest/api/generated/compas_fab.robots.PositionConstraint.transform.html
index 8f0b93237..6de68abe5 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.transform.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.transform.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.transform</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.transform">
-<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/constraints.py#L796"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/constraints.py#L796"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Transform the <code class="xref py py-attr docutils literal notranslate"><span class="pre">bounding_volume</span></code> using a <a class="reference external" href="https://compas.dev/compas/latest/api/generated/compas.geometry.Transformation.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas.geometry.Transformation</span></code></a>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.PositionConstraint.validate_data.html b/latest/api/generated/compas_fab.robots.PositionConstraint.validate_data.html
index fde347303..83bdfa62f 100644
--- a/latest/api/generated/compas_fab.robots.PositionConstraint.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.PositionConstraint.validate_data.html
@@ -623,7 +623,7 @@
 <h1>PositionConstraint.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.PositionConstraint.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">PositionConstraint.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.ToString.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.ToString.html
index acbff08ea..89e83ed35 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.ToString.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.ToString.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.ToString">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.calculate.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.calculate.html
index 610a94613..4c4d10199 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.calculate.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.calculate.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.calculate</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.calculate">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</span></span><span class="sig-name descname"><span class="pre">calculate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_generator</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ik_options</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/74dfc5a/src/compas_fab/robots/reachability_map/reachability_map.py#L38"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</span></span><span class="sig-name descname"><span class="pre">calculate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_generator</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ik_options</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/c6ef2c0/src/compas_fab/robots/reachability_map/reachability_map.py#L38"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates the reachability map.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.copy.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.copy.html
index 2dd1e670b..73a2ce208 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.copy.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.copy.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.copy">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.from_json.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.from_json.html
index 5fd6af1e8..ab5a73944 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.from_json.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.from_json.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.from_jsonstring.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.from_jsonstring.html
index 88535b821..4cd98b18d 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.html
index 3284e576b..c5c9d3e48 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">ReachabilityMap</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/reachability_map/reachability_map.py#L7"><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.robots.</span></span><span class="sig-name descname"><span class="pre">ReachabilityMap</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/reachability_map/reachability_map.py#L7"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>The ReachabilityMap describes the reachability of a robot.</p>
 <p>The ReachabilityMap describes the reachability of a robot at certain frames,
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.reachable_frames_and_configurations_at_ik_index.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.reachable_frames_and_configurations_at_ik_index.html
index bb8107314..e420dcf77 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.reachable_frames_and_configurations_at_ik_index.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.reachable_frames_and_configurations_at_ik_index.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.reachable_frames_and_configurations_at_ik_index</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.reachable_frames_and_configurations_at_ik_index">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</span></span><span class="sig-name descname"><span class="pre">reachable_frames_and_configurations_at_ik_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ik_index</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/reachability_map/reachability_map.py#L87"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</span></span><span class="sig-name descname"><span class="pre">reachable_frames_and_configurations_at_ik_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ik_index</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/reachability_map/reachability_map.py#L87"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the reachable frames and configurations at a specific ik index.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.sha256.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.sha256.html
index 5d2c88f1a..ac3ab6698 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.sha256.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.sha256.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.sha256">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.to_json.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.to_json.html
index e9f5c5015..cdf9815a9 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.to_json.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.to_json.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.to_json">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.to_jsonstring.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.to_jsonstring.html
index 9f9f2ed80..180e99645 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.ReachabilityMap.validate_data.html b/latest/api/generated/compas_fab.robots.ReachabilityMap.validate_data.html
index c47705f7e..047147f48 100644
--- a/latest/api/generated/compas_fab.robots.ReachabilityMap.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.ReachabilityMap.validate_data.html
@@ -623,7 +623,7 @@
 <h1>ReachabilityMap.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.ReachabilityMap.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">ReachabilityMap.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Robot.ToString.html b/latest/api/generated/compas_fab.robots.Robot.ToString.html
index 3dd4830b9..0e2a5701b 100644
--- a/latest/api/generated/compas_fab.robots.Robot.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Robot.ToString.html
@@ -623,7 +623,7 @@
 <h1>Robot.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.ToString">
-<span class="sig-prename descclassname"><span class="pre">Robot.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Robot.attach_tool.html b/latest/api/generated/compas_fab.robots.Robot.attach_tool.html
index 91b820283..1948a086a 100644
--- a/latest/api/generated/compas_fab.robots.Robot.attach_tool.html
+++ b/latest/api/generated/compas_fab.robots.Robot.attach_tool.html
@@ -623,7 +623,7 @@
 <h1>Robot.attach_tool</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.attach_tool">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">attach_tool</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">touch_links</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/74dfc5a/src/compas_fab/robots/robot.py#L942"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">attach_tool</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">touch_links</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/c6ef2c0/src/compas_fab/robots/robot.py#L942"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Attach a tool to the robot independently of the model definition.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.basic.html b/latest/api/generated/compas_fab.robots.Robot.basic.html
index 6cc60b7ef..05ee68798 100644
--- a/latest/api/generated/compas_fab.robots.Robot.basic.html
+++ b/latest/api/generated/compas_fab.robots.Robot.basic.html
@@ -623,7 +623,7 @@
 <h1>Robot.basic</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.basic">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">basic</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joints</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">links</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">materials</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="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L128"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">basic</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joints</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">links</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">materials</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="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L128"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create the most basic instance of a robot, based only on name.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.copy.html b/latest/api/generated/compas_fab.robots.Robot.copy.html
index f31dad2ba..b67ebb9ff 100644
--- a/latest/api/generated/compas_fab.robots.Robot.copy.html
+++ b/latest/api/generated/compas_fab.robots.Robot.copy.html
@@ -623,7 +623,7 @@
 <h1>Robot.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.copy">
-<span class="sig-prename descclassname"><span class="pre">Robot.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.detach_tool.html b/latest/api/generated/compas_fab.robots.Robot.detach_tool.html
index f077ae99a..926713821 100644
--- a/latest/api/generated/compas_fab.robots.Robot.detach_tool.html
+++ b/latest/api/generated/compas_fab.robots.Robot.detach_tool.html
@@ -623,7 +623,7 @@
 <h1>Robot.detach_tool</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.detach_tool">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">detach_tool</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L984"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">detach_tool</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L984"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Detach the attached tool.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.draw.html b/latest/api/generated/compas_fab.robots.Robot.draw.html
index 252820770..0f1a54b65 100644
--- a/latest/api/generated/compas_fab.robots.Robot.draw.html
+++ b/latest/api/generated/compas_fab.robots.Robot.draw.html
@@ -623,7 +623,7 @@
 <h1>Robot.draw</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.draw">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">draw</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/74dfc5a/src/compas_fab/robots/robot.py#L1665"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">draw</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/c6ef2c0/src/compas_fab/robots/robot.py#L1665"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Alias of <a class="reference internal" href="compas_fab.robots.Robot.draw_visual.html#compas_fab.robots.Robot.draw_visual" title="compas_fab.robots.Robot.draw_visual"><code class="xref py py-meth docutils literal notranslate"><span class="pre">draw_visual()</span></code></a>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Robot.draw_collision.html b/latest/api/generated/compas_fab.robots.Robot.draw_collision.html
index 24d804453..112a3d18c 100644
--- a/latest/api/generated/compas_fab.robots.Robot.draw_collision.html
+++ b/latest/api/generated/compas_fab.robots.Robot.draw_collision.html
@@ -623,7 +623,7 @@
 <h1>Robot.draw_collision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.draw_collision">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">draw_collision</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/74dfc5a/src/compas_fab/robots/robot.py#L1661"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">draw_collision</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/c6ef2c0/src/compas_fab/robots/robot.py#L1661"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Draw the robot’s collision geometry using the defined <code class="xref py py-attr docutils literal notranslate"><span class="pre">Robot.scene_object</span></code>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Robot.draw_visual.html b/latest/api/generated/compas_fab.robots.Robot.draw_visual.html
index 242888075..469b7daca 100644
--- a/latest/api/generated/compas_fab.robots.Robot.draw_visual.html
+++ b/latest/api/generated/compas_fab.robots.Robot.draw_visual.html
@@ -623,7 +623,7 @@
 <h1>Robot.draw_visual</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.draw_visual">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">draw_visual</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/74dfc5a/src/compas_fab/robots/robot.py#L1657"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">draw_visual</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/c6ef2c0/src/compas_fab/robots/robot.py#L1657"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Draw the robot’s visual geometry using the defined <code class="xref py py-attr docutils literal notranslate"><span class="pre">Robot.scene_object</span></code>.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Robot.ensure_client.html b/latest/api/generated/compas_fab.robots.Robot.ensure_client.html
index 3eab0f4c7..57be93ffa 100644
--- a/latest/api/generated/compas_fab.robots.Robot.ensure_client.html
+++ b/latest/api/generated/compas_fab.robots.Robot.ensure_client.html
@@ -623,7 +623,7 @@
 <h1>Robot.ensure_client</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.ensure_client">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">ensure_client</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/74dfc5a/src/compas_fab/robots/robot.py#L1010"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">ensure_client</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/c6ef2c0/src/compas_fab/robots/robot.py#L1010"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Check if the client is set.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.ensure_geometry.html b/latest/api/generated/compas_fab.robots.Robot.ensure_geometry.html
index 8f32be2d1..de09c7ac8 100644
--- a/latest/api/generated/compas_fab.robots.Robot.ensure_geometry.html
+++ b/latest/api/generated/compas_fab.robots.Robot.ensure_geometry.html
@@ -623,7 +623,7 @@
 <h1>Robot.ensure_geometry</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.ensure_geometry">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">ensure_geometry</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/74dfc5a/src/compas_fab/robots/robot.py#L1032"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">ensure_geometry</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/c6ef2c0/src/compas_fab/robots/robot.py#L1032"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Check if the model’s geometry has been loaded.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.ensure_semantics.html b/latest/api/generated/compas_fab.robots.Robot.ensure_semantics.html
index b9bc984e5..94f99840f 100644
--- a/latest/api/generated/compas_fab.robots.Robot.ensure_semantics.html
+++ b/latest/api/generated/compas_fab.robots.Robot.ensure_semantics.html
@@ -623,7 +623,7 @@
 <h1>Robot.ensure_semantics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.ensure_semantics">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">ensure_semantics</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/74dfc5a/src/compas_fab/robots/robot.py#L1021"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">ensure_semantics</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/c6ef2c0/src/compas_fab/robots/robot.py#L1021"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Check if semantics is set.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.forward_kinematics.html b/latest/api/generated/compas_fab.robots.Robot.forward_kinematics.html
index ff3f52e89..76cd63222 100644
--- a/latest/api/generated/compas_fab.robots.Robot.forward_kinematics.html
+++ b/latest/api/generated/compas_fab.robots.Robot.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>Robot.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">use_attached_tool_frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/robots/robot.py#L1227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">use_attached_tool_frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/robots/robot.py#L1227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s forward kinematic.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.from_json.html b/latest/api/generated/compas_fab.robots.Robot.from_json.html
index e09692ca2..3c17ab6a5 100644
--- a/latest/api/generated/compas_fab.robots.Robot.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Robot.from_json.html
@@ -623,7 +623,7 @@
 <h1>Robot.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Robot.from_jsonstring.html
index 73798133d..75928a895 100644
--- a/latest/api/generated/compas_fab.robots.Robot.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Robot.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Robot.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.from_t0cf_to_tcf.html b/latest/api/generated/compas_fab.robots.Robot.from_t0cf_to_tcf.html
index 544ca8273..364719d94 100644
--- a/latest/api/generated/compas_fab.robots.Robot.from_t0cf_to_tcf.html
+++ b/latest/api/generated/compas_fab.robots.Robot.from_t0cf_to_tcf.html
@@ -623,7 +623,7 @@
 <h1>Robot.from_t0cf_to_tcf</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.from_t0cf_to_tcf">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">from_t0cf_to_tcf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_t0cf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L905"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">from_t0cf_to_tcf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_t0cf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L905"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame) using the attached tool.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.from_tcf_to_t0cf.html b/latest/api/generated/compas_fab.robots.Robot.from_tcf_to_t0cf.html
index 61fa114df..cf27dbf23 100644
--- a/latest/api/generated/compas_fab.robots.Robot.from_tcf_to_t0cf.html
+++ b/latest/api/generated/compas_fab.robots.Robot.from_tcf_to_t0cf.html
@@ -623,7 +623,7 @@
 <h1>Robot.from_tcf_to_t0cf</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.from_tcf_to_t0cf">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">from_tcf_to_t0cf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_tcf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L868"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">from_tcf_to_t0cf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_tcf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L868"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert a list of frames at the robot’s tool tip (tcf frame) to frames at the robot’s flange (tool0 frame) using the attached tool.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_RCF.html b/latest/api/generated/compas_fab.robots.Robot.get_RCF.html
index 520dc69a7..71acc4089 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_RCF.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_RCF.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_RCF</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_RCF">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_RCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L792"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_RCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L792"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the origin frame of the robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_attached_tool_collision_meshes.html b/latest/api/generated/compas_fab.robots.Robot.get_attached_tool_collision_meshes.html
index 88ac3203c..b8e934370 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_attached_tool_collision_meshes.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_attached_tool_collision_meshes.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_attached_tool_collision_meshes</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_attached_tool_collision_meshes">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_attached_tool_collision_meshes</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/74dfc5a/src/compas_fab/robots/robot.py#L523"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_attached_tool_collision_meshes</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/c6ef2c0/src/compas_fab/robots/robot.py#L523"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a list of all attached collisions meshes of each of the attached tools, if any.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_base_frame.html b/latest/api/generated/compas_fab.robots.Robot.get_base_frame.html
index ab7de8623..6b4971ba9 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_base_frame.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_base_frame.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_base_frame</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_base_frame">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_base_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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">full_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/74dfc5a/src/compas_fab/robots/robot.py#L350"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_base_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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">full_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/c6ef2c0/src/compas_fab/robots/robot.py#L350"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the frame of the robot’s base link, which is the robot’s origin frame.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_base_link.html b/latest/api/generated/compas_fab.robots.Robot.get_base_link.html
index f4e7dc283..6ac36dc7e 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_base_link.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_base_link.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_base_link</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_base_link">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_base_link</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L328"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_base_link</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L328"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the robot’s base link.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_base_link_name.html b/latest/api/generated/compas_fab.robots.Robot.get_base_link_name.html
index 02a18c69f..c8b247a55 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_base_link_name.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_base_link_name.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_base_link_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_base_link_name">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_base_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L305"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_base_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L305"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the name of the robot’s base link.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_names.html b/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_names.html
index cbbf81a04..fc5be4f40 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_names.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_names.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_configurable_joint_names</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_configurable_joint_names">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joint_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L470"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joint_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L470"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the configurable joint names.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_types.html b/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_types.html
index f139e70ed..a2c714780 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_types.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_configurable_joint_types.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_configurable_joint_types</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_configurable_joint_types">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joint_types</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L497"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joint_types</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L497"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the configurable joint types.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_configurable_joints.html b/latest/api/generated/compas_fab.robots.Robot.get_configurable_joints.html
index 608a9804f..a8cb0ec9c 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_configurable_joints.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_configurable_joints.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_configurable_joints</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_configurable_joints">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joints</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L409"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joints</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L409"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the robot’s configurable joints.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_configuration_from_group_state.html b/latest/api/generated/compas_fab.robots.Robot.get_configuration_from_group_state.html
index 339734613..0cd896679 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_configuration_from_group_state.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_configuration_from_group_state.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_configuration_from_group_state</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_configuration_from_group_state">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configuration_from_group_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group_state</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L723"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_configuration_from_group_state</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group_state</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L723"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a <a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.Configuration.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.Configuration</span></code></a> from a group’s group state.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_end_effector_frame.html b/latest/api/generated/compas_fab.robots.Robot.get_end_effector_frame.html
index f9d50dc72..9ae3154db 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_end_effector_frame.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_end_effector_frame.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_end_effector_frame</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_end_effector_frame">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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">full_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/74dfc5a/src/compas_fab/robots/robot.py#L286"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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">full_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/c6ef2c0/src/compas_fab/robots/robot.py#L286"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the frame of the robot’s end effector.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link.html b/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link.html
index 20c681b91..501ac9825 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_end_effector_link</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_end_effector_link">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_link</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L264"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_link</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L264"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the robot’s end effector link.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link_name.html b/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link_name.html
index 6795fae9a..0fd91aeb5 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link_name.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_end_effector_link_name.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_end_effector_link_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_end_effector_link_name">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L241"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L241"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the name of the robot’s end effector link.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_group_configuration.html b/latest/api/generated/compas_fab.robots.Robot.get_group_configuration.html
index 63bcf6e46..c36625fe5 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_group_configuration.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_group_configuration.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_group_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_group_configuration">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_group_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">full_configuration</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L589"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_group_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">full_configuration</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L589"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the group’s configuration.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_group_names_from_link_name.html b/latest/api/generated/compas_fab.robots.Robot.get_group_names_from_link_name.html
index ccf9e7343..973419f81 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_group_names_from_link_name.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_group_names_from_link_name.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_group_names_from_link_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_group_names_from_link_name">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_group_names_from_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L647"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_group_names_from_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">link_name</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L647"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the names of the groups <cite>link_name</cite> belongs to.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_joint_by_name.html b/latest/api/generated/compas_fab.robots.Robot.get_joint_by_name.html
index 6a00e9d2a..1c70ad2f7 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_joint_by_name.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_joint_by_name.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_joint_by_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_joint_by_name">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_joint_by_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L456"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_joint_by_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">name</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L456"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>RGet the joint in the robot model matching the given name.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_joint_types_by_names.html b/latest/api/generated/compas_fab.robots.Robot.get_joint_types_by_names.html
index 2229a721f..db1f34caa 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_joint_types_by_names.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_joint_types_by_names.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_joint_types_by_names</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_joint_types_by_names">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_joint_types_by_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">names</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L441"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_joint_types_by_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">names</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L441"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a list of joint types given a list of joint names.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_link_names.html b/latest/api/generated/compas_fab.robots.Robot.get_link_names.html
index 926f9d34f..03dc42a98 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_link_names.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_link_names.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_link_names</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_link_names">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_link_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L369"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_link_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L369"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the names of the links in the kinematic chain.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_link_names_with_collision_geometry.html b/latest/api/generated/compas_fab.robots.Robot.get_link_names_with_collision_geometry.html
index 8b1dfc4c5..ba667ce2b 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_link_names_with_collision_geometry.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_link_names_with_collision_geometry.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_link_names_with_collision_geometry</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_link_names_with_collision_geometry">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_link_names_with_collision_geometry</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/74dfc5a/src/compas_fab/robots/robot.py#L394"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_link_names_with_collision_geometry</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/c6ef2c0/src/compas_fab/robots/robot.py#L394"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the names of the links with collision geometry.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.get_position_by_joint_name.html b/latest/api/generated/compas_fab.robots.Robot.get_position_by_joint_name.html
index fb0705dc5..a45cca959 100644
--- a/latest/api/generated/compas_fab.robots.Robot.get_position_by_joint_name.html
+++ b/latest/api/generated/compas_fab.robots.Robot.get_position_by_joint_name.html
@@ -623,7 +623,7 @@
 <h1>Robot.get_position_by_joint_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.get_position_by_joint_name">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_position_by_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L666"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">get_position_by_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">joint_name</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L666"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the position of named joint in given configuration.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.html b/latest/api/generated/compas_fab.robots.Robot.html
index 12d003272..405036314 100644
--- a/latest/api/generated/compas_fab.robots.Robot.html
+++ b/latest/api/generated/compas_fab.robots.Robot.html
@@ -623,7 +623,7 @@
 <h1>Robot</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Robot</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L23"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Robot</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L23"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents a robot.</p>
 <p>This class binds together several building blocks, such as the robot’s
diff --git a/latest/api/generated/compas_fab.robots.Robot.info.html b/latest/api/generated/compas_fab.robots.Robot.info.html
index 0a74029f6..a88e55b7e 100644
--- a/latest/api/generated/compas_fab.robots.Robot.info.html
+++ b/latest/api/generated/compas_fab.robots.Robot.info.html
@@ -623,7 +623,7 @@
 <h1>Robot.info</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.info">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">info</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/74dfc5a/src/compas_fab/robots/robot.py#L1704"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">info</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/c6ef2c0/src/compas_fab/robots/robot.py#L1704"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Print information about the robot.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.Robot.inverse_kinematics.html b/latest/api/generated/compas_fab.robots.Robot.inverse_kinematics.html
index deec4e853..d48dee9ae 100644
--- a/latest/api/generated/compas_fab.robots.Robot.inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.robots.Robot.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>Robot.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">return_full_configuration</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">use_attached_tool_frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/robots/robot.py#L1046"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">return_full_configuration</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">use_attached_tool_frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/robots/robot.py#L1046"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic for a given frame.</p>
 <p>The inverse kinematic solvers are implemented as generators in order to fit both analytic
 and numerical solver approaches. However, this method abstracts that away and returns one
diff --git a/latest/api/generated/compas_fab.robots.Robot.iter_inverse_kinematics.html b/latest/api/generated/compas_fab.robots.Robot.iter_inverse_kinematics.html
index 46fa877f6..0e55ec913 100644
--- a/latest/api/generated/compas_fab.robots.Robot.iter_inverse_kinematics.html
+++ b/latest/api/generated/compas_fab.robots.Robot.iter_inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>Robot.iter_inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.iter_inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">iter_inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">return_full_configuration</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">use_attached_tool_frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/robots/robot.py#L1125"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">iter_inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">return_full_configuration</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">use_attached_tool_frame</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/robots/robot.py#L1125"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Iterate over the inverse kinematic solutions of a robot.</p>
 <p>This method exposes the generator-based inverse kinematic solvers. Analytics solvers will return
 generators that include all possible solutions, hence exhausting the iterator indicates there are
diff --git a/latest/api/generated/compas_fab.robots.Robot.merge_group_with_full_configuration.html b/latest/api/generated/compas_fab.robots.Robot.merge_group_with_full_configuration.html
index 539a790a8..3343b3147 100644
--- a/latest/api/generated/compas_fab.robots.Robot.merge_group_with_full_configuration.html
+++ b/latest/api/generated/compas_fab.robots.Robot.merge_group_with_full_configuration.html
@@ -623,7 +623,7 @@
 <h1>Robot.merge_group_with_full_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.merge_group_with_full_configuration">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">merge_group_with_full_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group_configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">full_configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L611"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">merge_group_with_full_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group_configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">full_configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L611"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the robot’s full configuration by merging a group’s configuration with a full configuration.
 The group configuration takes precedence over the full configuration in
 case a joint value is present in both.</p>
diff --git a/latest/api/generated/compas_fab.robots.Robot.plan_cartesian_motion.html b/latest/api/generated/compas_fab.robots.Robot.plan_cartesian_motion.html
index 991178471..23503658b 100644
--- a/latest/api/generated/compas_fab.robots.Robot.plan_cartesian_motion.html
+++ b/latest/api/generated/compas_fab.robots.Robot.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>Robot.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/robots/robot.py#L1318"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/robots/robot.py#L1318"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate a cartesian motion path (linear in tool space).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.plan_motion.html b/latest/api/generated/compas_fab.robots.Robot.plan_motion.html
index 48e5253fb..f6a179640 100644
--- a/latest/api/generated/compas_fab.robots.Robot.plan_motion.html
+++ b/latest/api/generated/compas_fab.robots.Robot.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>Robot.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/robots/robot.py#L1457"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/robots/robot.py#L1457"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate a motion path.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.random_configuration.html b/latest/api/generated/compas_fab.robots.Robot.random_configuration.html
index 03177981d..d61f206cc 100644
--- a/latest/api/generated/compas_fab.robots.Robot.random_configuration.html
+++ b/latest/api/generated/compas_fab.robots.Robot.random_configuration.html
@@ -623,7 +623,7 @@
 <h1>Robot.random_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.random_configuration">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">random_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L562"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">random_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L562"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get a random configuration.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.scale.html b/latest/api/generated/compas_fab.robots.Robot.scale.html
index ed9c87144..97bb887cb 100644
--- a/latest/api/generated/compas_fab.robots.Robot.scale.html
+++ b/latest/api/generated/compas_fab.robots.Robot.scale.html
@@ -623,7 +623,7 @@
 <h1>Robot.scale</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.scale">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L1675"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L1675"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Scale the robot geometry by a factor (absolute).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.set_RCF.html b/latest/api/generated/compas_fab.robots.Robot.set_RCF.html
index 6bcfed1a5..373a1f0a0 100644
--- a/latest/api/generated/compas_fab.robots.Robot.set_RCF.html
+++ b/latest/api/generated/compas_fab.robots.Robot.set_RCF.html
@@ -623,7 +623,7 @@
 <h1>Robot.set_RCF</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.set_RCF">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">set_RCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_coordinate_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L780"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">set_RCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot_coordinate_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L780"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Move the origin frame of the robot to the robot_coordinate_frame.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.sha256.html b/latest/api/generated/compas_fab.robots.Robot.sha256.html
index 71071c169..2126ede3f 100644
--- a/latest/api/generated/compas_fab.robots.Robot.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Robot.sha256.html
@@ -623,7 +623,7 @@
 <h1>Robot.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.sha256">
-<span class="sig-prename descclassname"><span class="pre">Robot.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.to_json.html b/latest/api/generated/compas_fab.robots.Robot.to_json.html
index acabccfe6..cbfd7c9e0 100644
--- a/latest/api/generated/compas_fab.robots.Robot.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Robot.to_json.html
@@ -623,7 +623,7 @@
 <h1>Robot.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.to_json">
-<span class="sig-prename descclassname"><span class="pre">Robot.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Robot.to_jsonstring.html
index ab0419a5f..94161ecac 100644
--- a/latest/api/generated/compas_fab.robots.Robot.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Robot.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Robot.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Robot.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.to_local_coordinates.html b/latest/api/generated/compas_fab.robots.Robot.to_local_coordinates.html
index 82970af98..a92f9187f 100644
--- a/latest/api/generated/compas_fab.robots.Robot.to_local_coordinates.html
+++ b/latest/api/generated/compas_fab.robots.Robot.to_local_coordinates.html
@@ -623,7 +623,7 @@
 <h1>Robot.to_local_coordinates</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.to_local_coordinates">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">to_local_coordinates</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L807"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">to_local_coordinates</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L807"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Represent a frame from the world coordinate system (WCF) in the robot’s coordinate system (RCF).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.to_world_coordinates.html b/latest/api/generated/compas_fab.robots.Robot.to_world_coordinates.html
index dbbbb219e..31582b6a6 100644
--- a/latest/api/generated/compas_fab.robots.Robot.to_world_coordinates.html
+++ b/latest/api/generated/compas_fab.robots.Robot.to_world_coordinates.html
@@ -623,7 +623,7 @@
 <h1>Robot.to_world_coordinates</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.to_world_coordinates">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">to_world_coordinates</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_RCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L833"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">to_world_coordinates</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frame_RCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L833"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Represent a frame from the robot’s coordinate system (RCF) in the world coordinate system (WCF).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.transformation_RCF_WCF.html b/latest/api/generated/compas_fab.robots.Robot.transformation_RCF_WCF.html
index f10a20d7f..a75847bd4 100644
--- a/latest/api/generated/compas_fab.robots.Robot.transformation_RCF_WCF.html
+++ b/latest/api/generated/compas_fab.robots.Robot.transformation_RCF_WCF.html
@@ -623,7 +623,7 @@
 <h1>Robot.transformation_RCF_WCF</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.transformation_RCF_WCF">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformation_RCF_WCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L748"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformation_RCF_WCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L748"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the transformation from the robot’s coordinate system (RCF) to the world coordinate system (WCF).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.transformation_WCF_RCF.html b/latest/api/generated/compas_fab.robots.Robot.transformation_WCF_RCF.html
index a32342a3e..7e6c9b071 100644
--- a/latest/api/generated/compas_fab.robots.Robot.transformation_WCF_RCF.html
+++ b/latest/api/generated/compas_fab.robots.Robot.transformation_WCF_RCF.html
@@ -623,7 +623,7 @@
 <h1>Robot.transformation_WCF_RCF</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.transformation_WCF_RCF">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformation_WCF_RCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L764"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformation_WCF_RCF</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L764"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the transformation from the world coordinate system (WCF) to the robot’s coordinate system (RCF).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.transformed_axes.html b/latest/api/generated/compas_fab.robots.Robot.transformed_axes.html
index 3caa02de4..b61dc3efa 100644
--- a/latest/api/generated/compas_fab.robots.Robot.transformed_axes.html
+++ b/latest/api/generated/compas_fab.robots.Robot.transformed_axes.html
@@ -623,7 +623,7 @@
 <h1>Robot.transformed_axes</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.transformed_axes">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformed_axes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L1609"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformed_axes</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L1609"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the robot’s transformed axes.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.transformed_frames.html b/latest/api/generated/compas_fab.robots.Robot.transformed_frames.html
index 9eb696157..5ba3ae633 100644
--- a/latest/api/generated/compas_fab.robots.Robot.transformed_frames.html
+++ b/latest/api/generated/compas_fab.robots.Robot.transformed_frames.html
@@ -623,7 +623,7 @@
 <h1>Robot.transformed_frames</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.transformed_frames">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformed_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L1589"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">transformed_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L1589"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the robot’s transformed frames.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.update.html b/latest/api/generated/compas_fab.robots.Robot.update.html
index df858d412..0fb84a448 100644
--- a/latest/api/generated/compas_fab.robots.Robot.update.html
+++ b/latest/api/generated/compas_fab.robots.Robot.update.html
@@ -623,7 +623,7 @@
 <h1>Robot.update</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.update">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">visual</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot.py#L1633"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">update</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">visual</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot.py#L1633"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Update the robot’s geometry.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Robot.validate_data.html b/latest/api/generated/compas_fab.robots.Robot.validate_data.html
index bf2271aa0..bc138f365 100644
--- a/latest/api/generated/compas_fab.robots.Robot.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Robot.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Robot.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Robot.zero_configuration.html b/latest/api/generated/compas_fab.robots.Robot.zero_configuration.html
index ff202e386..6549d3fe4 100644
--- a/latest/api/generated/compas_fab.robots.Robot.zero_configuration.html
+++ b/latest/api/generated/compas_fab.robots.Robot.zero_configuration.html
@@ -623,7 +623,7 @@
 <h1>Robot.zero_configuration</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Robot.zero_configuration">
-<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">zero_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/robot.py#L537"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Robot.</span></span><span class="sig-name descname"><span class="pre">zero_configuration</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/robot.py#L537"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the zero joint configuration.</p>
 <p>If zero is out of joint limits <code class="docutils literal notranslate"><span class="pre">(upper,</span> <span class="pre">lower)</span></code> then
 <code class="docutils literal notranslate"><span class="pre">(upper</span> <span class="pre">+</span> <span class="pre">lower)</span> <span class="pre">/</span> <span class="pre">2</span></code> is used as joint value.</p>
diff --git a/latest/api/generated/compas_fab.robots.RobotLibrary.abb_irb4600_40_255.html b/latest/api/generated/compas_fab.robots.RobotLibrary.abb_irb4600_40_255.html
index b1f82c0cc..4415a5c04 100644
--- a/latest/api/generated/compas_fab.robots.RobotLibrary.abb_irb4600_40_255.html
+++ b/latest/api/generated/compas_fab.robots.RobotLibrary.abb_irb4600_40_255.html
@@ -623,7 +623,7 @@
 <h1>RobotLibrary.abb_irb4600_40_255</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotLibrary.abb_irb4600_40_255">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">abb_irb4600_40_255</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot_library.py#L145"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">abb_irb4600_40_255</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot_library.py#L145"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a ABB irb4600-40/2.55 robot.</p>
 <p>The returned <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> object contains the robot model and semantics.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.RobotLibrary.html b/latest/api/generated/compas_fab.robots.RobotLibrary.html
index ea2162b22..f4d51d7ce 100644
--- a/latest/api/generated/compas_fab.robots.RobotLibrary.html
+++ b/latest/api/generated/compas_fab.robots.RobotLibrary.html
@@ -623,7 +623,7 @@
 <h1>RobotLibrary</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotLibrary">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">RobotLibrary</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot_library.py#L17"><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.robots.</span></span><span class="sig-name descname"><span class="pre">RobotLibrary</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot_library.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>A collection of built-in robots that can be used for testing and example purposes.
 The <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> objects created by the factory methods
diff --git a/latest/api/generated/compas_fab.robots.RobotLibrary.rfl.html b/latest/api/generated/compas_fab.robots.RobotLibrary.rfl.html
index 7c0562fef..84e265d37 100644
--- a/latest/api/generated/compas_fab.robots.RobotLibrary.rfl.html
+++ b/latest/api/generated/compas_fab.robots.RobotLibrary.rfl.html
@@ -623,7 +623,7 @@
 <h1>RobotLibrary.rfl</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotLibrary.rfl">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">rfl</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot_library.py#L55"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">rfl</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot_library.py#L55"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create and return the RFL robot with 4 ABB irb 4600 and twin-gantry setup.</p>
 <p>The returned <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> object contains the robot model and semantics.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.RobotLibrary.ur10e.html b/latest/api/generated/compas_fab.robots.RobotLibrary.ur10e.html
index 0efe56ad6..057a76b66 100644
--- a/latest/api/generated/compas_fab.robots.RobotLibrary.ur10e.html
+++ b/latest/api/generated/compas_fab.robots.RobotLibrary.ur10e.html
@@ -623,7 +623,7 @@
 <h1>RobotLibrary.ur10e</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotLibrary.ur10e">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">ur10e</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot_library.py#L115"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">ur10e</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot_library.py#L115"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a UR10e robot.</p>
 <p>The returned <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> object contains the robot model and semantics.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.RobotLibrary.ur5.html b/latest/api/generated/compas_fab.robots.RobotLibrary.ur5.html
index 271350033..310ac6655 100644
--- a/latest/api/generated/compas_fab.robots.RobotLibrary.ur5.html
+++ b/latest/api/generated/compas_fab.robots.RobotLibrary.ur5.html
@@ -623,7 +623,7 @@
 <h1>RobotLibrary.ur5</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotLibrary.ur5">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">ur5</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/robot_library.py#L85"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotLibrary.</span></span><span class="sig-name descname"><span class="pre">ur5</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">client</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">load_geometry</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/robot_library.py#L85"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a UR5 robot.</p>
 <p>The returned <a class="reference internal" href="compas_fab.robots.Robot.html#compas_fab.robots.Robot" title="compas_fab.robots.Robot"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.Robot</span></code></a> object contains the robot model and semantics.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.ToString.html b/latest/api/generated/compas_fab.robots.RobotSemantics.ToString.html
index a4dab0140..03a404f98 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.ToString.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.ToString.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.ToString">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.copy.html b/latest/api/generated/compas_fab.robots.RobotSemantics.copy.html
index 3b6cbecc7..849d5e06e 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.copy.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.copy.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.copy">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.from_json.html b/latest/api/generated/compas_fab.robots.RobotSemantics.from_json.html
index b02af8e24..f63a3ff90 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.from_json.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.from_json.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.from_jsonstring.html b/latest/api/generated/compas_fab.robots.RobotSemantics.from_jsonstring.html
index 916c4d294..704646f1e 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_file.html b/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_file.html
index 5b184063d..43c969476 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_file.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_file.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.from_srdf_file</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.from_srdf_file">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">from_srdf_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">file</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/semantics.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">from_srdf_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">file</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/semantics.py#L130"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create an instance of semantics based on an SRDF file path or file-like object.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_string.html b/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_string.html
index 0ac0c89c0..f59271996 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_string.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.from_srdf_string.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.from_srdf_string</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.from_srdf_string">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">from_srdf_string</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">text</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/semantics.py#L154"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">from_srdf_string</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">text</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/semantics.py#L154"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create an instance of semantics based on an SRDF string.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.from_xml.html b/latest/api/generated/compas_fab.robots.RobotSemantics.from_xml.html
index b6bcb1666..eeeb03f73 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.from_xml.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.from_xml.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.from_xml</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.from_xml">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">from_xml</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">xml</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/semantics.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">from_xml</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">xml</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">robot_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/semantics.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Create an instance of semantics based on an XML object.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.get_all_configurable_joints.html b/latest/api/generated/compas_fab.robots.RobotSemantics.get_all_configurable_joints.html
index fda923b48..02c17c91f 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.get_all_configurable_joints.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.get_all_configurable_joints.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.get_all_configurable_joints</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.get_all_configurable_joints">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_all_configurable_joints</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/74dfc5a/src/compas_fab/robots/semantics.py#L217"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_all_configurable_joints</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/c6ef2c0/src/compas_fab/robots/semantics.py#L217"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get all configurable <a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.model.Joint.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.model.Joint</span></code></a> of the robot.</p>
 <p>Configurable joints are joints that can be controlled,
 i.e., not <code class="docutils literal notranslate"><span class="pre">Joint.FIXED</span></code>, not mimicking another joint and not a passive joint.
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.get_base_link_name.html b/latest/api/generated/compas_fab.robots.RobotSemantics.get_base_link_name.html
index 491aaaebc..fdbd2a380 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.get_base_link_name.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.get_base_link_name.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.get_base_link_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.get_base_link_name">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_base_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/semantics.py#L200"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_base_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/semantics.py#L200"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the name of the first link (base link) in a planning group.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joint_names.html b/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joint_names.html
index c0f3bc58b..768f515dd 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joint_names.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joint_names.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.get_configurable_joint_names</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.get_configurable_joint_names">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joint_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/semantics.py#L265"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joint_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/semantics.py#L265"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get all the names of configurable joints of a planning group.</p>
 <p>Similar to <a class="reference internal" href="compas_fab.robots.RobotSemantics.get_configurable_joints.html#compas_fab.robots.RobotSemantics.get_configurable_joints" title="compas_fab.robots.RobotSemantics.get_configurable_joints"><code class="xref py py-meth docutils literal notranslate"><span class="pre">get_configurable_joints()</span></code></a> but returning joint names.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joints.html b/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joints.html
index b2b286536..430434821 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joints.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.get_configurable_joints.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.get_configurable_joints</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.get_configurable_joints">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joints</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/semantics.py#L237"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_configurable_joints</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/semantics.py#L237"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get all configurable <a class="reference external" href="https://compas.dev/compas_robots/latest/api/generated/compas_robots.model.Joint.html" title="(in COMPAS Robots vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_robots.model.Joint</span></code></a> of a planning group.</p>
 <p>Configurable joints are joints that can be controlled,
 i.e., not <code class="docutils literal notranslate"><span class="pre">Joint.FIXED</span></code>, not mimicking another joint and not a passive joint.
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.get_end_effector_link_name.html b/latest/api/generated/compas_fab.robots.RobotSemantics.get_end_effector_link_name.html
index 7ec57af85..ae82dac19 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.get_end_effector_link_name.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.get_end_effector_link_name.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.get_end_effector_link_name</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.get_end_effector_link_name">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/74dfc5a/src/compas_fab/robots/semantics.py#L182"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">get_end_effector_link_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">group</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/c6ef2c0/src/compas_fab/robots/semantics.py#L182"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Get the name of the last link (end effector link) in a planning group.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.html b/latest/api/generated/compas_fab.robots.RobotSemantics.html
index ef1c0cee3..48bb859ec 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">RobotSemantics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/semantics.py#L13"><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.robots.</span></span><span class="sig-name descname"><span class="pre">RobotSemantics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/semantics.py#L13"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents semantic information of a robot.</p>
 <p>The semantic model is based on the
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.sha256.html b/latest/api/generated/compas_fab.robots.RobotSemantics.sha256.html
index 5b3636049..4d6661873 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.sha256.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.sha256.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.sha256">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.to_json.html b/latest/api/generated/compas_fab.robots.RobotSemantics.to_json.html
index 1223d86c5..adbea0cef 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.to_json.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.to_json.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.to_json">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.to_jsonstring.html b/latest/api/generated/compas_fab.robots.RobotSemantics.to_jsonstring.html
index 370c49e01..35f6de5c6 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RobotSemantics.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.RobotSemantics.validate_data.html b/latest/api/generated/compas_fab.robots.RobotSemantics.validate_data.html
index 79b324c2d..eed55a990 100644
--- a/latest/api/generated/compas_fab.robots.RobotSemantics.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.RobotSemantics.validate_data.html
@@ -623,7 +623,7 @@
 <h1>RobotSemantics.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.RobotSemantics.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">RobotSemantics.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Target.ToString.html b/latest/api/generated/compas_fab.robots.Target.ToString.html
index 4bf5e1415..e80f47b2b 100644
--- a/latest/api/generated/compas_fab.robots.Target.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Target.ToString.html
@@ -623,7 +623,7 @@
 <h1>Target.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.ToString">
-<span class="sig-prename descclassname"><span class="pre">Target.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Target.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Target.copy.html b/latest/api/generated/compas_fab.robots.Target.copy.html
index d21cdf167..756e042d9 100644
--- a/latest/api/generated/compas_fab.robots.Target.copy.html
+++ b/latest/api/generated/compas_fab.robots.Target.copy.html
@@ -623,7 +623,7 @@
 <h1>Target.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.copy">
-<span class="sig-prename descclassname"><span class="pre">Target.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Target.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Target.from_json.html b/latest/api/generated/compas_fab.robots.Target.from_json.html
index a0f288be5..adae3a2c7 100644
--- a/latest/api/generated/compas_fab.robots.Target.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Target.from_json.html
@@ -623,7 +623,7 @@
 <h1>Target.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Target.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Target.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Target.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Target.from_jsonstring.html
index 0dd394ae8..c26e313d4 100644
--- a/latest/api/generated/compas_fab.robots.Target.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Target.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Target.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Target.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Target.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Target.html b/latest/api/generated/compas_fab.robots.Target.html
index d10e42df9..3c2317948 100644
--- a/latest/api/generated/compas_fab.robots.Target.html
+++ b/latest/api/generated/compas_fab.robots.Target.html
@@ -623,7 +623,7 @@
 <h1>Target</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Target">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Target</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L18"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Target</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L18"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents a kinematic target for motion planning.</p>
 <p>The current implementation supports only static target constraints such as
diff --git a/latest/api/generated/compas_fab.robots.Target.scaled.html b/latest/api/generated/compas_fab.robots.Target.scaled.html
index 6ab983954..4877cbb8e 100644
--- a/latest/api/generated/compas_fab.robots.Target.scaled.html
+++ b/latest/api/generated/compas_fab.robots.Target.scaled.html
@@ -623,7 +623,7 @@
 <h1>Target.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.scaled">
-<span class="sig-prename descclassname"><span class="pre">Target.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Target.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a scaled copy of the target.</p>
 <p>If the user model is created in millimeters, the target should be scaled by a factor of 0.001 before passing to the planner.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Target.sha256.html b/latest/api/generated/compas_fab.robots.Target.sha256.html
index f21598847..81da6e559 100644
--- a/latest/api/generated/compas_fab.robots.Target.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Target.sha256.html
@@ -623,7 +623,7 @@
 <h1>Target.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.sha256">
-<span class="sig-prename descclassname"><span class="pre">Target.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Target.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Target.to_json.html b/latest/api/generated/compas_fab.robots.Target.to_json.html
index 1a9463637..fd5be2615 100644
--- a/latest/api/generated/compas_fab.robots.Target.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Target.to_json.html
@@ -623,7 +623,7 @@
 <h1>Target.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.to_json">
-<span class="sig-prename descclassname"><span class="pre">Target.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Target.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Target.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Target.to_jsonstring.html
index 7328cacb3..b7b01c601 100644
--- a/latest/api/generated/compas_fab.robots.Target.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Target.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Target.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Target.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Target.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Target.validate_data.html b/latest/api/generated/compas_fab.robots.Target.validate_data.html
index 8fb4c7150..6413e134f 100644
--- a/latest/api/generated/compas_fab.robots.Target.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Target.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Target.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Target.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Target.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Target.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Tool.ToString.html b/latest/api/generated/compas_fab.robots.Tool.ToString.html
index 16ae1d160..9efc8c85a 100644
--- a/latest/api/generated/compas_fab.robots.Tool.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Tool.ToString.html
@@ -623,7 +623,7 @@
 <h1>Tool.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.ToString">
-<span class="sig-prename descclassname"><span class="pre">Tool.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Tool.copy.html b/latest/api/generated/compas_fab.robots.Tool.copy.html
index 4112d431d..5ed2d8728 100644
--- a/latest/api/generated/compas_fab.robots.Tool.copy.html
+++ b/latest/api/generated/compas_fab.robots.Tool.copy.html
@@ -623,7 +623,7 @@
 <h1>Tool.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.copy">
-<span class="sig-prename descclassname"><span class="pre">Tool.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.from_json.html b/latest/api/generated/compas_fab.robots.Tool.from_json.html
index 007fad872..5591926bd 100644
--- a/latest/api/generated/compas_fab.robots.Tool.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Tool.from_json.html
@@ -623,7 +623,7 @@
 <h1>Tool.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Tool.from_jsonstring.html
index aeb30c762..9b1e8de4e 100644
--- a/latest/api/generated/compas_fab.robots.Tool.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Tool.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Tool.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.from_t0cf_to_tcf.html b/latest/api/generated/compas_fab.robots.Tool.from_t0cf_to_tcf.html
index f246909c2..8714002a5 100644
--- a/latest/api/generated/compas_fab.robots.Tool.from_t0cf_to_tcf.html
+++ b/latest/api/generated/compas_fab.robots.Tool.from_t0cf_to_tcf.html
@@ -623,7 +623,7 @@
 <h1>Tool.from_t0cf_to_tcf</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.from_t0cf_to_tcf">
-<span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">from_t0cf_to_tcf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_t0cf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/tool.py#L163"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">from_t0cf_to_tcf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_t0cf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/tool.py#L163"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Converts frames at the robot’s flange (tool0 frame) to frames at the robot’s tool tip (tcf frame).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.from_tcf_to_t0cf.html b/latest/api/generated/compas_fab.robots.Tool.from_tcf_to_t0cf.html
index 7ae4cbed5..052893bc1 100644
--- a/latest/api/generated/compas_fab.robots.Tool.from_tcf_to_t0cf.html
+++ b/latest/api/generated/compas_fab.robots.Tool.from_tcf_to_t0cf.html
@@ -623,7 +623,7 @@
 <h1>Tool.from_tcf_to_t0cf</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.from_tcf_to_t0cf">
-<span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">from_tcf_to_t0cf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_tcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/tool.py#L138"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">from_tcf_to_t0cf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">frames_tcf</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/tool.py#L138"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Converts a list of frames at the robot’s tool tip (tcf frame) to frames at the robot’s flange (tool0 frame).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.from_tool_model.html b/latest/api/generated/compas_fab.robots.Tool.from_tool_model.html
index 58ed3d208..cb16588c6 100644
--- a/latest/api/generated/compas_fab.robots.Tool.from_tool_model.html
+++ b/latest/api/generated/compas_fab.robots.Tool.from_tool_model.html
@@ -623,7 +623,7 @@
 <h1>Tool.from_tool_model</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.from_tool_model">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">from_tool_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/tool.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">from_tool_model</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tool_model</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/tool.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.robots.Tool.html b/latest/api/generated/compas_fab.robots.Tool.html
index 29be298f1..91b6bf80a 100644
--- a/latest/api/generated/compas_fab.robots.Tool.html
+++ b/latest/api/generated/compas_fab.robots.Tool.html
@@ -623,7 +623,7 @@
 <h1>Tool</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Tool</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/tool.py#L15"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Tool</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/tool.py#L15"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents a tool to be attached to the robot’s flange.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.Tool.sha256.html b/latest/api/generated/compas_fab.robots.Tool.sha256.html
index e132e518d..44e74e1ec 100644
--- a/latest/api/generated/compas_fab.robots.Tool.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Tool.sha256.html
@@ -623,7 +623,7 @@
 <h1>Tool.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.sha256">
-<span class="sig-prename descclassname"><span class="pre">Tool.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.to_json.html b/latest/api/generated/compas_fab.robots.Tool.to_json.html
index 0a6f22529..2d80d91f6 100644
--- a/latest/api/generated/compas_fab.robots.Tool.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Tool.to_json.html
@@ -623,7 +623,7 @@
 <h1>Tool.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.to_json">
-<span class="sig-prename descclassname"><span class="pre">Tool.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Tool.to_jsonstring.html
index 67eba2ca3..9976890c8 100644
--- a/latest/api/generated/compas_fab.robots.Tool.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Tool.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Tool.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Tool.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Tool.update_touch_links.html b/latest/api/generated/compas_fab.robots.Tool.update_touch_links.html
index ae8499e07..1ae3982a8 100644
--- a/latest/api/generated/compas_fab.robots.Tool.update_touch_links.html
+++ b/latest/api/generated/compas_fab.robots.Tool.update_touch_links.html
@@ -623,7 +623,7 @@
 <h1>Tool.update_touch_links</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.update_touch_links">
-<span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">update_touch_links</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">touch_links</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/74dfc5a/src/compas_fab/robots/tool.py#L133"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">update_touch_links</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">touch_links</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/c6ef2c0/src/compas_fab/robots/tool.py#L133"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/api/generated/compas_fab.robots.Tool.validate_data.html b/latest/api/generated/compas_fab.robots.Tool.validate_data.html
index 47fb16c6d..a0eda2f9c 100644
--- a/latest/api/generated/compas_fab.robots.Tool.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Tool.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Tool.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Tool.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Tool.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.ToString.html b/latest/api/generated/compas_fab.robots.Trajectory.ToString.html
index b2c370a93..7d08bcd76 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.ToString.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.ToString">
-<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.copy.html b/latest/api/generated/compas_fab.robots.Trajectory.copy.html
index 64fcf4f9b..7021e5e8e 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.copy.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.copy.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.copy">
-<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.from_json.html b/latest/api/generated/compas_fab.robots.Trajectory.from_json.html
index 6ffe9fb20..5a1389725 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.from_json.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Trajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Trajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Trajectory.from_jsonstring.html
index 13ebde026..5252d1cc9 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Trajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Trajectory.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.html b/latest/api/generated/compas_fab.robots.Trajectory.html
index b210c668b..d128e4c72 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.html
@@ -623,7 +623,7 @@
 <h1>Trajectory</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Trajectory</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/trajectory.py#L245"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Trajectory</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/trajectory.py#L245"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Base trajectory class.</p>
 <dl class="field-list">
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.sha256.html b/latest/api/generated/compas_fab.robots.Trajectory.sha256.html
index b6c1e4de8..f0a32bb13 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.sha256.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.sha256">
-<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.to_json.html b/latest/api/generated/compas_fab.robots.Trajectory.to_json.html
index 154fa425a..5e3988b97 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.to_json.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.to_json">
-<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Trajectory.to_jsonstring.html
index 408279232..223a54ec3 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Trajectory.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Trajectory.validate_data.html b/latest/api/generated/compas_fab.robots.Trajectory.validate_data.html
index b57f438a1..be24b6b10 100644
--- a/latest/api/generated/compas_fab.robots.Trajectory.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Trajectory.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Trajectory.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Trajectory.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Trajectory.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Trajectory.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.ToString.html b/latest/api/generated/compas_fab.robots.Waypoints.ToString.html
index 767f303da..bd83a7bc7 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.ToString.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.ToString">
-<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.copy.html b/latest/api/generated/compas_fab.robots.Waypoints.copy.html
index e7ba356d8..05be1c59a 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.copy.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.copy.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.copy">
-<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L269"><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">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.from_json.html b/latest/api/generated/compas_fab.robots.Waypoints.from_json.html
index dfcb450a3..51484aa40 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.from_json.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Waypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Waypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Waypoints.from_jsonstring.html
index 64cf47bc8..555dc86d7 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Waypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Waypoints.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.html b/latest/api/generated/compas_fab.robots.Waypoints.html
index 7a34a5d68..dd6e14cd3 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.html
@@ -623,7 +623,7 @@
 <h1>Waypoints</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Waypoints</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L482"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Waypoints</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L482"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>Represents a sequence of kinematic target for motion planning.</p>
 <p>Waypoints represent a sequence of targets the robot should pass through in the order they are defined.
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.scaled.html b/latest/api/generated/compas_fab.robots.Waypoints.scaled.html
index 5e5a1bf69..749780267 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.scaled.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.scaled.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.scaled</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.scaled">
-<span class="sig-prename descclassname"><span class="pre">Waypoints.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/targets.py#L518"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Waypoints.</span></span><span class="sig-name descname"><span class="pre">scaled</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">factor</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/targets.py#L518"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a scaled copy of the waypoints.</p>
 <p>If the user model is created in millimeters, the target should be scaled by a factor of 0.001 before passing to the planner.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.sha256.html b/latest/api/generated/compas_fab.robots.Waypoints.sha256.html
index c2869ecfd..c4b355d73 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.sha256.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.sha256">
-<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.to_json.html b/latest/api/generated/compas_fab.robots.Waypoints.to_json.html
index 667ea42c8..06641ce79 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.to_json.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.to_json">
-<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Waypoints.to_jsonstring.html
index 6190e1a98..84032d71d 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Waypoints.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Waypoints.validate_data.html b/latest/api/generated/compas_fab.robots.Waypoints.validate_data.html
index 728cb1e4c..e56bac0d3 100644
--- a/latest/api/generated/compas_fab.robots.Waypoints.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Waypoints.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Waypoints.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Waypoints.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Waypoints.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Waypoints.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.Wrench.ToString.html b/latest/api/generated/compas_fab.robots.Wrench.ToString.html
index 27d4e36dd..e21e6e7f8 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.ToString.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.ToString.html
@@ -623,7 +623,7 @@
 <h1>Wrench.ToString</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.ToString">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L160"><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
diff --git a/latest/api/generated/compas_fab.robots.Wrench.by_samples.html b/latest/api/generated/compas_fab.robots.Wrench.by_samples.html
index f68e52bb8..03c381891 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.by_samples.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.by_samples.html
@@ -623,7 +623,7 @@
 <h1>Wrench.by_samples</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.by_samples">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">by_samples</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">wrenches</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">proportion_to_cut</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.1</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/wrench.py#L84"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">by_samples</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">wrenches</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">proportion_to_cut</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.1</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/wrench.py#L84"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct the wrench by sampled data, allowing to filter.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.copy.html b/latest/api/generated/compas_fab.robots.Wrench.copy.html
index 66f9fd610..4d07c3b28 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.copy.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.copy.html
@@ -623,7 +623,7 @@
 <h1>Wrench.copy</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.copy">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">copy</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/74dfc5a/src/compas_fab/robots/wrench.py#L165"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">copy</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/c6ef2c0/src/compas_fab/robots/wrench.py#L165"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Make a copy of this <code class="docutils literal notranslate"><span class="pre">Wrench</span></code>.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.from_json.html b/latest/api/generated/compas_fab.robots.Wrench.from_json.html
index 13f0a672c..073e9f201 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.from_json.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.from_json.html
@@ -623,7 +623,7 @@
 <h1>Wrench.from_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.from_json">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.from_jsonstring.html b/latest/api/generated/compas_fab.robots.Wrench.from_jsonstring.html
index 3890bfe18..ce27a615f 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.from_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.from_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Wrench.from_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.from_jsonstring">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L227"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct an object of this type from a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.from_list.html b/latest/api/generated/compas_fab.robots.Wrench.from_list.html
index abf48eb07..38483f46c 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.from_list.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.from_list.html
@@ -623,7 +623,7 @@
 <h1>Wrench.from_list</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.from_list">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">from_list</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/wrench.py#L62"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">from_list</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">values</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/wrench.py#L62"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Construct a wrench from a list of 6 <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.12)"><code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code></a> values.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.gravity_compensated.html b/latest/api/generated/compas_fab.robots.Wrench.gravity_compensated.html
index 7a537a5df..a5a5754a5 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.gravity_compensated.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.gravity_compensated.html
@@ -623,7 +623,7 @@
 <h1>Wrench.gravity_compensated</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.gravity_compensated">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">gravity_compensated</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ft_sensor_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mass</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">center_of_mass</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/wrench.py#L301"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">gravity_compensated</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">ft_sensor_frame</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mass</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">center_of_mass</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/wrench.py#L301"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Removes the force and torque in effect of gravity from the wrench.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.html b/latest/api/generated/compas_fab.robots.Wrench.html
index 50caab129..31f8e973c 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.html
@@ -623,7 +623,7 @@
 <h1>Wrench</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">Wrench</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/wrench.py#L24"><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.robots.</span></span><span class="sig-name descname"><span class="pre">Wrench</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/wrench.py#L24"><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/api/generated/compas.data.Data.html" title="(in COMPAS vlatest)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Data</span></code></a></p>
 <p>A wrench represents force in free space, separated into its linear (force) and angular (torque) parts.</p>
 <p class="rubric">Examples</p>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.sha256.html b/latest/api/generated/compas_fab.robots.Wrench.sha256.html
index 7ad574925..25d314de4 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.sha256.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.sha256.html
@@ -623,7 +623,7 @@
 <h1>Wrench.sha256</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.sha256">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L290"><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<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.to_json.html b/latest/api/generated/compas_fab.robots.Wrench.to_json.html
index fb6590d59..fe5f4db35 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.to_json.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.to_json.html
@@ -623,7 +623,7 @@
 <h1>Wrench.to_json</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.to_json">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L213"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.to_jsonstring.html b/latest/api/generated/compas_fab.robots.Wrench.to_jsonstring.html
index 287196f24..f16b60c3b 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.to_jsonstring.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.to_jsonstring.html
@@ -623,7 +623,7 @@
 <h1>Wrench.to_jsonstring</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.to_jsonstring">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</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/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</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/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert an object to its native data representation and save it to a JSON string.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.transform.html b/latest/api/generated/compas_fab.robots.Wrench.transform.html
index 394617f86..3eb370cc6 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.transform.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.transform.html
@@ -623,7 +623,7 @@
 <h1>Wrench.transform</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.transform">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/wrench.py#L257"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/wrench.py#L257"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Transforms a <cite>Wrench</cite> with the transformation.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.transformed.html b/latest/api/generated/compas_fab.robots.Wrench.transformed.html
index 668073952..878c1866c 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.transformed.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.transformed.html
@@ -623,7 +623,7 @@
 <h1>Wrench.transformed</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.transformed">
-<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">transformed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/wrench.py#L278"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">transformed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">transformation</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/wrench.py#L278"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a transformed copy of the <cite>Wrench</cite>.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.Wrench.validate_data.html b/latest/api/generated/compas_fab.robots.Wrench.validate_data.html
index 4761fd01f..38e2ca79d 100644
--- a/latest/api/generated/compas_fab.robots.Wrench.validate_data.html
+++ b/latest/api/generated/compas_fab.robots.Wrench.validate_data.html
@@ -623,7 +623,7 @@
 <h1>Wrench.validate_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.robots.Wrench.validate_data">
-<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">classmethod</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">Wrench.</span></span><span class="sig-name descname"><span class="pre">validate_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><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/../../../../../../../opt/hostedtoolcache/Python/3.10.14/x64/lib/python3.10/site-packages/compas/data/data.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Validate the data against the object’s data schema.</p>
 <p>The data is the raw data that can be used to construct an object of this type with the classmethod <code class="docutils literal notranslate"><span class="pre">__from_data__</span></code>.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.robots.to_degrees.html b/latest/api/generated/compas_fab.robots.to_degrees.html
index d5f7d0c64..0911650ac 100644
--- a/latest/api/generated/compas_fab.robots.to_degrees.html
+++ b/latest/api/generated/compas_fab.robots.to_degrees.html
@@ -623,7 +623,7 @@
 <h1>to_degrees</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.robots.to_degrees">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">to_degrees</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">radians</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/units.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">to_degrees</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">radians</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/units.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert a list of floats representing radians to a list of degrees.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.robots.to_radians.html b/latest/api/generated/compas_fab.robots.to_radians.html
index b0f982cc3..de05a80f3 100644
--- a/latest/api/generated/compas_fab.robots.to_radians.html
+++ b/latest/api/generated/compas_fab.robots.to_radians.html
@@ -623,7 +623,7 @@
 <h1>to_radians</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.robots.to_radians">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">to_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">degrees</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/robots/units.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.robots.</span></span><span class="sig-name descname"><span class="pre">to_radians</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">degrees</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/robots/units.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Convert a list of floats representing degrees to a list of radians.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.activate_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosCon3D.activate_flex_mount.html
index 1e25a1e99..73198aa60 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.activate_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.activate_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.activate_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.activate_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">activate_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference_thickness</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L315"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">activate_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference_thickness</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L315"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Activates the FLEX Mount feature of the sensor to allow positioning it on an
 angled installation. The reference thickness is only required if the surface is
 uneven and an additional leveling auxiliary plate as been added.</p>
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.adjust_to_dark_object.html b/latest/api/generated/compas_fab.sensors.PosCon3D.adjust_to_dark_object.html
index 29657147f..240d7b647 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.adjust_to_dark_object.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.adjust_to_dark_object.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.adjust_to_dark_object</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.adjust_to_dark_object">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">adjust_to_dark_object</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">is_dark_object</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L331"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">adjust_to_dark_object</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">is_dark_object</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L331"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Adjusts the sensor to detect darker or lighter surfaces.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.begin.html b/latest/api/generated/compas_fab.sensors.PosCon3D.begin.html
index 8dd28c0c0..7acf08685 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.begin.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.begin.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.begin</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.begin">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">begin</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/74dfc5a/src/compas_fab/sensors/baumer.py#L91"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">begin</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L91"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Locks the sensor to start RS-485 communication.</p>
 <p class="rubric">Notes</p>
 <p>This method only needs to be called if not using
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.calculate_checksum.html b/latest/api/generated/compas_fab.sensors.PosCon3D.calculate_checksum.html
index 8553fd665..b35813079 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.calculate_checksum.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.calculate_checksum.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.calculate_checksum</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.calculate_checksum">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">calculate_checksum</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L171"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">calculate_checksum</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L171"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks that message is complete.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.deactivate_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosCon3D.deactivate_flex_mount.html
index fd78a15ce..ba4d41163 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.deactivate_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.deactivate_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.deactivate_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.deactivate_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">deactivate_flex_mount</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/74dfc5a/src/compas_fab/sensors/baumer.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">deactivate_flex_mount</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L322"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Deactivates the FLEX Mount feature.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.end.html b/latest/api/generated/compas_fab.sensors.PosCon3D.end.html
index d57c8901c..38733ba04 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.end.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.end.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.end</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.end">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">end</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/74dfc5a/src/compas_fab/sensors/baumer.py#L101"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">end</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L101"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Unlocks the sensor from RS-485 communication.</p>
 <p class="rubric">Notes</p>
 <p>This method only needs to be called if not using
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.format_command.html b/latest/api/generated/compas_fab.sensors.PosCon3D.format_command.html
index 8729df33a..99f6be447 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.format_command.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.format_command.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.format_command</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.format_command">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">format_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/74dfc5a/src/compas_fab/sensors/baumer.py#L165"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">format_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L165"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Formats the command.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.get_address.html b/latest/api/generated/compas_fab.sensors.PosCon3D.get_address.html
index 8e1e41edd..02eee65a3 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.get_address.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.get_address.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.get_address</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.get_address">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_address</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/74dfc5a/src/compas_fab/sensors/baumer.py#L193"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_address</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L193"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Gets the address of the RS-485 sensors currently connected to the bus. This command
 is only really useful when this class is initialized with the broadcast address,
 with the purpose of retrieving the address of a sensor connected.</p>
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.get_live_monitor_data.html b/latest/api/generated/compas_fab.sensors.PosCon3D.get_live_monitor_data.html
index 572b762a1..2d5823c83 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.get_live_monitor_data.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.get_live_monitor_data.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.get_live_monitor_data</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.get_live_monitor_data">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_live_monitor_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/74dfc5a/src/compas_fab/sensors/baumer.py#L292"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_live_monitor_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/c6ef2c0/src/compas_fab/sensors/baumer.py#L292"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieves the distance to the surface in the center of the laser beam and the
 angle at which it’s found.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.get_measurement.html b/latest/api/generated/compas_fab.sensors.PosCon3D.get_measurement.html
index b39f6f06d..b0bbccfd9 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.get_measurement.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.get_measurement.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.get_measurement</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.get_measurement">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_measurement</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/74dfc5a/src/compas_fab/sensors/baumer.py#L270"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_measurement</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L270"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieves the current measurement of the sensor according to the current settings.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.get_payload.html b/latest/api/generated/compas_fab.sensors.PosCon3D.get_payload.html
index 6a526dd02..c87dcc9cd 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.get_payload.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.get_payload.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.get_payload</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.get_payload">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_payload</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">result</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">get_payload</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">result</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Gets payload.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.html b/latest/api/generated/compas_fab.sensors.PosCon3D.html
index 4f5e0cde6..0dad2fd22 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">PosCon3D</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L10"><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.sensors.</span></span><span class="sig-name descname"><span class="pre">PosCon3D</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L10"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.sensors.SerialSensor.html#compas_fab.sensors.SerialSensor" title="compas_fab.sensors.base.SerialSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">SerialSensor</span></code></a></p>
 <p>Provides an interface for the Baumer PosCon3D edge measurement sensor.</p>
 <p>The sensor has different interfaces to retrieve its data. This
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.reset.html b/latest/api/generated/compas_fab.sensors.PosCon3D.reset.html
index 33a6fa4be..3a26b8ea6 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.reset.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.reset.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.reset</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.reset">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">reset</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/74dfc5a/src/compas_fab/sensors/baumer.py#L311"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">reset</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L311"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Resets the sensor to factory settings.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.send_command.html b/latest/api/generated/compas_fab.sensors.PosCon3D.send_command.html
index ded390ed0..8a4e951a8 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.send_command.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.send_command.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.send_command</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.send_command">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">send_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/74dfc5a/src/compas_fab/sensors/baumer.py#L111"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">send_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L111"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sends a command to the sensor’s address specified. The command
 can optionally contain a data string.</p>
 <p>This method is mostly for internal use, as the higher-level API is
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.set_edge_height.html b/latest/api/generated/compas_fab.sensors.PosCon3D.set_edge_height.html
index f10289141..a160d03b1 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.set_edge_height.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.set_edge_height.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.set_edge_height</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.set_edge_height">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_edge_height</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">height</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L260"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_edge_height</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">height</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L260"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Defines the minimum height of an edge to be detected.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.set_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosCon3D.set_flex_mount.html
index 3bda34c85..e54cb9b61 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.set_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.set_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.set_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.set_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distance</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L326"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distance</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L326"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sets the FLEX Mount feature to a specific angle and distance.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.set_measurement_type.html b/latest/api/generated/compas_fab.sensors.PosCon3D.set_measurement_type.html
index a49c6a5ae..c3363f0fb 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.set_measurement_type.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.set_measurement_type.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.set_measurement_type</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.set_measurement_type">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_measurement_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">measurement_type</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L209"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_measurement_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">measurement_type</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L209"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Defines the measurement type to use.</p>
 <table class="table">
 <thead>
diff --git a/latest/api/generated/compas_fab.sensors.PosCon3D.set_precision.html b/latest/api/generated/compas_fab.sensors.PosCon3D.set_precision.html
index a51c0f49e..27e32d771 100644
--- a/latest/api/generated/compas_fab.sensors.PosCon3D.set_precision.html
+++ b/latest/api/generated/compas_fab.sensors.PosCon3D.set_precision.html
@@ -623,7 +623,7 @@
 <h1>PosCon3D.set_precision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosCon3D.set_precision">
-<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_precision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">precision</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L236"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosCon3D.</span></span><span class="sig-name descname"><span class="pre">set_precision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">precision</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L236"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Defines the precision the sensor will use to determine edges:</p>
 <table class="table">
 <thead>
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.activate_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosConCM.activate_flex_mount.html
index 1e878c66f..7888fd1ae 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.activate_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.activate_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.activate_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.activate_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">activate_flex_mount</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/74dfc5a/src/compas_fab/sensors/baumer.py#L588"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">activate_flex_mount</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L588"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Activates the FLEX Mount feature of the sensor to allow positioning it on an
 angled installation. The reference thickness is only required if the surface is
 uneven and an additional leveling auxiliary plate as been added.</p>
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.html b/latest/api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.html
index 9769655cd..b3068e841 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.adjust_to_dark_object.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.adjust_to_dark_object</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.adjust_to_dark_object">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">adjust_to_dark_object</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">is_dark_object</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L609"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">adjust_to_dark_object</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">is_dark_object</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L609"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Adjusts the sensor to detect darker or lighter surfaces.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.begin.html b/latest/api/generated/compas_fab.sensors.PosConCM.begin.html
index 0a6745d3d..9830ca0a1 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.begin.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.begin.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.begin</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.begin">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">begin</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/74dfc5a/src/compas_fab/sensors/baumer.py#L405"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">begin</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L405"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Locks the sensor to start RS-485 communication.</p>
 <p class="rubric">Notes</p>
 <p>This method only needs to be called if not using
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.calculate_checksum.html b/latest/api/generated/compas_fab.sensors.PosConCM.calculate_checksum.html
index 58d843c71..53d700471 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.calculate_checksum.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.calculate_checksum.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.calculate_checksum</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.calculate_checksum">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">calculate_checksum</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L431"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">calculate_checksum</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">command</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L431"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Checks that message is complete.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.deactivate_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosConCM.deactivate_flex_mount.html
index f23e6c313..5a5ad49b0 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.deactivate_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.deactivate_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.deactivate_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.deactivate_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">deactivate_flex_mount</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/74dfc5a/src/compas_fab/sensors/baumer.py#L595"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">deactivate_flex_mount</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L595"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Deactivates the FLEX Mount feature.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.end.html b/latest/api/generated/compas_fab.sensors.PosConCM.end.html
index 4e578302a..4d8584021 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.end.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.end.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.end</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.end">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">end</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/74dfc5a/src/compas_fab/sensors/baumer.py#L415"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">end</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L415"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Unlocks the sensor from RS-485 communication.</p>
 <p class="rubric">Notes</p>
 <p>This method only needs to be called if not using
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.format_command.html b/latest/api/generated/compas_fab.sensors.PosConCM.format_command.html
index f434ab622..25c294577 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.format_command.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.format_command.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.format_command</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.format_command">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">format_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/74dfc5a/src/compas_fab/sensors/baumer.py#L425"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">format_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L425"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Formats the command.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.get_address.html b/latest/api/generated/compas_fab.sensors.PosConCM.get_address.html
index 0be381d6b..5e1724919 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.get_address.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.get_address.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.get_address</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.get_address">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">get_address</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/74dfc5a/src/compas_fab/sensors/baumer.py#L501"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">get_address</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L501"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Gets the address of the RS-485 sensors currently connected to the bus. This command
 is only really useful when this class is initialized with the broadcast address,
 with the purpose of retrieving the address of a sensor connected.</p>
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.get_measurement.html b/latest/api/generated/compas_fab.sensors.PosConCM.get_measurement.html
index 9d3ab37ca..434b9323e 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.get_measurement.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.get_measurement.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.get_measurement</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.get_measurement">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">get_measurement</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/74dfc5a/src/compas_fab/sensors/baumer.py#L566"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">get_measurement</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L566"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieves the current measurement of the sensor according to the current settings.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.get_payload.html b/latest/api/generated/compas_fab.sensors.PosConCM.get_payload.html
index 0ad055f4b..944fc9c2a 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.get_payload.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.get_payload.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.get_payload</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.get_payload">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">get_payload</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">result</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L435"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">get_payload</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">result</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L435"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Gets payload.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.html b/latest/api/generated/compas_fab.sensors.PosConCM.html
index 70575fae0..e7c262372 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.html
@@ -623,7 +623,7 @@
 <h1>PosConCM</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">PosConCM</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L337"><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.sensors.</span></span><span class="sig-name descname"><span class="pre">PosConCM</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L337"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.sensors.SerialSensor.html#compas_fab.sensors.SerialSensor" title="compas_fab.sensors.base.SerialSensor"><code class="xref py py-class docutils literal notranslate"><span class="pre">SerialSensor</span></code></a></p>
 <p>Provides an interface for the Baumer PosConCM round objects measurement sensor.</p>
 <p>The sensor has different interfaces to retrieve its data. This
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.reset.html b/latest/api/generated/compas_fab.sensors.PosConCM.reset.html
index dd8dfd6a5..7b545a9e7 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.reset.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.reset.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.reset</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.reset">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">reset</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/74dfc5a/src/compas_fab/sensors/baumer.py#L615"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">reset</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L615"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Resets the sensor to factory settings.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.send_command.html b/latest/api/generated/compas_fab.sensors.PosConCM.send_command.html
index d870b5f63..d5910ee3c 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.send_command.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.send_command.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.send_command</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.send_command">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">send_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/74dfc5a/src/compas_fab/sensors/baumer.py#L456"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">send_command</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">address</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">command</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">data</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/c6ef2c0/src/compas_fab/sensors/baumer.py#L456"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sends a command to the sensor’s address specified. The command
 can optionally contain a data string.
 This method is mostly for internal use, as the higher-level API is
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.set_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosConCM.set_flex_mount.html
index b4327d927..0089304a8 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.set_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.set_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.set_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.set_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">set_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distance</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L600"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">set_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">angle</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">distance</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L600"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sets the FLEX Mount feature to a specific angle and distance.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.set_measurement_type.html b/latest/api/generated/compas_fab.sensors.PosConCM.set_measurement_type.html
index b7c177b66..3f56de6e7 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.set_measurement_type.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.set_measurement_type.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.set_measurement_type</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.set_measurement_type">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">set_measurement_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">measurement_type</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L518"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">set_measurement_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">measurement_type</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L518"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Defines the measurement type to use.</p>
 <table class="table">
 <thead>
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.set_precision.html b/latest/api/generated/compas_fab.sensors.PosConCM.set_precision.html
index 4713d8ed4..0eb403dd0 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.set_precision.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.set_precision.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.set_precision</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.set_precision">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">set_precision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">precision</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L542"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">set_precision</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">precision</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L542"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Defines the precision the sensor will use to determine edges:</p>
 <table class="table">
 <thead>
diff --git a/latest/api/generated/compas_fab.sensors.PosConCM.teach_flex_mount.html b/latest/api/generated/compas_fab.sensors.PosConCM.teach_flex_mount.html
index fa661c906..89d2f32af 100644
--- a/latest/api/generated/compas_fab.sensors.PosConCM.teach_flex_mount.html
+++ b/latest/api/generated/compas_fab.sensors.PosConCM.teach_flex_mount.html
@@ -623,7 +623,7 @@
 <h1>PosConCM.teach_flex_mount</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.sensors.PosConCM.teach_flex_mount">
-<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">teach_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference_thickness</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/baumer.py#L605"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PosConCM.</span></span><span class="sig-name descname"><span class="pre">teach_flex_mount</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">reference_thickness</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/baumer.py#L605"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Sets the FLEX Mount feature to a specific angle and distance.</p>
 </dd></dl>
 
diff --git a/latest/api/generated/compas_fab.sensors.ProtocolError.html b/latest/api/generated/compas_fab.sensors.ProtocolError.html
index bea0c0969..8bba6d715 100644
--- a/latest/api/generated/compas_fab.sensors.ProtocolError.html
+++ b/latest/api/generated/compas_fab.sensors.ProtocolError.html
@@ -623,7 +623,7 @@
 <h1>ProtocolError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.sensors.ProtocolError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">ProtocolError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/exceptions.py#L1"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">ProtocolError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/exceptions.py#L1"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/exceptions.html#OSError" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">OSError</span></code></a></p>
 <p>Exception raised for protocol errors.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.sensors.SensorTimeoutError.html b/latest/api/generated/compas_fab.sensors.SensorTimeoutError.html
index 151e6a6da..97ba8242d 100644
--- a/latest/api/generated/compas_fab.sensors.SensorTimeoutError.html
+++ b/latest/api/generated/compas_fab.sensors.SensorTimeoutError.html
@@ -623,7 +623,7 @@
 <h1>SensorTimeoutError</h1>
 <dl class="py exception">
 <dt class="sig sig-object py" id="compas_fab.sensors.SensorTimeoutError">
-<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">SensorTimeoutError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/exceptions.py#L7"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<em class="property"><span class="pre">exception</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">SensorTimeoutError</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/exceptions.py#L7"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/exceptions.html#Exception" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Exception</span></code></a></p>
 <p>Exception raised for sensor timeout errors.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.sensors.SerialSensor.html b/latest/api/generated/compas_fab.sensors.SerialSensor.html
index 57dba7993..63791dfce 100644
--- a/latest/api/generated/compas_fab.sensors.SerialSensor.html
+++ b/latest/api/generated/compas_fab.sensors.SerialSensor.html
@@ -623,7 +623,7 @@
 <h1>SerialSensor</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.sensors.SerialSensor">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.sensors.</span></span><span class="sig-name descname"><span class="pre">SerialSensor</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/sensors/base.py#L1"><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.sensors.</span></span><span class="sig-name descname"><span class="pre">SerialSensor</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/sensors/base.py#L1"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Base class for all sensors with a serial
 interface.</p>
diff --git a/latest/api/generated/compas_fab.utilities.LazyLoader.html b/latest/api/generated/compas_fab.utilities.LazyLoader.html
index 2b9de647c..20876987f 100644
--- a/latest/api/generated/compas_fab.utilities.LazyLoader.html
+++ b/latest/api/generated/compas_fab.utilities.LazyLoader.html
@@ -623,7 +623,7 @@
 <h1>LazyLoader</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.utilities.LazyLoader">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">LazyLoader</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/lazy_loader.py#L28"><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.utilities.</span></span><span class="sig-name descname"><span class="pre">LazyLoader</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/lazy_loader.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <code class="xref py py-class docutils literal notranslate"><span class="pre">module</span></code></p>
 <p>Lazily import a module, mainly to avoid pulling in large dependencies.</p>
 <p><cite>contrib</cite>, and <cite>ffmpeg</cite> are examples of modules that are large and not always
diff --git a/latest/api/generated/compas_fab.utilities.allclose.html b/latest/api/generated/compas_fab.utilities.allclose.html
index d92f96246..de0087cf8 100644
--- a/latest/api/generated/compas_fab.utilities.allclose.html
+++ b/latest/api/generated/compas_fab.utilities.allclose.html
@@ -623,7 +623,7 @@
 <h1>allclose</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.allclose">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">allclose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">l1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">l2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1e-05</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L70"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">allclose</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">l1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">l2</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tol</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1e-05</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L70"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns True if two lists are element-wise equal within a tolerance.</p>
 <p>The function is similar to NumPy’s <em>allclose</em> function.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.utilities.arange.html b/latest/api/generated/compas_fab.utilities.arange.html
index a0a677296..85e53f00b 100644
--- a/latest/api/generated/compas_fab.utilities.arange.html
+++ b/latest/api/generated/compas_fab.utilities.arange.html
@@ -623,7 +623,7 @@
 <h1>arange</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.arange">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">arange</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">start</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stop</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">step</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L45"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">arange</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">start</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stop</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">step</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L45"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns evenly spaced values within a given interval.</p>
 <p>The function is similar to NumPy’s <em>arange</em> function.</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.utilities.argmax.html b/latest/api/generated/compas_fab.utilities.argmax.html
index 7e88ac081..e047c0d52 100644
--- a/latest/api/generated/compas_fab.utilities.argmax.html
+++ b/latest/api/generated/compas_fab.utilities.argmax.html
@@ -623,7 +623,7 @@
 <h1>argmax</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.argmax">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">argmax</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">numbers</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L107"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">argmax</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">numbers</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L107"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the index of the maximum value in numbers.</p>
 <p>The function is similar to NumPy’s <em>argmax</em> function.</p>
 <p class="rubric">Notes</p>
diff --git a/latest/api/generated/compas_fab.utilities.argmin.html b/latest/api/generated/compas_fab.utilities.argmin.html
index b327df16e..9ff727c6f 100644
--- a/latest/api/generated/compas_fab.utilities.argmin.html
+++ b/latest/api/generated/compas_fab.utilities.argmin.html
@@ -623,7 +623,7 @@
 <h1>argmin</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.argmin">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">argmin</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">numbers</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L94"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">argmin</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">numbers</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L94"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the index of the minimum value in numbers.</p>
 <p>The function is similar to NumPy’s <em>argmin</em> function.</p>
 <p class="rubric">Notes</p>
diff --git a/latest/api/generated/compas_fab.utilities.argsort.html b/latest/api/generated/compas_fab.utilities.argsort.html
index 27d7e5131..6f39e0851 100644
--- a/latest/api/generated/compas_fab.utilities.argsort.html
+++ b/latest/api/generated/compas_fab.utilities.argsort.html
@@ -623,7 +623,7 @@
 <h1>argsort</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.argsort">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">argsort</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">numbers</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L81"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">argsort</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">numbers</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L81"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the indices that would sort an array of numbers.</p>
 <p>The function is similar to NumPy’s <em>argsort</em> function.</p>
 <p class="rubric">Notes</p>
diff --git a/latest/api/generated/compas_fab.utilities.clamp.html b/latest/api/generated/compas_fab.utilities.clamp.html
index 783414dbf..e2cbeba93 100644
--- a/latest/api/generated/compas_fab.utilities.clamp.html
+++ b/latest/api/generated/compas_fab.utilities.clamp.html
@@ -623,7 +623,7 @@
 <h1>clamp</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.clamp">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">clamp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_value</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">clamp</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">min_value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">max_value</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Clamps a value within the bound [min_value, max_value]</p>
 <dl class="field-list simple">
 <dt class="field-odd">Returns<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.utilities.diffs.html b/latest/api/generated/compas_fab.utilities.diffs.html
index 264671f82..4a3e1b89f 100644
--- a/latest/api/generated/compas_fab.utilities.diffs.html
+++ b/latest/api/generated/compas_fab.utilities.diffs.html
@@ -623,7 +623,7 @@
 <h1>diffs</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.diffs">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">diffs</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">l1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">l2</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L57"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">diffs</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">l1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">l2</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L57"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the element-wise differences between two lists.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.utilities.from_tcf_to_t0cf.html b/latest/api/generated/compas_fab.utilities.from_tcf_to_t0cf.html
index 644af07ab..9c2c42772 100644
--- a/latest/api/generated/compas_fab.utilities.from_tcf_to_t0cf.html
+++ b/latest/api/generated/compas_fab.utilities.from_tcf_to_t0cf.html
@@ -623,7 +623,7 @@
 <h1>from_tcf_to_t0cf</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.from_tcf_to_t0cf">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">from_tcf_to_t0cf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tcf_frame_in_wcf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_coordinate_frame</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/transformation.py#L5"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">from_tcf_to_t0cf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">tcf_frame_in_wcf</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">tool_coordinate_frame</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/transformation.py#L5"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Converts a frame describing the robot’s tool tip (tcf frame) relative to WCF
 to a frame describing the robot’s flange (tool0 frame), relative to WCF.</p>
 <p>Let: W_TCF = tcf_frame_in_wcf
diff --git a/latest/api/generated/compas_fab.utilities.list_files_in_directory.html b/latest/api/generated/compas_fab.utilities.list_files_in_directory.html
index cfe6b4c33..7f1e66ef6 100644
--- a/latest/api/generated/compas_fab.utilities.list_files_in_directory.html
+++ b/latest/api/generated/compas_fab.utilities.list_files_in_directory.html
@@ -623,7 +623,7 @@
 <h1>list_files_in_directory</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.list_files_in_directory">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">list_files_in_directory</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">directory</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fullpath</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">extensions</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/74dfc5a/src/compas_fab/utilities/filesystem.py#L6"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">list_files_in_directory</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">directory</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">fullpath</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">extensions</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/c6ef2c0/src/compas_fab/utilities/filesystem.py#L6"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>This function lists just the files in a directory, not sub-directories.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.utilities.map_range.html b/latest/api/generated/compas_fab.utilities.map_range.html
index 0fc47fd56..bcd4172a4 100644
--- a/latest/api/generated/compas_fab.utilities.map_range.html
+++ b/latest/api/generated/compas_fab.utilities.map_range.html
@@ -623,7 +623,7 @@
 <h1>map_range</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.map_range">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">map_range</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">from_min</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">from_max</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">to_min</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">to_max</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">map_range</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">value</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">from_min</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">from_max</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">to_min</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">to_max</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Performs a linear interpolation of a value within the range of [from_min,
 from_max] to another range of [to_min, to_max].</p>
 </dd></dl>
diff --git a/latest/api/generated/compas_fab.utilities.range_geometric_row.html b/latest/api/generated/compas_fab.utilities.range_geometric_row.html
index f72fbdd46..94b40084e 100644
--- a/latest/api/generated/compas_fab.utilities.range_geometric_row.html
+++ b/latest/api/generated/compas_fab.utilities.range_geometric_row.html
@@ -623,7 +623,7 @@
 <h1>range_geometric_row</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.range_geometric_row">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">range_geometric_row</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">number</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">r</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.1</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L27"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">range_geometric_row</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">number</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">d</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">r</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1.1</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L27"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns a list of numbers with a certain relation to each other.</p>
 <p>The function divides one number into a list of d numbers [n0, n1, …], such
 that their sum is number and the relation between the numbers is defined
diff --git a/latest/api/generated/compas_fab.utilities.read_csv_to_dictionary.html b/latest/api/generated/compas_fab.utilities.read_csv_to_dictionary.html
index 8334ba8ab..c4b75644b 100644
--- a/latest/api/generated/compas_fab.utilities.read_csv_to_dictionary.html
+++ b/latest/api/generated/compas_fab.utilities.read_csv_to_dictionary.html
@@ -623,7 +623,7 @@
 <h1>read_csv_to_dictionary</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.read_csv_to_dictionary">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">read_csv_to_dictionary</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">csvfile</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delimiter</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/74dfc5a/src/compas_fab/utilities/file_io.py#L14"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">read_csv_to_dictionary</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">csvfile</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">delimiter</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/c6ef2c0/src/compas_fab/utilities/file_io.py#L14"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Reads a csv file and returns a dictionary with the respective keys
 specified in the first row of the csv file.</p>
 <dl class="field-list simple">
diff --git a/latest/api/generated/compas_fab.utilities.read_data_from_pickle.html b/latest/api/generated/compas_fab.utilities.read_data_from_pickle.html
index 3ba330290..b4dc6515e 100644
--- a/latest/api/generated/compas_fab.utilities.read_data_from_pickle.html
+++ b/latest/api/generated/compas_fab.utilities.read_data_from_pickle.html
@@ -623,7 +623,7 @@
 <h1>read_data_from_pickle</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.read_data_from_pickle">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">read_data_from_pickle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">file</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/file_io.py#L96"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">read_data_from_pickle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">file</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/file_io.py#L96"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Read data from pickle file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.utilities.sign.html b/latest/api/generated/compas_fab.utilities.sign.html
index 4b0316d38..23a15a827 100644
--- a/latest/api/generated/compas_fab.utilities.sign.html
+++ b/latest/api/generated/compas_fab.utilities.sign.html
@@ -623,7 +623,7 @@
 <h1>sign</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.sign">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">sign</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">number</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/numbers.py#L120"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">sign</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">number</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/numbers.py#L120"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Returns the sign of a number: +1 or -1.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/api/generated/compas_fab.utilities.write_data_to_pickle.html b/latest/api/generated/compas_fab.utilities.write_data_to_pickle.html
index 92f664f04..63296e034 100644
--- a/latest/api/generated/compas_fab.utilities.write_data_to_pickle.html
+++ b/latest/api/generated/compas_fab.utilities.write_data_to_pickle.html
@@ -623,7 +623,7 @@
 <h1>write_data_to_pickle</h1>
 <dl class="py function">
 <dt class="sig sig-object py" id="compas_fab.utilities.write_data_to_pickle">
-<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">write_data_to_pickle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">file</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/utilities/file_io.py#L82"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">compas_fab.utilities.</span></span><span class="sig-name descname"><span class="pre">write_data_to_pickle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">data</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">file</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/utilities/file_io.py#L82"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Write data to pickle file.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/changelog.html b/latest/changelog.html
index eba8a411f..97ccba0d9 100644
--- a/latest/changelog.html
+++ b/latest/changelog.html
@@ -625,8 +625,13 @@ <h1>CHANGELOG</h1>
 
 ### Changed
 
-* Backend planners use multi-inherence instead of `__call__` to include the backend functions. This allows for better generated documentation.
-* `Robot.plan_cartesian_motion()` now accepts `Waypoints` as target. Implementation for `FrameWaypoints` is supported with same functionality as before. Simply wrap `Frame` objects using `FrameWaypoints(frames)`.
+
+* Renamed `PybulletClient.get_cached_robot` to `PybulletClient.get_cached_robot_model` to avoid confusion between the `RobotModel` and `Robot` class.
+* Renamed `PybulletClient.ensure_cached_robot` to `PybulletClient.ensure_cached_robot_model`.
+* Renamed `PybulletClient.ensure_cached_robot_geometry` to `PybulletClient.ensure_cached_robot_model_geometry`.
+* Renamed `PybulletClient.cache_robot` to `PybulletClient.cache_robot_model`.
+* Backend planners now use multi-inherence instead of `__call__` to include the backend functions. This allows for better generated documentation.
+* `Robot.plan_carteisan_motion()` now accepts `Waypoints` as target. Implementation for `FrameWaypoints` is supported with same functionality as before. Simply wrap `Frame` objects using `FrameWaypoints(frames)`.
 * Changed `BoundingVolume`, `Constraint`, `JointConstraint`, `OrientationConstraint`, `PositionConstraint` to inherit from `compas.data.Data` class.
 * Change the signature of `plan_motion()` to use `target` (`Target` class) instead of `goal_constraints`. Only one target is accepted. Users who wish to compose their own constraint sets can still use `ConstraintSetTarget`.
 * Moved `Robot.orientation_constraint_from_frame()` to `OrientationConstraint.from_frame()`, as constraints are no longer intended for users to use directly.
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh.html
index 53824e826..8613a5c1c 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AddAttachedCollisionMesh.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.AddAttachedCollisionMesh.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L279"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L279"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh and attach it to the robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html b/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html
index ea95842d3..0a0b4f4c4 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.AddAttachedCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>AddAttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.AddAttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">AddAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L276"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">AddAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L276"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s add attached collision mesh feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh.html
index 26276c7b0..0459ec61e 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AddCollisionMesh.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.AddCollisionMesh.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L210"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L210"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html b/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html
index 3f2fd90e7..3ed18ef12 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.AddCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>AddCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.AddCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">AddCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L207"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">AddCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L207"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s add collision mesh feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh.html
index 5c2ffcebb..30c1f0d84 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>AppendCollisionMesh.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.AppendCollisionMesh.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">AppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L255"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">AppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L255"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Append a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html b/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html
index 6f73b302e..c6598940c 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.AppendCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>AppendCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.AppendCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">AppendCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L252"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">AppendCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L252"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s append collision mesh feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.BackendFeature.html b/latest/developer/generated/compas_fab.backends.interfaces.BackendFeature.html
index 0e35353d6..995c131f9 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.BackendFeature.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.BackendFeature.html
@@ -618,7 +618,7 @@
 <h1>BackendFeature</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.BackendFeature">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">BackendFeature</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L14"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">BackendFeature</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L14"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Base class for all backend features that are implemented by a backend client.</p>
 <dl class="field-list">
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh.html
index 21de2e647..2c382aa25 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L68"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_collision_mesh.html
index ca18dd684..99ed30936 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L56"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.append_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.append_collision_mesh.html
index f67991553..f48a5341f 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.append_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L64"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.forward_kinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.forward_kinematics.html
index ec9343bce..842a5f413 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.forward_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.get_planning_scene.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.get_planning_scene.html
index 9c11b5b32..f973a5ab7 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.get_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L48"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.html
index ffb211c20..5b5a3824c 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.html
@@ -618,7 +618,7 @@
 <h1>ClientInterface</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">ClientInterface</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L15"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">ClientInterface</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Interface for all backend clients.  Forwards all planning services and
 planning scene management to the planner.</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.inverse_kinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.inverse_kinematics.html
index 03769a89f..943180d89 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.inverse_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_cartesian_motion.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_cartesian_motion.html
index a7ddffb4a..f34610896 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_cartesian_motion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_motion.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_motion.html
index 0d6362eaf..f6a446ef9 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_motion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_attached_collision_mesh.html
index e8f20a16b..8f1834bbd 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L72"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_collision_mesh.html
index 561fc4b45..3877214a9 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L60"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.reset_planning_scene.html b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.reset_planning_scene.html
index 61f508081..11f230652 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.reset_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ClientInterface.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>ClientInterface.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ClientInterface.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ClientInterface.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L52"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Forwards call to appropriate method in the planner.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.forward_kinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.forward_kinematics.html
index 399eb2ada..ecfd8ed82 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.forward_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>ForwardKinematics.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ForwardKinematics.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">ForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L39"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L39"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s forward kinematic.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html
index 0e1e00067..71956d2eb 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ForwardKinematics.html
@@ -618,7 +618,7 @@
 <h1>ForwardKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ForwardKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">ForwardKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L36"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">ForwardKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L36"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s forward kinematics feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.get_planning_scene.html b/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.get_planning_scene.html
index ea97d1321..b5ed7d913 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.get_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>GetPlanningScene.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.GetPlanningScene.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">GetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L166"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">GetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L166"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html b/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html
index 2acfdb4d6..587a6bc9c 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.GetPlanningScene.html
@@ -618,7 +618,7 @@
 <h1>GetPlanningScene</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.GetPlanningScene">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">GetPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L163"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">GetPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L163"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s get planning scene feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.html
index 740cd7244..8265e52bb 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.html
@@ -618,7 +618,7 @@
 <h1>InverseKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.InverseKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">InverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L67"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">InverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L67"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s inverse kinematics feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.inverse_kinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.inverse_kinematics.html
index f1ec1f713..f5a58b31c 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.inverse_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.InverseKinematics.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>InverseKinematics.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.InverseKinematics.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">InverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L70"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">InverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L70"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic for a given frame.</p>
 <p>Note that unlike other backend features, <cite>inverse_kinematics</cite> produces a generator.</p>
 <dl class="field-list">
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html b/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html
index 571f07da8..d23eeb0ac 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.html
@@ -618,7 +618,7 @@
 <h1>PlanCartesianMotion</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlanCartesianMotion">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">PlanCartesianMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L131"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">PlanCartesianMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L131"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s plan cartesian motion feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.plan_cartesian_motion.html b/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.plan_cartesian_motion.html
index 3485cf857..b8ed1d593 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.plan_cartesian_motion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlanCartesianMotion.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>PlanCartesianMotion.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlanCartesianMotion.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">PlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L134"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L134"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a cartesian motion path (linear in tool space).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.html b/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.html
index 7169ed293..d253458bd 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.html
@@ -618,7 +618,7 @@
 <h1>PlanMotion</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlanMotion">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">PlanMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L99"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">PlanMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L99"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s plan motion feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.plan_motion.html b/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.plan_motion.html
index 5309c0fe6..5c138c920 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.plan_motion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlanMotion.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>PlanMotion.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlanMotion.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">PlanMotion.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L102"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlanMotion.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L102"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a motion path.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_attached_collision_mesh.html
index dea63be54..dd79a2e71 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L210"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L210"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_collision_mesh.html
index aa7f678a3..c95069cbc 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L180"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.append_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.append_collision_mesh.html
index bd19b07d0..6f0543691 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.append_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L200"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L200"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.forward_kinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.forward_kinematics.html
index db7b90724..85058a314 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.forward_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L126"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L126"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.get_planning_scene.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.get_planning_scene.html
index db321ec56..b7c3da1d1 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.get_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L160"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.html
index 9acb7b084..ae49c4165 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.html
@@ -618,7 +618,7 @@
 <h1>PlannerInterface</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">PlannerInterface</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L102"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">PlannerInterface</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L102"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference external" href="https://docs.python.org/3/library/functions.html#object" title="(in Python v3.12)"><code class="xref py py-class docutils literal notranslate"><span class="pre">object</span></code></a></p>
 <p>Interface for all planners associated with a backend client.  Provides default
 behavior for all planning services and planning scene management methods.  To be
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.inverse_kinematics.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.inverse_kinematics.html
index 153b6aa88..f1144f3f1 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.inverse_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L116"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L116"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_cartesian_motion.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_cartesian_motion.html
index 1ecdad127..5879b52b9 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_cartesian_motion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_cartesian_motion.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L146"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L146"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_motion.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_motion.html
index 997272e73..c431eea6c 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_motion.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L136"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_attached_collision_mesh.html
index 811d9b91b..4fbade96a 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L220"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L220"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_collision_mesh.html
index f2777cf0a..5860d23af 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L190"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L190"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.reset_planning_scene.html b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.reset_planning_scene.html
index 502fb5a2f..add41da4f 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.reset_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.PlannerInterface.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>PlannerInterface.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.PlannerInterface.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/client.py#L170"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PlannerInterface.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/client.py#L170"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Default method for planner.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Raises<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html b/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html
index e66055a06..f3a7651bd 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>RemoveAttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.RemoveAttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">RemoveAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L300"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">RemoveAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L300"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s remove attached collision mesh feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.remove_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
index 9b4b6c41e..5b3c4aa95 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RemoveAttachedCollisionMesh.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L303"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L303"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove an attached collision mesh from the robot.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html b/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html
index a79b5669a..ccdefd28f 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>RemoveCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.RemoveCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">RemoveCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L231"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">RemoveCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L231"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s remove collision mesh feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.remove_collision_mesh.html b/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.remove_collision_mesh.html
index 39039a3c6..551344d7f 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.remove_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.RemoveCollisionMesh.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>RemoveCollisionMesh.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.RemoveCollisionMesh.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">RemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L234"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">RemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L234"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a collision mesh from the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html b/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html
index 247fc66ea..17e55512b 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.html
@@ -618,7 +618,7 @@
 <h1>ResetPlanningScene</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ResetPlanningScene">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">ResetPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L185"><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.backends.interfaces.</span></span><span class="sig-name descname"><span class="pre">ResetPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L185"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.BackendFeature.html#compas_fab.backends.interfaces.BackendFeature" title="compas_fab.backends.interfaces.backend_features.BackendFeature"><code class="xref py py-class docutils literal notranslate"><span class="pre">BackendFeature</span></code></a></p>
 <p>Mix-in interface for implementing a planner’s reset planning scene feature.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.reset_planning_scene.html b/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.reset_planning_scene.html
index ecd916a44..f1bef14a1 100644
--- a/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.reset_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.interfaces.ResetPlanningScene.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>ResetPlanningScene.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.interfaces.ResetPlanningScene.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">ResetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/interfaces/backend_features.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">ResetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/interfaces/backend_features.py#L188"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Resets the planning scene, removing all added collision meshes.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh.html
index 3d963d707..a32db2bc1 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletAddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_add_attached_collision_mesh.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletAddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_add_attached_collision_mesh.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh and attach it to the robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.html
index 15fd918d6..6e078b14a 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>PyBulletAddAttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletAddAttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletAddAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_add_attached_collision_mesh.py#L25"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletAddAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_add_attached_collision_mesh.py#L25"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.AddAttachedCollisionMesh.html#compas_fab.backends.interfaces.AddAttachedCollisionMesh" title="compas_fab.backends.interfaces.backend_features.AddAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">AddAttachedCollisionMesh</span></code></a></p>
 <p>Callable to add a collision mesh and attach it to the robot.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.add_collision_mesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.add_collision_mesh.html
index fc504e267..03ffc68da 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.add_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletAddCollisionMesh.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletAddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_add_collision_mesh.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletAddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_add_collision_mesh.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.html
index 9cee56af5..980c477aa 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>PyBulletAddCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletAddCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletAddCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_add_collision_mesh.py#L14"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletAddCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_add_collision_mesh.py#L14"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.AddCollisionMesh.html#compas_fab.backends.interfaces.AddCollisionMesh" title="compas_fab.backends.interfaces.backend_features.AddCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">AddCollisionMesh</span></code></a></p>
 <p>Callable to add a collision mesh to the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.append_collision_mesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.append_collision_mesh.html
index e460b6c99..942fac840 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.append_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletAppendCollisionMesh.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletAppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_append_collision_mesh.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletAppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_append_collision_mesh.py#L15"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Append a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.html
index a6d21b8c2..7897eb18d 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>PyBulletAppendCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletAppendCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletAppendCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_append_collision_mesh.py#L12"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletAppendCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_append_collision_mesh.py#L12"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.AppendCollisionMesh.html#compas_fab.backends.interfaces.AppendCollisionMesh" title="compas_fab.backends.interfaces.backend_features.AppendCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppendCollisionMesh</span></code></a></p>
 <p>Callable to append a collision mesh to the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.forward_kinematics.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.forward_kinematics.html
index a85c42b90..22e5f59ed 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.forward_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletForwardKinematics.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py#L11"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py#L11"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s forward kinematic.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.html
index 6d9db037d..ea8428658 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics.html
@@ -618,7 +618,7 @@
 <h1>PyBulletForwardKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletForwardKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletForwardKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py#L8"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletForwardKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_forward_kinematics.py#L8"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.ForwardKinematics.html#compas_fab.backends.interfaces.ForwardKinematics" title="compas_fab.backends.interfaces.backend_features.ForwardKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">ForwardKinematics</span></code></a></p>
 <p>Callable to calculate the robot’s forward kinematic.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.html
index 1ccd94d14..1d2ba0c25 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.html
@@ -618,7 +618,7 @@
 <h1>PyBulletInverseKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletInverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py#L23"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletInverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py#L23"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.InverseKinematics.html#compas_fab.backends.interfaces.InverseKinematics" title="compas_fab.backends.interfaces.backend_features.InverseKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">InverseKinematics</span></code></a></p>
 <p>Callable to calculate the robot’s inverse kinematics for a given frame.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.inverse_kinematics.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.inverse_kinematics.html
index 8fe35c198..a19dcbf34 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.inverse_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>PyBulletInverseKinematics.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletInverseKinematics.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">PyBulletInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py#L26"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_inverse_kinematics.py#L26"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic for a given frame.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.html
index 5f0cc0b04..45c73248c 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>PyBulletRemoveAttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletRemoveAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_attached_collision_mesh.py#L16"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletRemoveAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_attached_collision_mesh.py#L16"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html#compas_fab.backends.interfaces.RemoveAttachedCollisionMesh" title="compas_fab.backends.interfaces.backend_features.RemoveAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">RemoveAttachedCollisionMesh</span></code></a></p>
 <p>Callable to remove an attached collision mesh from the robot.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
index d547f2362..08c875955 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletRemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_attached_collision_mesh.py#L19"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletRemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_attached_collision_mesh.py#L19"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove an attached collision mesh from the robot.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.html
index d3f7983a6..1f44a223f 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>PyBulletRemoveCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletRemoveCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_collision_mesh.py#L17"><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.backends.pybullet.backend_features.</span></span><span class="sig-name descname"><span class="pre">PyBulletRemoveCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_collision_mesh.py#L17"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.RemoveCollisionMesh.html#compas_fab.backends.interfaces.RemoveCollisionMesh" title="compas_fab.backends.interfaces.backend_features.RemoveCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">RemoveCollisionMesh</span></code></a></p>
 <p>Callable to remove a collision mesh from the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.remove_collision_mesh.html b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.remove_collision_mesh.html
index cd85813a1..02a7c9925 100644
--- a/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.remove_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>PyBulletRemoveCollisionMesh.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.pybullet.backend_features.PyBulletRemoveCollisionMesh.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">PyBulletRemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">PyBulletRemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/pybullet/backend_features/pybullet_remove_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a collision mesh from the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh.html
index 7e39e62e7..93e551055 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItAddAttachedCollisionMesh.add_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItAddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItAddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh and attach it to the robot.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async.html
index cb3926f25..2fd4ea254 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItAddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItAddAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">attached_collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.html
index d948a5cb5..5f07b1a7b 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>MoveItAddAttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAddAttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItAddAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L21"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItAddAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_attached_collision_mesh.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.AddAttachedCollisionMesh.html#compas_fab.backends.interfaces.AddAttachedCollisionMesh" title="compas_fab.backends.interfaces.backend_features.AddAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">AddAttachedCollisionMesh</span></code></a></p>
 <p>Callable to add a collision mesh and attach it to the robot.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh.html
index 8d0fbb509..cd0b12fa5 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItAddCollisionMesh.add_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItAddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItAddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Add a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh_async.html
index 68d232a7c..4809b27d9 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItAddCollisionMesh.add_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.add_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItAddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItAddCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">add_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.html
index 2ca472626..a58a50cfd 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>MoveItAddCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAddCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItAddCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L20"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItAddCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_add_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.AddCollisionMesh.html#compas_fab.backends.interfaces.AddCollisionMesh" title="compas_fab.backends.interfaces.backend_features.AddCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">AddCollisionMesh</span></code></a></p>
 <p>Callable to add a collision mesh to the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh.html
index 222134c7e..427621b6c 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItAppendCollisionMesh.append_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItAppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItAppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Append a collision mesh to the planning scene.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh_async.html
index 1978a5ab7..f0f45a97f 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItAppendCollisionMesh.append_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.append_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItAppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItAppendCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">append_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">collision_mesh</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.html
index edff43da7..003f3c7ab 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>MoveItAppendCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItAppendCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItAppendCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L20"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItAppendCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_append_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.AppendCollisionMesh.html#compas_fab.backends.interfaces.AppendCollisionMesh" title="compas_fab.backends.interfaces.backend_features.AppendCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">AppendCollisionMesh</span></code></a></p>
 <p>Callable to append a collision mesh to the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics.html
index 0576a0c75..29e837619 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics.html
@@ -623,7 +623,7 @@
 <h1>MoveItForwardKinematics.forward_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics">
-<span class="sig-prename descclassname"><span class="pre">MoveItForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L29"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L29"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s forward kinematic.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics_async.html
index 504805da0..ef55bbc73 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItForwardKinematics.forward_kinematics_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItForwardKinematics.forward_kinematics_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L75"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItForwardKinematics.</span></span><span class="sig-name descname"><span class="pre">forward_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">configuration</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L75"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt FK service.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.html
index f2c27bdd0..46ea96ee5 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItForwardKinematics.html
@@ -618,7 +618,7 @@
 <h1>MoveItForwardKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItForwardKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItForwardKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L22"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItForwardKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_forward_kinematics.py#L22"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.ForwardKinematics.html#compas_fab.backends.interfaces.ForwardKinematics" title="compas_fab.backends.interfaces.backend_features.ForwardKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">ForwardKinematics</span></code></a></p>
 <p>Callable to calculate the robot’s forward kinematic.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.html
index bd27dde74..467c68092 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.html
@@ -618,7 +618,7 @@
 <h1>MoveItInverseKinematics</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItInverseKinematics">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItInverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L28"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItInverseKinematics</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.InverseKinematics.html#compas_fab.backends.interfaces.InverseKinematics" title="compas_fab.backends.interfaces.backend_features.InverseKinematics"><code class="xref py py-class docutils literal notranslate"><span class="pre">InverseKinematics</span></code></a></p>
 <p>Callable to calculate the robot’s inverse kinematics for a given frame.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics.html
index 5df306ae6..d58443187 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics.html
@@ -623,7 +623,7 @@
 <h1>MoveItInverseKinematics.inverse_kinematics</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics">
-<span class="sig-prename descclassname"><span class="pre">MoveItInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L35"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L35"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculate the robot’s inverse kinematic for a given frame.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics_async.html
index e10e9b4f9..dcfd11da2 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItInverseKinematics.inverse_kinematics_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItInverseKinematics.inverse_kinematics_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L96"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItInverseKinematics.</span></span><span class="sig-name descname"><span class="pre">inverse_kinematics_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">frame_WCF</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_inverse_kinematics.py#L96"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt IK service.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.html
index 78c9c194a..7f14864d9 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.html
@@ -618,7 +618,7 @@
 <h1>MoveItPlanCartesianMotion</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanCartesianMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L29"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanCartesianMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L29"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.PlanCartesianMotion.html#compas_fab.backends.interfaces.PlanCartesianMotion" title="compas_fab.backends.interfaces.backend_features.PlanCartesianMotion"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlanCartesianMotion</span></code></a></p>
 <p>Callable to calculate a cartesian motion path (linear in tool space).</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion.html
index d491ce0e6..dd935c72d 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion.html
@@ -624,7 +624,7 @@
 <h1>MoveItPlanCartesianMotion.plan_cartesian_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L40"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a cartesian motion path (linear in tool space).</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async.html
index 265cc3c43..691899cc5 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_frame_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L110"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_frame_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L110"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt cartesian motion planner service.</p>
 <p><a class="reference internal" href="../../api/generated/compas_fab.robots.FrameWaypoints.html" title="compas_fab.robots.FrameWaypoints"><code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.robots.FrameWaypoints</span></code></a> are converted to <code class="xref py py-class docutils literal notranslate"><span class="pre">compas_fab.backends.ros.messages.Pose</span></code> that is native to ROS communication</p>
 </dd></dl>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async.html
index 4af1b0e4e..d55e10b15 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_point_axis_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L164"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanCartesianMotion.</span></span><span class="sig-name descname"><span class="pre">plan_cartesian_motion_with_point_axis_waypoints_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">waypoints</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_cartesian_motion.py#L164"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt cartesian motion planner service.</p>
 <p>AFAIK MoveIt does not support planning for a relaxed axis under this</p>
 </dd></dl>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.html
index b22aef5f9..577c26eef 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.html
@@ -618,7 +618,7 @@
 <h1>MoveItPlanMotion</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanMotion">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L25"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanMotion</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L25"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.PlanMotion.html#compas_fab.backends.interfaces.PlanMotion" title="compas_fab.backends.interfaces.backend_features.PlanMotion"><code class="xref py py-class docutils literal notranslate"><span class="pre">PlanMotion</span></code></a></p>
 <p>Callable to find a path in joint space for the robot to move from its <cite>start_configuration</cite> to the <cite>target</cite>.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion.html
index dde924d81..c186da1a0 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanMotion.plan_motion</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanMotion.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanMotion.</span></span><span class="sig-name descname"><span class="pre">plan_motion</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">robot</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L32"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Calculates a motion path.</p>
 <dl class="field-list">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion_async.html
index ab81afa03..4ce34c808 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanMotion.plan_motion_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanMotion.plan_motion_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanMotion.</span></span><span class="sig-name descname"><span class="pre">plan_motion_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L95"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanMotion.</span></span><span class="sig-name descname"><span class="pre">plan_motion_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">target</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">start_configuration</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">group</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">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_plan_motion.py#L95"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Asynchronous handler of MoveIt motion planner service.</p>
 </dd></dl>
 
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene.html
index e5c291d85..fcdac6889 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanningScene.get_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanningScene.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L25"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanningScene.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L25"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Retrieve the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene_async.html
index ad7f65764..9280658d1 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItPlanningScene.get_planning_scene_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanningScene.get_planning_scene_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItPlanningScene.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L42"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItPlanningScene.</span></span><span class="sig-name descname"><span class="pre">get_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L42"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.html
index 36e9c313b..335519ce3 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItPlanningScene.html
@@ -618,7 +618,7 @@
 <h1>MoveItPlanningScene</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItPlanningScene">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L18"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_planning_scene.py#L18"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.GetPlanningScene.html#compas_fab.backends.interfaces.GetPlanningScene" title="compas_fab.backends.interfaces.backend_features.GetPlanningScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">GetPlanningScene</span></code></a></p>
 <p>Callable to retrieve the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.html
index 050f64511..b6a4e1004 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>MoveItRemoveAttachedCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItRemoveAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L21"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItRemoveAttachedCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L21"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.RemoveAttachedCollisionMesh.html#compas_fab.backends.interfaces.RemoveAttachedCollisionMesh" title="compas_fab.backends.interfaces.backend_features.RemoveAttachedCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">RemoveAttachedCollisionMesh</span></code></a></p>
 <p>Callable to remove an attached collision mesh from the robot.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
index eff12b5ba..fa9e1c72e 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItRemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItRemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L31"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove an attached collision mesh from the robot.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async.html
index 8ff5cbbb5..8f26a6dc9 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItRemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItRemoveAttachedCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_attached_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_attached_collision_mesh.py#L51"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.html
index e93619d83..a31dcf39c 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.html
@@ -618,7 +618,7 @@
 <h1>MoveItRemoveCollisionMesh</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItRemoveCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L20"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItRemoveCollisionMesh</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L20"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.RemoveCollisionMesh.html#compas_fab.backends.interfaces.RemoveCollisionMesh" title="compas_fab.backends.interfaces.backend_features.RemoveCollisionMesh"><code class="xref py py-class docutils literal notranslate"><span class="pre">RemoveCollisionMesh</span></code></a></p>
 <p>Callable to remove a collision mesh from the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh.html
index 589133cac..3582afb9d 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh.html
@@ -623,7 +623,7 @@
 <h1>MoveItRemoveCollisionMesh.remove_collision_mesh</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh">
-<span class="sig-prename descclassname"><span class="pre">MoveItRemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItRemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">id</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L30"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Remove a collision mesh from the planning scene.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh_async.html
index 648c85196..ad9e7112c 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItRemoveCollisionMesh.remove_collision_mesh_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItRemoveCollisionMesh.remove_collision_mesh_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItRemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItRemoveCollisionMesh.</span></span><span class="sig-name descname"><span class="pre">remove_collision_mesh_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">id</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_remove_collision_mesh.py#L50"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.html
index 48ae0e48b..d1c619dc8 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.html
@@ -618,7 +618,7 @@
 <h1>MoveItResetPlanningScene</h1>
 <dl class="py class">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItResetPlanningScene">
-<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">compas_fab.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItResetPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L18"><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.backends.ros.backend_features.</span></span><span class="sig-name descname"><span class="pre">MoveItResetPlanningScene</span></span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L18"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Bases: <a class="reference internal" href="compas_fab.backends.interfaces.ResetPlanningScene.html#compas_fab.backends.interfaces.ResetPlanningScene" title="compas_fab.backends.interfaces.backend_features.ResetPlanningScene"><code class="xref py py-class docutils literal notranslate"><span class="pre">ResetPlanningScene</span></code></a></p>
 <p>Callable to add a collision mesh to the planning scene.</p>
 <p class="rubric">Methods</p>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene.html
index 3f086a630..bfd606571 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene.html
@@ -623,7 +623,7 @@
 <h1>MoveItResetPlanningScene.reset_planning_scene</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene">
-<span class="sig-prename descclassname"><span class="pre">MoveItResetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItResetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">options</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/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L28"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd><p>Resets the planning scene, removing all added collision meshes.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters<span class="colon">:</span></dt>
diff --git a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene_async.html b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene_async.html
index 017ab9bf4..07d73da42 100644
--- a/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene_async.html
+++ b/latest/developer/generated/compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene_async.html
@@ -623,7 +623,7 @@
 <h1>MoveItResetPlanningScene.reset_planning_scene_async</h1>
 <dl class="py method">
 <dt class="sig sig-object py" id="compas_fab.backends.ros.backend_features.MoveItResetPlanningScene.reset_planning_scene_async">
-<span class="sig-prename descclassname"><span class="pre">MoveItResetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/74dfc5a/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L45"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
+<span class="sig-prename descclassname"><span class="pre">MoveItResetPlanningScene.</span></span><span class="sig-name descname"><span class="pre">reset_planning_scene_async</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">callback</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">errback</span></span></em><span class="sig-paren">)</span><a class="reference external" href="https://github.com/compas-dev/compas_fab/blob/c6ef2c0/src/compas_fab/backends/ros/backend_features/move_it_reset_planning_scene.py#L45"><span class="viewcode-link"><span class="pre">[source]</span></span></a></dt>
 <dd></dd></dl>
 
 </section>
diff --git a/latest/genindex.html b/latest/genindex.html
index 8e70aabb8..0c772e5ff 100644
--- a/latest/genindex.html
+++ b/latest/genindex.html
@@ -793,10 +793,10 @@ <h2 id="B">B</h2>
 <h2 id="C">C</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
   <td style="width: 33%; vertical-align: top;"><ul>
-      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.cache_robot.html#compas_fab.backends.AnalyticalPyBulletClient.cache_robot">cache_robot() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
+      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model.html#compas_fab.backends.AnalyticalPyBulletClient.cache_robot_model">cache_robot_model() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
 
       <ul>
-        <li><a href="api/generated/compas_fab.backends.PyBulletClient.cache_robot.html#compas_fab.backends.PyBulletClient.cache_robot">(compas_fab.backends.PyBulletClient method)</a>
+        <li><a href="api/generated/compas_fab.backends.PyBulletClient.cache_robot_model.html#compas_fab.backends.PyBulletClient.cache_robot_model">(compas_fab.backends.PyBulletClient method)</a>
 </li>
       </ul></li>
       <li><a href="api/generated/compas_fab.robots.ReachabilityMap.calculate.html#compas_fab.robots.ReachabilityMap.calculate">calculate() (compas_fab.robots.ReachabilityMap method)</a>
@@ -1094,16 +1094,16 @@ <h2 id="E">E</h2>
         <li><a href="api/generated/compas_fab.sensors.PosConCM.end.html#compas_fab.sensors.PosConCM.end">(compas_fab.sensors.PosConCM method)</a>
 </li>
       </ul></li>
-      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot">ensure_cached_robot() (compas_fab.backends.AnalyticalPyBulletClient static method)</a>
+      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model">ensure_cached_robot_model() (compas_fab.backends.AnalyticalPyBulletClient static method)</a>
 
       <ul>
-        <li><a href="api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot.html#compas_fab.backends.PyBulletClient.ensure_cached_robot">(compas_fab.backends.PyBulletClient static method)</a>
+        <li><a href="api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model.html#compas_fab.backends.PyBulletClient.ensure_cached_robot_model">(compas_fab.backends.PyBulletClient static method)</a>
 </li>
       </ul></li>
-      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry">ensure_cached_robot_geometry() (compas_fab.backends.AnalyticalPyBulletClient static method)</a>
+      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry.html#compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_model_geometry">ensure_cached_robot_model_geometry() (compas_fab.backends.AnalyticalPyBulletClient static method)</a>
 
       <ul>
-        <li><a href="api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_geometry.html#compas_fab.backends.PyBulletClient.ensure_cached_robot_geometry">(compas_fab.backends.PyBulletClient static method)</a>
+        <li><a href="api/generated/compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry.html#compas_fab.backends.PyBulletClient.ensure_cached_robot_model_geometry">(compas_fab.backends.PyBulletClient static method)</a>
 </li>
       </ul></li>
   </ul></td>
@@ -1402,16 +1402,16 @@ <h2 id="G">G</h2>
         <li><a href="api/generated/compas_fab.robots.RobotSemantics.get_base_link_name.html#compas_fab.robots.RobotSemantics.get_base_link_name">(compas_fab.robots.RobotSemantics method)</a>
 </li>
       </ul></li>
-      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot">get_cached_robot() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
+      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath">get_cached_robot_filepath() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
 
       <ul>
-        <li><a href="api/generated/compas_fab.backends.PyBulletClient.get_cached_robot.html#compas_fab.backends.PyBulletClient.get_cached_robot">(compas_fab.backends.PyBulletClient method)</a>
+        <li><a href="api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.PyBulletClient.get_cached_robot_filepath">(compas_fab.backends.PyBulletClient method)</a>
 </li>
       </ul></li>
-      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath">get_cached_robot_filepath() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
+      <li><a href="api/generated/compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model.html#compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_model">get_cached_robot_model() (compas_fab.backends.AnalyticalPyBulletClient method)</a>
 
       <ul>
-        <li><a href="api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_filepath.html#compas_fab.backends.PyBulletClient.get_cached_robot_filepath">(compas_fab.backends.PyBulletClient method)</a>
+        <li><a href="api/generated/compas_fab.backends.PyBulletClient.get_cached_robot_model.html#compas_fab.backends.PyBulletClient.get_cached_robot_model">(compas_fab.backends.PyBulletClient method)</a>
 </li>
       </ul></li>
       <li><a href="api/generated/compas_fab.robots.Robot.get_configurable_joint_names.html#compas_fab.robots.Robot.get_configurable_joint_names">get_configurable_joint_names() (compas_fab.robots.Robot method)</a>
diff --git a/latest/objects.inv b/latest/objects.inv
index 9266b8033f8b1a9471305c718ac4a8ad8defd43b..82ed65b430254a6e976d7e5207b22f7986c57001 100644
GIT binary patch
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diff --git a/latest/searchindex.js b/latest/searchindex.js
index 4f13ac8bc..0a46aa7b9 100644
--- a/latest/searchindex.js
+++ b/latest/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"docnames": ["api", "api/compas_fab", "api/compas_fab.backends", "api/compas_fab.blender", "api/compas_fab.ghpython", "api/compas_fab.rhino", "api/compas_fab.robots", "api/compas_fab.sensors", "api/compas_fab.utilities", "api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics", "api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward", "api/generated/compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse", "api/generated/compas_fab.backends.AnalyticalInverseKinematics", "api/generated/compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics", "api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion", "api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion", "api/generated/compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations", "api/generated/compas_fab.backends.AnalyticalPyBulletClient", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.add_collision_mesh", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.append_collision_mesh", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.body_from_obj", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.cache_robot", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_objects_for_collision", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collision_with_objects", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_collisions", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.connect", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.disconnect", "api/generated/compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot", 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"compas_fab.rhino", "compas_fab.robots", "compas_fab.sensors", "compas_fab.utilities", "ABB_IRB4600_40_255Kinematics", "ABB_IRB4600_40_255Kinematics.forward", "ABB_IRB4600_40_255Kinematics.inverse", "AnalyticalInverseKinematics", "AnalyticalInverseKinematics.inverse_kinematics", "AnalyticalPlanCartesianMotion", "AnalyticalPlanCartesianMotion.plan_cartesian_motion", "AnalyticalPlanCartesianMotion.smooth_configurations", "AnalyticalPyBulletClient", "AnalyticalPyBulletClient.add_attached_collision_mesh", "AnalyticalPyBulletClient.add_collision_mesh", "AnalyticalPyBulletClient.append_collision_mesh", "AnalyticalPyBulletClient.body_from_obj", "AnalyticalPyBulletClient.cache_robot", "AnalyticalPyBulletClient.check_collision_objects_for_collision", "AnalyticalPyBulletClient.check_collision_with_objects", "AnalyticalPyBulletClient.check_collisions", "AnalyticalPyBulletClient.check_robot_self_collision", "AnalyticalPyBulletClient.connect", "AnalyticalPyBulletClient.convert_mesh_to_body", 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777, 778, 781, 788, 796, 797], "implement": [1, 2, 62, 124, 143, 184, 488, 513, 514, 516, 517, 520, 555, 672, 673, 675, 677, 679, 681, 694, 696, 698, 700, 702, 716, 718, 720], "motion": [1, 15, 75, 76, 77, 78, 79, 291, 314, 428, 438, 516, 517, 555, 578, 587, 669, 672, 674, 700, 701, 702, 703, 751, 752, 753, 754, 756, 757, 771, 776, 779, 780, 785, 788, 800], "main": [1, 13, 49, 73, 75, 78, 121, 128, 130, 188, 224, 226, 241, 245, 422, 476, 478, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 524, 525, 526, 527, 528, 529, 530, 538, 547, 548, 549, 550, 670, 673, 729, 731, 749, 752, 756, 788], "class": [1, 2, 4, 5, 9, 12, 13, 14, 17, 53, 58, 62, 73, 75, 78, 86, 89, 124, 130, 136, 190, 197, 200, 203, 206, 209, 212, 215, 218, 221, 222, 237, 238, 257, 258, 266, 267, 280, 281, 291, 292, 302, 303, 314, 315, 324, 325, 326, 334, 335, 339, 345, 346, 350, 356, 358, 359, 363, 371, 372, 380, 381, 403, 404, 406, 416, 417, 422, 428, 429, 438, 439, 448, 449, 465, 466, 476, 477, 488, 533, 538, 539, 555, 556, 565, 566, 578, 579, 587, 588, 597, 598, 613, 621, 631, 639, 650, 651, 672, 674, 675, 677, 679, 681, 682, 694, 696, 698, 700, 702, 704, 716, 718, 720, 722, 724, 726, 728, 730, 731, 732, 734, 736, 739, 742, 745, 748, 749, 751, 752, 755, 756, 758, 761, 764, 767, 773, 774, 776, 777, 779, 783, 792], "path": [1, 13, 15, 21, 40, 41, 56, 75, 78, 93, 112, 113, 229, 233, 248, 253, 260, 263, 270, 276, 283, 288, 291, 294, 299, 305, 310, 314, 317, 321, 328, 331, 334, 337, 342, 348, 353, 361, 367, 374, 377, 385, 399, 407, 412, 428, 431, 435, 441, 445, 453, 461, 469, 473, 489, 516, 517, 522, 541, 543, 552, 558, 562, 568, 574, 581, 584, 590, 594, 601, 606, 660, 663, 664, 666, 701, 703, 751, 752, 755, 756, 770, 777, 780, 784, 785, 788, 789, 794, 796, 798, 799], "scene": [1, 40, 65, 67, 71, 82, 84, 112, 126, 127, 134, 221, 223, 237, 239, 242, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 476, 672, 678, 680, 682, 696, 697, 704, 719, 720, 721, 724, 725, 726, 727, 734, 735, 739, 740, 742, 743, 758, 759, 764, 765, 767, 768, 771, 777, 780, 800], "target": [1, 78, 79, 130, 291, 296, 297, 314, 319, 334, 339, 340, 345, 350, 351, 358, 363, 406, 428, 433, 438, 443, 452, 476, 517, 587, 592, 672, 703, 731, 755, 756, 757, 771, 774, 775, 783, 784, 792, 794, 800], "waypoint": [1, 15, 43, 75, 76, 77, 291, 314, 345, 350, 351, 438, 443, 516, 517, 672, 701, 752, 753, 754, 771, 775, 784, 794, 800], "constraint": [1, 50, 73, 75, 78, 122, 314, 358, 363, 364, 365, 369, 403, 406, 409, 410, 448, 451, 452, 455, 456, 457, 459, 516, 517, 555, 672, 749, 752, 756, 779, 784, 796], "built": [1, 533, 672, 770, 774, 787, 796, 799, 800], "unit": [1, 75, 291, 296, 297, 334, 340, 345, 351, 356, 363, 428, 438, 452, 456, 516, 668, 752], "convers": [1, 222, 238, 258, 267, 281, 292, 303, 315, 326, 335, 346, 359, 372, 381, 404, 429, 439, 449, 466, 477, 539, 556, 566, 579, 588, 598, 672], "ro": [1, 71, 73, 76, 136, 142, 144, 145, 146, 147, 148, 150, 152, 154, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 176, 185, 186, 189, 190, 193, 194, 195, 196, 516, 517, 668, 672, 736, 739, 742, 745, 748, 749, 751, 753, 755, 758, 759, 761, 764, 767, 771, 774, 775, 776, 778, 779, 783, 784, 785, 787, 788, 789, 796, 799, 800], "pybullet": [1, 17, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 34, 35, 38, 40, 41, 42, 45, 57, 89, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 106, 107, 110, 112, 113, 114, 117, 123, 124, 668, 672, 722, 724, 726, 728, 730, 732, 734, 771, 792, 800], "analyt": [1, 9, 17, 200, 203, 206, 209, 212, 215, 218, 465, 467, 513, 514, 672, 771, 796, 800], "kinemat": [1, 12, 13, 17, 32, 60, 61, 69, 73, 75, 104, 128, 130, 465, 467, 476, 488, 509, 513, 514, 555, 587, 672, 674, 694, 695, 698, 699, 728, 729, 730, 731, 745, 746, 748, 749, 752, 771, 775, 780, 784, 788, 789, 790, 796, 800], "long": [1, 53, 141, 513, 654, 655, 656, 672, 781], "run": [1, 53, 78, 176, 184, 668, 669, 670, 671, 672, 673, 756, 771, 777, 782, 783, 784, 785, 787, 789, 791, 800], "task": [1, 152, 428, 438, 587, 670, 672, 673, 779], "except": [1, 22, 34, 35, 51, 52, 55, 56, 57, 59, 60, 61, 73, 94, 106, 107, 123, 141, 145, 150, 152, 189, 196, 314, 423, 485, 486, 487, 491, 492, 648, 649, 672, 749], "interfac": [1, 4, 5, 7, 12, 62, 89, 124, 136, 476, 613, 631, 650, 668, 670, 671, 672, 675, 677, 679, 681, 682, 694, 696, 698, 700, 702, 704, 716, 718, 720, 777, 788, 791, 800], "follow": [1, 6, 13, 15, 49, 69, 73, 75, 78, 121, 125, 126, 127, 128, 130, 133, 152, 488, 516, 517, 538, 667, 670, 671, 672, 674, 701, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756, 774, 776, 777, 778, 781, 782, 783, 784, 785, 786, 787, 788, 789, 791, 794, 796, 798, 799, 801], "differ": [1, 73, 78, 130, 173, 314, 363, 391, 393, 488, 513, 514, 555, 587, 613, 631, 658, 668, 670, 672, 731, 749, 756, 771, 776, 781, 787, 788, 789, 798], "packag": [2, 6, 7, 8, 40, 112, 173, 190, 191, 667, 670, 672, 674, 771, 775, 777, 780, 786, 787, 789, 799, 800], "contain": [2, 6, 7, 8, 13, 15, 63, 65, 67, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 142, 145, 162, 193, 194, 195, 229, 230, 237, 248, 249, 260, 261, 266, 270, 271, 283, 284, 294, 295, 305, 306, 317, 318, 328, 329, 337, 338, 348, 349, 361, 362, 374, 375, 385, 386, 407, 408, 431, 432, 441, 442, 453, 454, 469, 470, 488, 489, 490, 513, 514, 516, 517, 533, 534, 535, 536, 537, 538, 541, 542, 558, 559, 568, 569, 581, 582, 590, 591, 601, 602, 626, 643, 664, 669, 670, 671, 672, 673, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 737, 740, 743, 746, 749, 752, 756, 778, 779, 785, 787, 788, 789], "simul": [2, 6, 50, 122, 669, 674], "interact": [2, 771, 782], "moveit": [2, 62, 70, 74, 76, 77, 79, 136, 150, 152, 671, 672, 747, 750, 753, 754, 757, 771, 778, 779, 780, 782, 783, 784, 785, 789, 800], "pure": 2, "python": [2, 669, 672, 673, 770, 771, 781, 791, 799, 800], "For": [2, 13, 21, 40, 93, 112, 136, 228, 247, 334, 428, 516, 604, 654, 655, 656, 668, 670, 671, 674, 777, 779, 787, 789, 794, 796, 797, 798, 799], "about": [2, 324, 403, 406, 512, 673, 777], "new": [2, 28, 100, 250, 395, 670, 672, 674, 770, 787, 788, 789, 791, 794], "check": [2, 13, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 40, 42, 93, 94, 95, 96, 97, 98, 100, 102, 103, 104, 112, 114, 125, 126, 127, 136, 485, 486, 487, 488, 513, 514, 516, 517, 518, 617, 635, 668, 670, 672, 673, 723, 725, 727, 773, 787, 788, 789, 794, 796, 798, 799], "client": [2, 12, 17, 89, 136, 140, 173, 184, 190, 417, 418, 420, 421, 422, 423, 424, 426, 476, 485, 488, 513, 516, 517, 534, 535, 536, 537, 538, 669, 672, 673, 676, 678, 680, 681, 682, 695, 697, 699, 701, 703, 704, 717, 719, 721, 781, 782, 783, 784, 785, 791, 792, 794, 796, 800], "document": [2, 516, 668, 670, 672, 674, 785, 786, 799, 801], "In": [4, 5, 334, 345, 428, 516, 668, 670, 672, 776, 777, 779, 784, 785, 787, 794, 796, 797, 798], "assist": [4, 5, 777, 780], "visual": [4, 5, 49, 121, 476, 484, 530, 533, 565, 668, 669, 672, 771, 775, 786, 787, 789, 795, 797, 798], "datastructur": [4, 5, 28, 100, 192, 193, 231, 232, 235, 251, 252, 255, 262, 266, 272, 275, 280, 287, 298, 309, 320, 330, 341, 352, 366, 376, 398, 411, 434, 444, 455, 460, 472, 521, 551, 561, 565, 573, 583, 593, 605, 777, 785, 791], "model": [4, 5, 6, 22, 34, 35, 38, 40, 45, 69, 73, 94, 106, 107, 110, 112, 117, 173, 190, 194, 195, 221, 237, 257, 296, 340, 351, 418, 476, 478, 479, 486, 488, 507, 533, 534, 535, 536, 537, 538, 543, 546, 549, 560, 565, 592, 669, 670, 672, 746, 749, 771, 774, 778, 780, 783, 787, 789, 796, 800], "wai": [4, 5, 668, 670, 673, 771, 773, 777, 781, 782, 783, 799], "maintain": [4, 5, 674, 777, 796], "data": [4, 5, 193, 223, 225, 229, 230, 232, 233, 234, 236, 239, 244, 248, 249, 252, 253, 254, 256, 257, 259, 260, 261, 262, 263, 264, 265, 266, 270, 271, 275, 276, 277, 279, 280, 282, 283, 284, 287, 288, 289, 290, 293, 294, 295, 298, 299, 300, 301, 302, 305, 306, 309, 310, 311, 313, 316, 317, 318, 320, 321, 322, 323, 325, 327, 328, 329, 330, 331, 332, 333, 336, 337, 338, 341, 342, 343, 344, 347, 348, 349, 352, 353, 354, 355, 356, 361, 362, 366, 367, 368, 370, 371, 373, 374, 375, 376, 377, 378, 379, 380, 384, 385, 386, 398, 399, 400, 401, 407, 408, 411, 412, 413, 415, 430, 431, 432, 434, 435, 436, 437, 440, 441, 442, 444, 445, 446, 447, 453, 454, 460, 461, 462, 464, 465, 468, 469, 470, 472, 473, 474, 475, 476, 480, 489, 490, 521, 522, 523, 531, 538, 540, 541, 542, 551, 552, 553, 554, 555, 557, 558, 559, 561, 562, 563, 564, 565, 567, 568, 569, 573, 574, 575, 577, 578, 580, 581, 582, 583, 584, 585, 586, 587, 589, 590, 591, 593, 594, 595, 596, 597, 599, 601, 602, 605, 606, 607, 610, 613, 620, 626, 631, 638, 643, 664, 666, 672, 777, 778, 781, 796, 798], "separ": [4, 5, 176, 597, 663, 672, 777, 791], "specif": [4, 5, 157, 173, 314, 471, 488, 513, 514, 516, 517, 628, 644, 647, 674, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 770, 774, 777, 779, 796, 798, 799], "while": [4, 5, 668, 669, 674, 777, 781, 785, 787, 791], "leverag": [4, 5, 777], "nativ": [4, 5, 76, 233, 234, 253, 254, 263, 264, 276, 277, 288, 289, 299, 300, 310, 311, 321, 322, 331, 332, 342, 343, 353, 354, 367, 368, 377, 378, 399, 400, 412, 413, 435, 436, 445, 446, 461, 462, 473, 474, 522, 523, 552, 553, 562, 563, 574, 575, 584, 585, 594, 595, 606, 607, 753, 777], "perform": [4, 5, 50, 78, 122, 314, 661, 674, 756, 777, 779, 787], "exchang": 6, "inform": [6, 41, 113, 380, 476, 512, 516, 538, 672, 772, 776, 780], "system": [6, 69, 128, 190, 240, 246, 247, 387, 488, 524, 525, 526, 527, 668, 671, 673, 695, 729, 746, 770, 773, 774, 778, 781, 783, 787, 791, 792, 800], "most": [6, 479, 670, 777, 779, 787], "commonli": [6, 779], "meter": [6, 291, 296, 297, 334, 340, 345, 351, 356, 380, 387, 597, 604, 787, 789], "radian": [6, 291, 296, 297, 324, 334, 345, 358, 363, 380, 387, 388, 403, 406, 416, 517, 611, 612, 784, 796, 797, 798], "help": [6, 673, 776, 788], "convert": [6, 28, 76, 100, 222, 233, 234, 238, 253, 254, 258, 263, 264, 267, 276, 277, 281, 288, 289, 292, 299, 300, 303, 310, 311, 315, 321, 322, 325, 326, 331, 332, 335, 342, 343, 346, 353, 354, 359, 367, 368, 372, 377, 378, 381, 399, 400, 404, 412, 413, 429, 435, 436, 439, 445, 446, 449, 461, 462, 466, 473, 474, 477, 491, 492, 522, 523, 539, 552, 553, 556, 562, 563, 566, 570, 571, 574, 575, 579, 584, 585, 588, 594, 595, 598, 606, 607, 611, 612, 659, 672, 753, 778], "one": [6, 13, 78, 150, 152, 250, 266, 302, 324, 363, 403, 406, 421, 428, 513, 514, 515, 517, 538, 587, 613, 621, 626, 631, 639, 643, 662, 670, 672, 673, 674, 756, 774, 781, 787, 788, 794, 797, 799], "other": [6, 69, 128, 222, 238, 258, 267, 281, 292, 297, 302, 303, 315, 326, 335, 346, 358, 359, 372, 381, 383, 391, 393, 394, 395, 403, 404, 406, 429, 439, 448, 449, 451, 452, 455, 456, 457, 466, 477, 488, 514, 539, 556, 566, 579, 588, 598, 662, 668, 672, 695, 699, 729, 746, 773, 781, 785, 791, 801], "common": [7, 421, 670, 674, 773, 779], "variou": [7, 672, 673, 674, 773, 776], "vendor": 7, "set": [8, 13, 27, 49, 73, 78, 89, 99, 121, 186, 296, 314, 356, 419, 423, 428, 467, 476, 485, 487, 492, 498, 499, 500, 538, 623, 625, 628, 640, 642, 644, 647, 668, 670, 671, 672, 749, 756, 777, 787, 788, 794, 796, 798, 799], "sourc": [9, 10, 11, 12, 13, 14, 15, 16, 17, 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, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 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, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 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, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 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, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 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, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 669, 670, 672, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 778, 787, 788, 789, 796, 799, 800], "base": [9, 12, 14, 17, 51, 52, 53, 56, 57, 58, 60, 61, 62, 69, 73, 75, 78, 86, 89, 123, 124, 136, 189, 190, 196, 197, 200, 203, 206, 209, 212, 215, 218, 221, 237, 257, 266, 280, 291, 296, 302, 314, 324, 325, 334, 345, 356, 358, 371, 380, 403, 416, 417, 428, 438, 448, 465, 476, 479, 495, 496, 497, 514, 533, 538, 543, 544, 545, 547, 555, 565, 578, 587, 597, 613, 631, 648, 649, 650, 651, 669, 670, 671, 672, 675, 677, 679, 681, 682, 694, 696, 698, 700, 702, 704, 716, 718, 720, 722, 724, 726, 728, 730, 732, 734, 736, 739, 742, 745, 746, 748, 749, 751, 752, 755, 756, 758, 761, 764, 767, 773, 774, 779, 781, 783, 787, 788, 789, 800], "sphericalwristkinemat": [9, 200], "ik": [9, 12, 13, 60, 74, 200, 203, 206, 209, 212, 215, 218, 228, 247, 465, 471, 513, 514, 672, 750, 794, 796], "solver": [9, 12, 13, 60, 61, 130, 200, 203, 206, 209, 212, 215, 218, 465, 467, 488, 513, 514, 672, 731, 788, 794, 796], "abb": [9, 534, 535, 670, 773, 777, 778], "irb4600": [9, 534, 670], "40": [9, 534, 670, 778, 797, 798], "255": [9, 670], "inherit": [9, 17, 53, 62, 89, 124, 136, 200, 203, 206, 209, 212, 215, 218, 221, 237, 257, 266, 280, 291, 302, 314, 325, 334, 345, 358, 371, 380, 403, 428, 438, 448, 465, 476, 538, 555, 565, 578, 587, 597, 672, 674], "method": [9, 12, 14, 17, 18, 19, 20, 28, 33, 36, 39, 43, 44, 46, 47, 48, 50, 53, 54, 55, 58, 59, 62, 86, 89, 90, 91, 92, 100, 105, 108, 111, 115, 116, 118, 119, 120, 122, 124, 129, 131, 132, 135, 136, 137, 138, 139, 150, 153, 161, 172, 177, 178, 179, 180, 181, 190, 197, 200, 203, 206, 209, 212, 215, 218, 221, 222, 224, 226, 237, 238, 241, 245, 257, 258, 266, 267, 280, 281, 291, 292, 302, 303, 314, 315, 325, 326, 334, 335, 345, 346, 356, 358, 359, 371, 372, 380, 381, 403, 404, 417, 428, 429, 438, 439, 448, 449, 465, 466, 476, 477, 488, 513, 514, 533, 538, 539, 555, 556, 565, 566, 578, 579, 587, 588, 597, 598, 613, 616, 619, 626, 631, 634, 637, 643, 672, 674, 675, 677, 679, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 696, 698, 700, 702, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 718, 720, 722, 724, 726, 728, 730, 732, 734, 736, 739, 742, 745, 748, 751, 755, 758, 761, 764, 767, 773, 791, 796], "joint_valu": [10, 87, 198, 201, 204, 207, 210, 213, 216, 219, 291, 380, 383, 391, 517, 672, 784, 794], "frame_rcf": [11, 88, 199, 202, 205, 208, 211, 214, 217, 220, 524, 525, 672, 774], "inversekinemat": [12, 672, 674, 730, 748, 800], "callabl": [12, 141, 143, 144, 150, 152, 162, 174, 175, 176, 674, 722, 724, 726, 728, 730, 732, 734, 736, 739, 742, 745, 748, 751, 755, 758, 761, 764, 767, 770], "calcul": [12, 13, 15, 21, 49, 69, 73, 75, 78, 93, 121, 128, 130, 227, 246, 324, 371, 391, 465, 488, 513, 514, 516, 517, 528, 529, 672, 674, 695, 699, 701, 703, 728, 729, 730, 731, 745, 746, 748, 749, 751, 752, 756, 783, 789, 792, 794, 796, 798], "": [12, 13, 15, 22, 28, 34, 35, 37, 38, 45, 49, 69, 73, 75, 78, 89, 94, 100, 106, 107, 109, 110, 117, 121, 128, 130, 136, 140, 173, 236, 256, 257, 265, 279, 290, 291, 301, 313, 314, 323, 333, 334, 339, 344, 345, 350, 355, 363, 370, 379, 383, 391, 393, 401, 403, 406, 415, 418, 419, 420, 421, 422, 423, 425, 428, 437, 438, 447, 452, 456, 464, 467, 475, 476, 478, 479, 483, 484, 486, 488, 491, 492, 495, 496, 497, 500, 501, 502, 503, 504, 505, 513, 514, 515, 516, 517, 524, 525, 526, 527, 528, 529, 530, 531, 554, 564, 565, 570, 571, 577, 586, 596, 604, 610, 613, 622, 626, 631, 643, 652, 653, 654, 655, 656, 659, 667, 668, 670, 672, 675, 677, 679, 694, 695, 696, 698, 699, 700, 701, 702, 703, 716, 718, 720, 728, 729, 730, 731, 745, 746, 748, 749, 752, 756, 774, 776, 777, 779, 781, 783, 785, 787, 789, 792, 796, 800], "invers": [12, 13, 17, 32, 69, 73, 104, 128, 130, 465, 467, 513, 514, 672, 674, 698, 699, 729, 730, 731, 746, 748, 749, 771, 780, 790, 793, 796, 800], "given": [12, 13, 21, 25, 28, 49, 73, 93, 97, 100, 121, 125, 126, 130, 140, 141, 143, 144, 191, 192, 193, 228, 247, 250, 291, 314, 334, 406, 428, 488, 507, 508, 511, 513, 515, 653, 699, 723, 725, 730, 731, 748, 749, 797], "frame": [12, 13, 28, 69, 73, 100, 125, 128, 130, 227, 228, 246, 247, 269, 273, 280, 334, 339, 340, 345, 350, 351, 356, 403, 406, 428, 438, 451, 452, 465, 467, 471, 478, 488, 491, 492, 493, 495, 502, 513, 514, 516, 517, 520, 524, 525, 529, 565, 570, 571, 587, 604, 659, 672, 674, 695, 699, 723, 729, 730, 731, 746, 748, 749, 771, 772, 776, 779, 783, 784, 785, 787, 788, 789, 792, 794, 795, 796, 798, 800], "paramet": [12, 13, 15, 21, 22, 24, 25, 26, 27, 28, 32, 34, 35, 37, 38, 40, 41, 42, 45, 49, 63, 65, 67, 69, 71, 73, 75, 78, 80, 82, 84, 89, 93, 94, 96, 97, 98, 99, 100, 104, 106, 107, 109, 110, 112, 113, 114, 117, 121, 125, 126, 127, 128, 130, 133, 134, 136, 148, 150, 152, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 186, 190, 191, 192, 193, 194, 195, 221, 223, 225, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 239, 240, 243, 244, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 259, 260, 261, 262, 263, 264, 265, 266, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 282, 283, 284, 285, 286, 287, 288, 289, 290, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 305, 306, 308, 309, 310, 311, 313, 316, 317, 318, 320, 321, 322, 323, 324, 325, 327, 328, 329, 330, 331, 332, 333, 334, 336, 337, 338, 339, 340, 341, 342, 343, 344, 347, 348, 349, 350, 351, 352, 353, 354, 355, 358, 361, 362, 363, 364, 365, 366, 367, 368, 370, 371, 373, 374, 375, 376, 377, 378, 379, 380, 383, 384, 385, 386, 387, 388, 391, 393, 394, 395, 396, 397, 398, 399, 400, 401, 403, 406, 407, 408, 410, 411, 412, 413, 414, 415, 416, 417, 418, 420, 421, 422, 424, 426, 430, 431, 432, 433, 434, 435, 436, 437, 440, 441, 442, 443, 444, 445, 446, 447, 448, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 467, 468, 469, 470, 472, 473, 474, 475, 476, 478, 479, 480, 481, 488, 489, 490, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 511, 513, 514, 515, 516, 517, 518, 519, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 534, 535, 536, 537, 538, 540, 541, 542, 543, 547, 548, 549, 550, 551, 552, 553, 554, 557, 558, 559, 560, 561, 562, 563, 564, 565, 567, 568, 569, 570, 571, 573, 574, 575, 577, 580, 581, 582, 583, 584, 585, 586, 589, 590, 591, 592, 593, 594, 595, 596, 599, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 626, 627, 629, 630, 643, 645, 646, 659, 660, 663, 664, 665, 666, 672, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 752, 756, 759, 762, 765, 768, 781, 787, 789, 794], "clientinterfac": [12, 89, 136, 417, 476, 672, 674, 681, 800], "option": [12, 13, 15, 21, 28, 39, 42, 43, 49, 63, 65, 67, 69, 70, 71, 73, 74, 75, 76, 77, 78, 79, 80, 82, 84, 93, 100, 114, 121, 125, 126, 127, 128, 130, 133, 134, 173, 190, 193, 194, 195, 221, 225, 227, 228, 232, 233, 234, 235, 237, 243, 244, 246, 247, 252, 253, 254, 255, 257, 259, 262, 263, 264, 275, 276, 277, 280, 282, 287, 288, 289, 291, 293, 298, 299, 300, 302, 309, 310, 311, 314, 316, 320, 321, 322, 327, 330, 331, 332, 334, 336, 339, 341, 342, 343, 345, 347, 350, 352, 353, 354, 358, 366, 367, 368, 371, 373, 376, 377, 378, 380, 384, 387, 388, 398, 399, 400, 403, 406, 411, 412, 413, 418, 420, 421, 422, 428, 430, 434, 435, 436, 438, 440, 444, 445, 446, 448, 451, 452, 460, 461, 462, 467, 468, 472, 473, 474, 478, 479, 480, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 534, 535, 536, 537, 538, 540, 547, 548, 549, 550, 551, 552, 553, 555, 557, 561, 562, 563, 567, 573, 574, 575, 580, 583, 584, 585, 587, 589, 593, 594, 595, 605, 606, 607, 626, 643, 660, 663, 668, 670, 671, 672, 674, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 747, 749, 750, 752, 753, 754, 756, 757, 759, 762, 765, 768, 783, 784, 785, 787, 788, 789, 792, 794, 796, 798], "commun": [12, 76, 189, 476, 613, 616, 619, 631, 634, 637, 650, 670, 753, 781], "str": [12, 13, 15, 21, 28, 35, 40, 41, 49, 69, 73, 75, 78, 80, 82, 89, 93, 100, 107, 112, 113, 121, 128, 130, 133, 134, 136, 140, 165, 169, 173, 174, 175, 190, 191, 192, 193, 194, 195, 227, 229, 230, 232, 233, 234, 237, 240, 243, 246, 248, 249, 250, 252, 253, 254, 257, 260, 261, 262, 263, 264, 270, 271, 275, 276, 277, 280, 283, 284, 287, 288, 289, 291, 294, 295, 298, 299, 300, 305, 306, 309, 310, 311, 314, 317, 318, 320, 321, 322, 328, 329, 330, 331, 332, 334, 337, 338, 339, 341, 342, 343, 345, 348, 349, 350, 352, 353, 354, 358, 361, 362, 366, 367, 368, 371, 374, 375, 376, 377, 378, 385, 386, 387, 388, 398, 399, 400, 403, 406, 407, 408, 411, 412, 413, 422, 424, 426, 428, 431, 432, 434, 435, 436, 438, 441, 442, 444, 445, 446, 448, 451, 452, 453, 454, 455, 456, 457, 460, 461, 462, 469, 470, 472, 473, 474, 476, 478, 479, 481, 488, 489, 490, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 513, 514, 515, 516, 517, 518, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 538, 541, 542, 543, 547, 548, 549, 550, 551, 552, 553, 555, 558, 559, 561, 562, 563, 565, 568, 569, 573, 574, 575, 581, 582, 583, 584, 585, 587, 590, 591, 593, 594, 595, 601, 602, 605, 606, 607, 660, 663, 664, 666, 695, 699, 701, 703, 717, 719, 729, 731, 733, 735, 746, 749, 752, 756, 762, 765, 783], "note": [12, 13, 15, 28, 40, 69, 75, 78, 100, 112, 136, 140, 148, 150, 152, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 186, 266, 302, 356, 363, 394, 395, 403, 406, 428, 465, 488, 498, 499, 500, 516, 517, 518, 555, 587, 604, 616, 619, 621, 622, 630, 634, 637, 639, 646, 654, 655, 656, 667, 671, 699, 746, 752, 756, 779, 788, 791, 792, 798, 799], "onli": [12, 13, 15, 21, 93, 130, 173, 190, 228, 235, 247, 255, 297, 314, 325, 363, 396, 397, 403, 406, 428, 452, 465, 467, 476, 479, 513, 538, 555, 565, 587, 613, 614, 616, 619, 621, 626, 631, 632, 634, 637, 639, 643, 651, 670, 671, 672, 731, 770, 779, 785, 788, 789, 791, 796, 797, 799], "industri": [12, 13, 228, 247, 773, 776, 777, 787, 789, 794], "arm": [12, 538, 778, 794], "six": 12, "revolut": [12, 13, 15, 291, 296, 297, 380, 387, 388, 391, 774, 776, 794], "joint": [12, 13, 15, 49, 69, 73, 75, 78, 121, 128, 130, 150, 152, 291, 296, 297, 302, 314, 358, 363, 364, 371, 380, 382, 387, 388, 391, 393, 394, 395, 396, 397, 479, 488, 495, 498, 499, 500, 502, 505, 507, 508, 511, 513, 514, 515, 516, 517, 530, 532, 538, 546, 548, 549, 555, 672, 695, 699, 701, 703, 729, 731, 746, 749, 752, 755, 756, 774, 775, 779, 780, 783, 787, 789, 792, 794], "If": [12, 13, 21, 22, 25, 28, 34, 35, 49, 54, 55, 59, 69, 73, 75, 93, 94, 97, 100, 106, 107, 121, 126, 128, 130, 142, 145, 173, 174, 176, 185, 223, 227, 228, 229, 230, 232, 233, 234, 235, 239, 246, 247, 248, 249, 252, 253, 254, 255, 260, 261, 262, 263, 264, 270, 271, 275, 276, 277, 283, 284, 287, 288, 289, 291, 294, 295, 298, 299, 300, 305, 306, 309, 310, 311, 317, 318, 320, 321, 322, 325, 328, 329, 330, 331, 332, 334, 337, 338, 339, 340, 341, 342, 343, 345, 348, 349, 350, 351, 352, 353, 354, 361, 362, 363, 366, 367, 368, 374, 375, 376, 377, 378, 385, 386, 391, 394, 395, 398, 399, 400, 403, 406, 407, 408, 411, 412, 413, 418, 420, 421, 422, 423, 428, 431, 432, 434, 435, 436, 438, 441, 442, 444, 445, 446, 452, 453, 454, 460, 461, 462, 467, 469, 470, 472, 473, 474, 485, 486, 487, 488, 489, 490, 491, 492, 498, 499, 500, 511, 513, 514, 515, 521, 522, 523, 532, 541, 542, 551, 552, 553, 558, 559, 560, 561, 562, 563, 568, 569, 573, 574, 575, 581, 582, 583, 584, 585, 590, 591, 592, 593, 594, 595, 601, 602, 605, 606, 607, 658, 667, 668, 673, 695, 725, 729, 731, 746, 749, 752, 776, 781, 787, 788, 791, 796, 799], "check_collis": [12, 13, 128, 729, 794, 796], "i": [12, 13, 15, 21, 24, 25, 26, 28, 40, 49, 50, 54, 69, 73, 75, 76, 78, 89, 93, 96, 97, 98, 100, 112, 121, 122, 125, 126, 128, 130, 136, 142, 143, 144, 145, 150, 152, 173, 175, 176, 182, 185, 190, 227, 229, 230, 235, 236, 246, 248, 249, 255, 256, 257, 260, 261, 265, 270, 271, 279, 280, 283, 284, 290, 291, 294, 295, 296, 301, 305, 306, 313, 314, 317, 318, 323, 325, 328, 329, 333, 334, 337, 338, 339, 340, 344, 345, 348, 349, 350, 351, 355, 356, 361, 362, 363, 370, 374, 375, 379, 380, 382, 385, 386, 391, 394, 395, 396, 397, 401, 403, 406, 407, 408, 415, 419, 420, 423, 428, 431, 432, 437, 438, 441, 442, 447, 452, 453, 454, 464, 467, 469, 470, 475, 476, 478, 485, 487, 488, 489, 490, 492, 495, 498, 499, 500, 502, 513, 514, 515, 516, 517, 518, 531, 532, 534, 535, 536, 537, 538, 541, 542, 543, 546, 549, 554, 558, 559, 560, 564, 565, 568, 569, 577, 581, 582, 586, 587, 590, 591, 592, 596, 601, 602, 610, 613, 614, 617, 621, 622, 626, 631, 632, 635, 639, 643, 652, 653, 654, 655, 656, 660, 662, 667, 668, 669, 670, 671, 672, 673, 674, 695, 699, 701, 703, 723, 725, 729, 731, 746, 749, 752, 753, 756, 770, 773, 774, 776, 777, 778, 779, 781, 782, 783, 785, 786, 787, 788, 789, 791, 792, 794, 796, 797, 798, 799, 801], "true": [12, 13, 21, 22, 27, 28, 40, 42, 54, 73, 75, 89, 93, 94, 99, 100, 112, 114, 125, 126, 127, 128, 130, 136, 173, 176, 190, 191, 232, 233, 234, 252, 253, 254, 262, 263, 264, 275, 276, 277, 287, 288, 289, 298, 299, 300, 309, 310, 311, 320, 321, 322, 330, 331, 332, 341, 342, 343, 352, 353, 354, 366, 367, 368, 376, 377, 378, 383, 391, 398, 399, 400, 411, 412, 413, 418, 420, 421, 422, 434, 435, 436, 444, 445, 446, 460, 461, 462, 472, 473, 474, 488, 513, 514, 516, 521, 522, 523, 530, 534, 535, 536, 537, 551, 552, 553, 561, 562, 563, 573, 574, 575, 583, 584, 585, 593, 594, 595, 605, 606, 607, 652, 671, 723, 725, 727, 729, 731, 749, 752, 777, 781, 784, 785, 787, 788, 789, 791, 794, 796], "requir": [12, 40, 112, 150, 152, 184, 314, 614, 632, 670, 673, 674, 770, 783, 787, 789, 791, 792, 794], "support": [12, 52, 77, 150, 152, 266, 314, 319, 516, 555, 587, 669, 671, 672, 681, 754, 771, 777, 779, 781, 787, 789, 794, 799], "so": [12, 89, 136, 533, 613, 631, 770, 801], "now": [12, 422, 670, 672, 674, 781, 787, 788, 789, 796, 797, 798], "pybulletcli": [12, 17, 128, 538, 672, 729, 791, 792, 794, 796], "frame_wcf": [13, 39, 73, 74, 130, 406, 452, 513, 514, 524, 525, 672, 674, 699, 731, 749, 750, 774, 783, 792, 794], "start_configur": [13, 15, 39, 43, 73, 74, 75, 76, 77, 78, 79, 130, 371, 513, 514, 516, 517, 672, 674, 699, 701, 703, 731, 749, 750, 752, 753, 754, 755, 756, 757, 783, 784, 792, 794], "none": [13, 15, 25, 27, 28, 32, 39, 40, 43, 49, 55, 59, 63, 65, 67, 69, 71, 73, 74, 75, 76, 77, 78, 79, 80, 82, 84, 97, 99, 100, 104, 112, 121, 125, 126, 127, 128, 130, 133, 134, 148, 150, 152, 154, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 174, 186, 193, 225, 227, 228, 231, 240, 242, 243, 244, 246, 247, 251, 259, 282, 293, 316, 324, 327, 336, 339, 347, 350, 373, 384, 387, 388, 389, 396, 397, 406, 416, 418, 419, 420, 421, 422, 424, 426, 430, 440, 452, 467, 468, 476, 478, 479, 480, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 519, 520, 524, 525, 526, 527, 528, 529, 530, 532, 534, 535, 536, 537, 540, 547, 548, 549, 550, 557, 565, 567, 576, 580, 589, 608, 620, 626, 638, 643, 660, 672, 674, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 750, 752, 753, 754, 756, 757, 759, 762, 765, 768, 794], "group": [13, 15, 39, 43, 49, 69, 73, 74, 75, 76, 77, 78, 79, 121, 128, 130, 240, 250, 291, 334, 406, 419, 421, 422, 428, 452, 476, 478, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 509, 511, 513, 514, 515, 516, 517, 518, 520, 524, 525, 526, 527, 528, 529, 530, 532, 538, 547, 548, 549, 550, 672, 674, 695, 699, 701, 703, 729, 731, 746, 749, 750, 752, 753, 754, 756, 757, 779, 780, 784], "6": [13, 15, 130, 228, 247, 325, 403, 406, 513, 514, 516, 603, 629, 672, 731, 774, 778, 784, 787, 792, 794, 797], "axi": [13, 77, 228, 247, 324, 387, 403, 406, 416, 428, 433, 438, 443, 754, 773, 774, 776, 779, 787, 789, 794, 795, 796], "return": [13, 15, 21, 27, 28, 32, 34, 35, 37, 38, 42, 54, 55, 59, 63, 65, 67, 69, 71, 73, 75, 78, 80, 82, 84, 93, 99, 100, 104, 106, 107, 109, 110, 114, 125, 126, 127, 128, 130, 133, 134, 141, 145, 150, 152, 156, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 191, 192, 193, 194, 195, 223, 225, 227, 228, 229, 230, 231, 232, 234, 236, 239, 240, 242, 243, 244, 246, 247, 248, 249, 250, 251, 252, 254, 256, 259, 260, 261, 262, 264, 265, 268, 269, 270, 271, 272, 273, 275, 277, 279, 282, 283, 284, 287, 289, 290, 293, 294, 295, 296, 297, 298, 300, 301, 304, 305, 306, 309, 311, 313, 316, 317, 318, 319, 320, 322, 323, 325, 327, 328, 329, 330, 332, 333, 336, 337, 338, 339, 340, 341, 343, 344, 347, 348, 349, 350, 351, 352, 354, 355, 357, 360, 361, 362, 363, 366, 368, 370, 373, 374, 375, 376, 378, 379, 383, 384, 385, 386, 387, 388, 393, 395, 396, 397, 398, 400, 401, 405, 406, 407, 408, 411, 413, 415, 418, 420, 421, 422, 424, 426, 430, 431, 432, 433, 434, 436, 437, 440, 441, 442, 443, 444, 446, 447, 450, 451, 452, 453, 454, 455, 456, 457, 460, 462, 464, 465, 468, 469, 470, 471, 472, 474, 475, 476, 478, 479, 480, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 513, 514, 515, 516, 517, 518, 519, 521, 523, 524, 525, 526, 527, 528, 529, 531, 534, 535, 536, 537, 540, 541, 542, 546, 547, 548, 549, 550, 551, 553, 554, 557, 558, 559, 560, 561, 563, 564, 567, 568, 569, 570, 571, 573, 575, 577, 580, 581, 582, 583, 585, 586, 589, 590, 591, 592, 593, 595, 596, 599, 600, 601, 602, 603, 604, 605, 607, 608, 609, 610, 611, 612, 621, 622, 623, 626, 639, 640, 643, 652, 653, 654, 655, 656, 657, 658, 659, 660, 662, 663, 664, 665, 672, 674, 676, 678, 680, 695, 697, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 752, 756, 759, 762, 765, 768, 796, 798], "default": [13, 21, 22, 25, 27, 28, 40, 42, 49, 50, 69, 73, 75, 78, 89, 93, 94, 97, 99, 100, 112, 114, 121, 122, 125, 126, 127, 128, 129, 130, 131, 132, 135, 136, 150, 152, 173, 190, 194, 195, 222, 225, 233, 234, 238, 244, 253, 254, 257, 258, 259, 263, 264, 267, 276, 277, 280, 281, 282, 288, 289, 291, 292, 293, 296, 299, 300, 302, 303, 310, 311, 314, 315, 316, 321, 322, 326, 327, 331, 332, 334, 335, 336, 339, 340, 342, 343, 345, 346, 347, 350, 351, 353, 354, 358, 359, 367, 368, 372, 373, 377, 378, 381, 383, 384, 389, 399, 400, 403, 404, 406, 412, 413, 422, 428, 429, 430, 435, 436, 438, 439, 440, 445, 446, 448, 449, 451, 452, 455, 456, 457, 461, 462, 466, 468, 473, 474, 476, 477, 478, 480, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 522, 523, 524, 525, 526, 527, 528, 529, 530, 534, 535, 536, 537, 539, 540, 547, 548, 549, 550, 552, 553, 555, 556, 557, 562, 563, 565, 566, 567, 574, 575, 579, 580, 584, 585, 587, 588, 589, 594, 595, 598, 606, 607, 613, 626, 631, 643, 663, 670, 672, 674, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 723, 725, 727, 729, 731, 746, 749, 752, 756, 774, 787, 788, 789, 796, 799], "8": [13, 73, 228, 247, 672, 749, 787, 789, 794, 799], "possibl": [13, 28, 100, 280, 302, 465, 514, 670, 671, 673, 674, 779, 783, 792, 794, 799], "solut": [13, 60, 75, 78, 228, 247, 465, 513, 514, 516, 517, 672, 752, 756, 783, 792, 794, 796], "These": [13, 670, 674, 778], "have": [13, 15, 57, 129, 131, 132, 135, 223, 239, 363, 587, 613, 626, 631, 643, 668, 670, 672, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 773, 777, 779, 781, 782, 783, 784, 785, 786, 787, 788, 794, 796, 797], "an": [13, 21, 22, 51, 55, 59, 75, 80, 93, 94, 133, 140, 141, 145, 150, 152, 168, 173, 174, 175, 189, 194, 196, 223, 225, 229, 230, 233, 234, 236, 239, 243, 244, 248, 249, 253, 254, 256, 259, 260, 261, 263, 264, 265, 270, 271, 276, 277, 279, 282, 283, 284, 288, 289, 290, 293, 294, 295, 299, 300, 301, 305, 306, 310, 311, 313, 316, 317, 318, 321, 322, 323, 327, 328, 329, 331, 332, 333, 336, 337, 338, 342, 343, 344, 347, 348, 349, 353, 354, 355, 361, 362, 367, 368, 370, 373, 374, 375, 377, 378, 379, 382, 384, 385, 386, 387, 388, 399, 400, 401, 403, 406, 407, 408, 412, 413, 415, 416, 418, 421, 424, 428, 430, 431, 432, 435, 436, 437, 440, 441, 442, 445, 446, 447, 453, 454, 461, 462, 464, 467, 468, 469, 470, 473, 474, 475, 476, 480, 489, 490, 513, 514, 522, 523, 531, 538, 540, 541, 542, 543, 544, 545, 552, 553, 554, 557, 558, 559, 562, 563, 564, 567, 568, 569, 574, 575, 577, 580, 581, 582, 584, 585, 586, 589, 590, 591, 594, 595, 596, 601, 602, 606, 607, 610, 613, 614, 622, 626, 627, 631, 632, 643, 656, 664, 668, 669, 670, 671, 672, 673, 717, 732, 733, 752, 761, 762, 771, 774, 776, 777, 780, 781, 788, 789, 792, 794, 795, 796, 798, 799, 800, 801], "order": [13, 235, 255, 403, 513, 538, 587, 668, 774, 787, 794], "That": [13, 40, 112, 789, 794], "mean": [13, 302, 358, 371, 403, 406, 448, 451, 452, 455, 456, 457, 534, 535, 536, 537, 599, 783, 792, 794, 799], "you": [13, 50, 122, 363, 403, 406, 613, 631, 660, 667, 668, 670, 673, 777, 781, 782, 783, 784, 785, 787, 788, 789, 791, 794, 796, 799], "call": [13, 18, 19, 20, 28, 33, 36, 39, 43, 44, 46, 47, 48, 54, 90, 91, 92, 100, 105, 108, 111, 115, 116, 118, 119, 120, 128, 137, 138, 139, 141, 143, 144, 148, 153, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 177, 178, 179, 180, 181, 186, 513, 616, 619, 634, 637, 672, 674, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 729, 776, 781, 785, 788, 791, 794], "two": [13, 57, 325, 538, 652, 658, 670, 671, 672, 771, 773, 776, 780, 781, 782, 785, 794, 797, 798, 800], "subsequ": [13, 794], "compar": [13, 383, 391, 393, 779, 794, 796], "configur": [13, 15, 16, 24, 25, 26, 32, 37, 49, 69, 70, 73, 75, 78, 96, 97, 98, 104, 109, 121, 128, 130, 151, 291, 296, 297, 314, 363, 371, 380, 383, 387, 388, 391, 393, 394, 396, 397, 465, 471, 488, 495, 498, 499, 500, 501, 502, 505, 511, 513, 514, 515, 516, 517, 518, 528, 529, 530, 532, 546, 548, 549, 555, 670, 671, 672, 695, 699, 701, 703, 729, 731, 746, 747, 749, 752, 756, 777, 779, 780, 781, 782, 783, 784, 785, 787, 792, 794], "first": [13, 227, 235, 246, 255, 465, 547, 663, 671, 672, 770, 780, 787, 789, 790, 794, 798], "second": [13, 50, 55, 59, 73, 78, 122, 141, 144, 145, 325, 672, 749, 756, 781, 784, 788, 794], "respect": [13, 227, 246, 380, 403, 663, 668, 672, 789, 794, 796], "indic": [13, 42, 51, 52, 60, 61, 114, 136, 371, 514, 613, 623, 626, 631, 640, 643, 656, 794, 798], "close": [13, 781, 791, 794], "anoth": [13, 334, 345, 391, 393, 394, 395, 546, 549, 661, 674, 781, 787, 789, 794, 797], "reason": [13, 794], "certain": [13, 144, 358, 383, 403, 448, 465, 662, 776, 783, 788, 792, 794, 796, 797], "case": [13, 123, 150, 152, 314, 394, 395, 515, 668, 777, 779, 785, 789, 794, 796, 797, 798], "e": [13, 15, 75, 78, 203, 206, 212, 218, 314, 371, 380, 396, 397, 476, 495, 502, 516, 517, 538, 546, 549, 660, 667, 668, 670, 672, 673, 701, 703, 752, 756, 771, 773, 776, 779, 787, 794, 796, 799, 800], "g": [13, 314, 371, 380, 476, 660, 667, 668, 672, 673, 771, 787, 794, 800], "cartesian": [13, 15, 75, 76, 77, 314, 516, 672, 700, 701, 751, 752, 753, 754, 779, 780, 783, 794], "make": [13, 28, 40, 100, 112, 136, 148, 156, 157, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 186, 222, 225, 238, 244, 258, 259, 267, 268, 281, 282, 292, 293, 303, 315, 316, 326, 327, 335, 336, 346, 347, 359, 363, 372, 373, 381, 384, 404, 429, 430, 439, 440, 449, 465, 466, 467, 468, 477, 480, 539, 540, 556, 557, 566, 567, 579, 580, 588, 589, 598, 600, 668, 669, 671, 673, 674, 777, 781, 782, 783, 784, 785, 787, 789, 791, 794, 797, 799, 800], "sens": [13, 465, 467, 794, 797], "keep": [13, 513, 514, 672, 673, 785, 794], "can": [13, 28, 40, 53, 56, 73, 75, 78, 100, 112, 191, 193, 236, 256, 265, 266, 279, 290, 301, 313, 314, 323, 333, 344, 355, 356, 370, 379, 401, 403, 415, 428, 437, 438, 447, 464, 475, 476, 513, 514, 516, 517, 531, 533, 534, 535, 536, 537, 546, 549, 554, 564, 577, 586, 596, 610, 613, 621, 626, 631, 639, 643, 668, 670, 671, 672, 674, 749, 752, 756, 771, 773, 776, 777, 778, 779, 781, 782, 787, 788, 789, 794, 796, 797, 798, 799], "achiev": [13, 363, 403, 517, 703, 781, 794], "keep_ord": [13, 794, 796], "collis": [13, 17, 21, 22, 23, 24, 25, 26, 28, 32, 40, 42, 50, 57, 63, 65, 67, 73, 75, 80, 82, 84, 93, 94, 95, 96, 97, 98, 100, 104, 112, 114, 122, 125, 126, 127, 133, 134, 257, 280, 285, 286, 371, 418, 420, 421, 422, 424, 426, 427, 483, 494, 510, 518, 530, 533, 538, 565, 669, 672, 675, 676, 677, 678, 679, 680, 716, 717, 718, 719, 721, 722, 723, 724, 725, 726, 727, 732, 733, 734, 735, 736, 737, 739, 740, 742, 743, 749, 752, 761, 762, 764, 765, 767, 768, 771, 780, 784, 787, 789, 791, 794, 796, 800], "outsid": [13, 794], "boundari": [13, 794], "remov": [13, 40, 80, 82, 84, 112, 133, 134, 174, 421, 424, 425, 426, 427, 604, 672, 716, 717, 718, 719, 721, 732, 733, 734, 735, 761, 762, 764, 765, 768, 791, 794], "list": [13, 32, 40, 73, 75, 78, 104, 112, 125, 130, 154, 157, 158, 160, 166, 167, 170, 171, 193, 227, 240, 246, 247, 257, 266, 291, 296, 302, 314, 324, 345, 350, 356, 363, 371, 380, 387, 388, 403, 406, 438, 465, 467, 476, 478, 479, 491, 492, 494, 498, 499, 500, 506, 508, 509, 510, 516, 517, 528, 529, 538, 546, 548, 549, 565, 570, 571, 587, 599, 603, 611, 612, 622, 626, 643, 652, 654, 655, 656, 658, 660, 662, 670, 674, 699, 723, 731, 749, 752, 756, 779, 788, 794, 797, 798, 799], "instanc": [13, 15, 28, 42, 69, 73, 75, 78, 100, 114, 125, 128, 130, 133, 150, 152, 168, 173, 192, 222, 229, 230, 238, 248, 249, 258, 260, 261, 267, 270, 271, 281, 283, 284, 292, 294, 295, 303, 305, 306, 315, 317, 318, 326, 328, 329, 335, 337, 338, 346, 348, 349, 359, 361, 362, 372, 374, 375, 381, 385, 386, 387, 388, 404, 407, 408, 426, 429, 431, 432, 439, 441, 442, 449, 453, 454, 466, 467, 469, 470, 476, 477, 479, 488, 489, 490, 530, 534, 535, 536, 537, 539, 541, 542, 543, 544, 545, 556, 558, 559, 566, 568, 569, 579, 581, 582, 588, 590, 591, 598, 601, 602, 613, 616, 619, 631, 634, 637, 650, 672, 695, 699, 701, 703, 723, 729, 731, 733, 746, 749, 752, 756, 771, 777, 785], "which": [13, 15, 21, 32, 69, 73, 75, 78, 93, 104, 125, 128, 130, 133, 162, 174, 175, 314, 324, 383, 406, 416, 428, 452, 465, 467, 495, 534, 535, 536, 537, 565, 587, 613, 622, 626, 631, 643, 670, 672, 674, 695, 699, 701, 703, 723, 729, 731, 733, 746, 749, 752, 756, 770, 774, 776, 777, 779, 785, 786, 787, 789, 791, 792, 799], "being": [13, 15, 54, 69, 73, 75, 78, 128, 130, 152, 467, 669, 672, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 729, 731, 746, 749, 752, 756, 792], "geometri": [13, 22, 28, 31, 40, 42, 73, 94, 100, 103, 112, 114, 125, 130, 173, 227, 246, 266, 269, 273, 278, 280, 324, 334, 339, 345, 350, 391, 403, 406, 414, 416, 428, 438, 448, 451, 452, 456, 457, 463, 465, 467, 483, 484, 486, 488, 491, 492, 493, 495, 502, 510, 513, 514, 519, 524, 525, 526, 527, 528, 529, 530, 534, 535, 536, 537, 565, 570, 571, 587, 597, 604, 672, 674, 699, 723, 731, 749, 773, 774, 777, 779, 783, 784, 785, 787, 789, 791, 792, 794, 796, 797, 798], "determin": [13, 128, 130, 191, 314, 630, 646, 729, 731, 779, 796], "end": [13, 69, 75, 128, 130, 140, 243, 291, 314, 334, 345, 406, 422, 428, 438, 452, 478, 488, 502, 503, 504, 517, 538, 550, 613, 631, 668, 672, 674, 729, 731, 746, 752, 771, 779, 780, 783, 791, 792, 794, 796, 800], "effector": [13, 69, 75, 128, 130, 291, 314, 334, 345, 406, 422, 428, 438, 452, 478, 488, 502, 503, 504, 538, 550, 672, 729, 731, 746, 752, 771, 779, 780, 783, 791, 792, 794, 796, 800], "label": [13, 128, 130, 428, 729, 731, 780], "dict": [13, 15, 63, 65, 67, 69, 71, 73, 75, 78, 80, 82, 84, 125, 126, 127, 128, 130, 133, 134, 221, 223, 237, 239, 371, 380, 467, 476, 479, 488, 513, 514, 516, 517, 538, 578, 663, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 752, 756, 759, 762, 765, 768, 783, 784, 792], "dictionari": [13, 15, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 476, 488, 513, 514, 516, 517, 538, 663, 672, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756], "kei": [13, 15, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 389, 488, 513, 514, 516, 517, 538, 663, 670, 672, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756], "valu": [13, 15, 49, 55, 58, 59, 69, 73, 75, 78, 121, 125, 126, 127, 128, 130, 133, 159, 186, 291, 296, 297, 314, 325, 334, 339, 345, 350, 358, 363, 364, 380, 382, 387, 388, 393, 394, 395, 403, 406, 428, 438, 488, 495, 502, 513, 514, 515, 516, 517, 532, 538, 603, 611, 612, 623, 626, 629, 630, 640, 643, 645, 646, 653, 654, 655, 657, 661, 663, 672, 674, 701, 703, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756, 779, 787, 788, 789], "pair": [13, 15, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 488, 513, 514, 516, 517, 538, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756], "when": [13, 21, 22, 28, 40, 42, 56, 57, 58, 93, 94, 100, 112, 114, 125, 126, 127, 128, 130, 144, 150, 152, 162, 175, 176, 222, 238, 258, 267, 281, 292, 303, 315, 326, 334, 335, 345, 346, 359, 372, 381, 404, 429, 439, 449, 466, 477, 539, 543, 556, 566, 579, 588, 598, 613, 621, 626, 631, 639, 643, 651, 671, 672, 673, 674, 723, 725, 727, 729, 731, 779, 781, 785, 787, 791, 799], "fals": [13, 21, 22, 28, 40, 42, 54, 89, 93, 94, 100, 112, 114, 125, 126, 127, 128, 130, 136, 173, 176, 190, 191, 232, 233, 234, 252, 253, 254, 262, 263, 264, 275, 276, 277, 287, 288, 289, 298, 299, 300, 309, 310, 311, 320, 321, 322, 330, 331, 332, 341, 342, 343, 352, 353, 354, 366, 367, 368, 376, 377, 378, 383, 398, 399, 400, 411, 412, 413, 418, 420, 421, 422, 434, 435, 436, 444, 445, 446, 460, 461, 462, 472, 473, 474, 513, 514, 521, 522, 523, 530, 534, 535, 536, 537, 551, 552, 553, 561, 562, 563, 573, 574, 575, 583, 584, 585, 593, 594, 595, 605, 606, 607, 660, 723, 725, 727, 729, 731, 773], "yield": [13, 73, 130, 235, 255, 324, 391, 416, 467, 513, 514, 672, 699, 731, 749, 796, 797, 798], "tupl": [13, 21, 27, 73, 93, 99, 130, 296, 438, 465, 538, 623, 640, 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"PosConCM.deactivate_flex_mount": [[636, "posconcm-deactivate-flex-mount"]], "PosConCM.end": [[637, "posconcm-end"]], "PosConCM.format_command": [[638, "posconcm-format-command"]], "PosConCM.get_address": [[639, "posconcm-get-address"]], "PosConCM.get_measurement": [[640, "posconcm-get-measurement"]], "PosConCM.get_payload": [[641, "posconcm-get-payload"]], "PosConCM.reset": [[642, "posconcm-reset"]], "PosConCM.send_command": [[643, "posconcm-send-command"]], "PosConCM.set_flex_mount": [[644, "posconcm-set-flex-mount"]], "PosConCM.set_measurement_type": [[645, "posconcm-set-measurement-type"]], "PosConCM.set_precision": [[646, "posconcm-set-precision"]], "PosConCM.teach_flex_mount": [[647, "posconcm-teach-flex-mount"]], "ProtocolError": [[648, "protocolerror"]], "SensorTimeoutError": [[649, "sensortimeouterror"]], "SerialSensor": [[650, "serialsensor"]], "LazyLoader": [[651, "lazyloader"]], "allclose": [[652, "allclose"]], "arange": [[653, "arange"]], "argmax": [[654, "argmax"]], "argmin": [[655, "argmin"]], "argsort": [[656, "argsort"]], "clamp": [[657, "clamp"]], "diffs": [[658, "diffs"]], "from_tcf_to_t0cf": [[659, "from-tcf-to-t0cf"]], "list_files_in_directory": [[660, "list-files-in-directory"]], "map_range": [[661, "map-range"]], "range_geometric_row": [[662, "range-geometric-row"]], "read_csv_to_dictionary": [[663, "read-csv-to-dictionary"]], "read_data_from_pickle": [[664, "read-data-from-pickle"]], "sign": [[665, "sign"]], "write_data_to_pickle": [[666, "write-data-to-pickle"]], "Citing": [[667, "citing"]], "Authors": [[667, "authors"]], "Working with backends": [[668, "working-with-backends"]], "Installing backends": [[668, "installing-backends"]], "Installing Docker": [[668, "installing-docker"]], "Working with containers": [[668, "working-with-containers"]], "Developing new backends": [[668, "developing-new-backends"]], "Next steps": [[668, "next-steps"]], "Next Steps": [[669, "next-steps"], [670, "next-steps"], [799, "next-steps"]], "ROS on Docker": [[670, "ros-on-docker"]], "Complete ROS systems": [[670, "complete-ros-systems"]], "ROS on Linux": [[670, "ros-on-linux"]], "ROS on WSL": [[670, "ros-on-wsl"]], "Access backend GUI": [[671, "access-backend-gui"]], "Visualization over web browser": [[671, "visualization-over-web-browser"]], "Visualization forwarding display": [[671, "visualization-forwarding-display"]], "CHANGELOG": [[672, "changelog"]], "Contributor\u2019s Guide": [[673, "contributor-s-guide"]], "Code contributions": [[673, "code-contributions"]], "Documentation improvements": [[673, "documentation-improvements"]], "Bug reports": [[673, "bug-reports"]], "Feature requests and feedback": [[673, "feature-requests-and-feedback"]], "Design documents": [[673, "design-documents"]], "Backend clients": [[674, "backend-clients"]], "Backend interfaces": [[674, "module-compas_fab.backends.interfaces"]], "Client interfaces": [[674, "client-interfaces"]], "Feature interfaces": [[674, "feature-interfaces"]], "Planning scene 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[[696, "getplanningscene"]], "GetPlanningScene.get_planning_scene": [[697, "getplanningscene-get-planning-scene"]], "InverseKinematics": [[698, "inversekinematics"]], "InverseKinematics.inverse_kinematics": [[699, "inversekinematics-inverse-kinematics"]], "PlanCartesianMotion": [[700, "plancartesianmotion"]], "PlanCartesianMotion.plan_cartesian_motion": [[701, "plancartesianmotion-plan-cartesian-motion"]], "PlanMotion": [[702, "planmotion"]], "PlanMotion.plan_motion": [[703, "planmotion-plan-motion"]], "PlannerInterface": [[704, "plannerinterface"]], "PlannerInterface.add_attached_collision_mesh": [[705, "plannerinterface-add-attached-collision-mesh"]], "PlannerInterface.add_collision_mesh": [[706, "plannerinterface-add-collision-mesh"]], "PlannerInterface.append_collision_mesh": [[707, "plannerinterface-append-collision-mesh"]], "PlannerInterface.forward_kinematics": [[708, "plannerinterface-forward-kinematics"]], "PlannerInterface.get_planning_scene": [[709, "plannerinterface-get-planning-scene"]], "PlannerInterface.inverse_kinematics": [[710, "plannerinterface-inverse-kinematics"]], "PlannerInterface.plan_cartesian_motion": [[711, "plannerinterface-plan-cartesian-motion"]], "PlannerInterface.plan_motion": [[712, "plannerinterface-plan-motion"]], "PlannerInterface.remove_attached_collision_mesh": [[713, "plannerinterface-remove-attached-collision-mesh"]], "PlannerInterface.remove_collision_mesh": [[714, "plannerinterface-remove-collision-mesh"]], "PlannerInterface.reset_planning_scene": [[715, "plannerinterface-reset-planning-scene"]], "RemoveAttachedCollisionMesh": [[716, "removeattachedcollisionmesh"]], "RemoveAttachedCollisionMesh.remove_attached_collision_mesh": [[717, "removeattachedcollisionmesh-remove-attached-collision-mesh"]], "RemoveCollisionMesh": [[718, "removecollisionmesh"]], "RemoveCollisionMesh.remove_collision_mesh": [[719, "removecollisionmesh-remove-collision-mesh"]], "ResetPlanningScene": [[720, "resetplanningscene"]], "ResetPlanningScene.reset_planning_scene": [[721, "resetplanningscene-reset-planning-scene"]], "PyBulletAddAttachedCollisionMesh": [[722, "pybulletaddattachedcollisionmesh"]], "PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh": [[723, "pybulletaddattachedcollisionmesh-add-attached-collision-mesh"]], "PyBulletAddCollisionMesh": [[724, "pybulletaddcollisionmesh"]], "PyBulletAddCollisionMesh.add_collision_mesh": [[725, "pybulletaddcollisionmesh-add-collision-mesh"]], "PyBulletAppendCollisionMesh": [[726, "pybulletappendcollisionmesh"]], "PyBulletAppendCollisionMesh.append_collision_mesh": [[727, "pybulletappendcollisionmesh-append-collision-mesh"]], "PyBulletForwardKinematics": [[728, "pybulletforwardkinematics"]], "PyBulletForwardKinematics.forward_kinematics": [[729, "pybulletforwardkinematics-forward-kinematics"]], "PyBulletInverseKinematics": [[730, "pybulletinversekinematics"]], "PyBulletInverseKinematics.inverse_kinematics": [[731, "pybulletinversekinematics-inverse-kinematics"]], "PyBulletRemoveAttachedCollisionMesh": [[732, "pybulletremoveattachedcollisionmesh"]], "PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh": [[733, "pybulletremoveattachedcollisionmesh-remove-attached-collision-mesh"]], "PyBulletRemoveCollisionMesh": [[734, "pybulletremovecollisionmesh"]], "PyBulletRemoveCollisionMesh.remove_collision_mesh": [[735, "pybulletremovecollisionmesh-remove-collision-mesh"]], "MoveItAddAttachedCollisionMesh": [[736, "moveitaddattachedcollisionmesh"]], "MoveItAddAttachedCollisionMesh.add_attached_collision_mesh": [[737, "moveitaddattachedcollisionmesh-add-attached-collision-mesh"]], "MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async": [[738, "moveitaddattachedcollisionmesh-add-attached-collision-mesh-async"]], "MoveItAddCollisionMesh": [[739, "moveitaddcollisionmesh"]], "MoveItAddCollisionMesh.add_collision_mesh": [[740, "moveitaddcollisionmesh-add-collision-mesh"]], "MoveItAddCollisionMesh.add_collision_mesh_async": [[741, "moveitaddcollisionmesh-add-collision-mesh-async"]], "MoveItAppendCollisionMesh": [[742, "moveitappendcollisionmesh"]], "MoveItAppendCollisionMesh.append_collision_mesh": [[743, "moveitappendcollisionmesh-append-collision-mesh"]], "MoveItAppendCollisionMesh.append_collision_mesh_async": [[744, "moveitappendcollisionmesh-append-collision-mesh-async"]], "MoveItForwardKinematics": [[745, "moveitforwardkinematics"]], "MoveItForwardKinematics.forward_kinematics": [[746, "moveitforwardkinematics-forward-kinematics"]], "MoveItForwardKinematics.forward_kinematics_async": [[747, "moveitforwardkinematics-forward-kinematics-async"]], "MoveItInverseKinematics": [[748, "moveitinversekinematics"]], "MoveItInverseKinematics.inverse_kinematics": [[749, "moveitinversekinematics-inverse-kinematics"]], "MoveItInverseKinematics.inverse_kinematics_async": [[750, "moveitinversekinematics-inverse-kinematics-async"]], "MoveItPlanCartesianMotion": [[751, "moveitplancartesianmotion"]], "MoveItPlanCartesianMotion.plan_cartesian_motion": [[752, "moveitplancartesianmotion-plan-cartesian-motion"]], "MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async": [[753, "moveitplancartesianmotion-plan-cartesian-motion-with-frame-waypoints-async"]], "MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async": [[754, "moveitplancartesianmotion-plan-cartesian-motion-with-point-axis-waypoints-async"]], "MoveItPlanMotion": [[755, "moveitplanmotion"]], "MoveItPlanMotion.plan_motion": [[756, "moveitplanmotion-plan-motion"]], "MoveItPlanMotion.plan_motion_async": [[757, "moveitplanmotion-plan-motion-async"]], "MoveItPlanningScene": [[758, "moveitplanningscene"]], "MoveItPlanningScene.get_planning_scene": [[759, "moveitplanningscene-get-planning-scene"]], "MoveItPlanningScene.get_planning_scene_async": [[760, "moveitplanningscene-get-planning-scene-async"]], "MoveItRemoveAttachedCollisionMesh": [[761, "moveitremoveattachedcollisionmesh"]], "MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh": [[762, "moveitremoveattachedcollisionmesh-remove-attached-collision-mesh"]], "MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async": [[763, "moveitremoveattachedcollisionmesh-remove-attached-collision-mesh-async"]], "MoveItRemoveCollisionMesh": [[764, "moveitremovecollisionmesh"]], "MoveItRemoveCollisionMesh.remove_collision_mesh": [[765, "moveitremovecollisionmesh-remove-collision-mesh"]], "MoveItRemoveCollisionMesh.remove_collision_mesh_async": [[766, "moveitremovecollisionmesh-remove-collision-mesh-async"]], "MoveItResetPlanningScene": [[767, "moveitresetplanningscene"]], "MoveItResetPlanningScene.reset_planning_scene": [[768, "moveitresetplanningscene-reset-planning-scene"]], "MoveItResetPlanningScene.reset_planning_scene_async": [[769, "moveitresetplanningscene-reset-planning-scene-async"]], "Grasshopper components": [[770, "grasshopper-components"]], "Examples": [[771, "examples"]], "Robotic fabrication examples": [[771, "robotic-fabrication-examples"]], "Fundamentals": [[772, "fundamentals"]], "Frame and Transformation": [[773, "frame-and-transformation"]], "Further information": [[773, "further-information"]], "Coordinate frames": [[774, "coordinate-frames"]], "World coordinate frame (WCF)": [[774, "world-coordinate-frame-wcf"]], "Robot coordinate frame (RCF)": [[774, "robot-coordinate-frame-rcf"]], "Tool0 coordinate frame (T0CF)": [[774, "tool0-coordinate-frame-t0cf"]], "Tool coordinate frame (TCF)": [[774, "tool-coordinate-frame-tcf"]], "Object coordinate frame (OCF)": [[774, "object-coordinate-frame-ocf"]], "Example": [[774, "example"]], "Links": [[774, "links"], [776, "links"], [776, "id2"], [794, "links"], [796, "links"]], "Description Models": [[775, "description-models"]], "Kinematic model": [[776, "kinematic-model"]], "Joints": [[776, "joints"]], "Robot models": [[777, "robot-models"]], "Loading model from disk": [[777, "loading-model-from-disk"]], "Loading model from Github": [[777, "loading-model-from-github"]], "Loading model from ROS": [[777, "loading-model-from-ros"]], "Visualizing robot models": [[777, "visualizing-robot-models"]], "RobotModel Packages": [[778, "robotmodel-packages"]], "Robot Packages": [[778, "id1"]], "Origin of the packages": [[778, "origin-of-the-packages"]], "Targets (Single Goal)": [[779, "targets-single-goal"]], "Waypoints (Multiple Points / Segments)": [[779, "waypoints-multiple-points-segments"]], "Backends: ROS": [[780, "backends-ros"]], "Using ROS": [[781, "using-ros"]], "First step": [[781, "first-step"]], "Hello World": [[781, "hello-world"]], "Writing the talker node": [[781, "writing-the-talker-node"]], "Writing the listener node": [[781, "writing-the-listener-node"]], "Running the example": [[781, "running-the-example"]], "Robots in ROS": [[782, "robots-in-ros"]], "Load model from ROS": [[782, "load-model-from-ros"]], "Forward and inverse kinematics": [[783, "forward-and-inverse-kinematics"], [792, "forward-and-inverse-kinematics"]], "Forward kinematics": [[783, "forward-kinematics"], [792, "forward-kinematics"]], "Inverse kinematics": [[783, "inverse-kinematics"], [792, "inverse-kinematics"], [794, "inverse-kinematics"]], "Plan motion": [[784, "plan-motion"], [784, "id1"]], "Plan cartesian motion": [[784, "plan-cartesian-motion"]], "Planning scene and collision objects": [[785, "planning-scene-and-collision-objects"]], "1. Non-attached Collision meshes": [[785, "non-attached-collision-meshes"]], "Add/remove a single mesh": [[785, "add-remove-a-single-mesh"]], "Add/remove several meshes": [[785, "add-remove-several-meshes"]], "2. Attached collision meshes": [[785, "attached-collision-meshes"]], "Attach end-effector": [[785, "attach-end-effector"]], "Grasshopper example": [[785, "grasshopper-example"]], "ROS in Grasshopper": [[786, "ros-in-grasshopper"]], "Grasshopper playground": [[786, "grasshopper-playground"]], "Grasshopper Components": [[786, "grasshopper-components"]], "Creating a URDF with an UR5 robot and a custom end-effector": [[787, "creating-a-urdf-with-an-ur5-robot-and-a-custom-end-effector"]], "Export your meshes": [[787, "export-your-meshes"]], "Prepare your catkin workspace": [[787, "prepare-your-catkin-workspace"], [789, "prepare-your-catkin-workspace"]], "Create xacros and generate urdf": [[787, "create-xacros-and-generate-urdf"], [789, "create-xacros-and-generate-urdf"]], "Explanation": [[787, "explanation"]], "View urdf": [[787, "view-urdf"], [789, "view-urdf"]], "Add path to search paths": [[787, "add-path-to-search-paths"]], "Further links": [[787, "further-links"], [788, "further-links"], [789, "further-links"]], "Creating a MoveIt! package from the custom created URDF": [[788, "creating-a-moveit-package-from-the-custom-created-urdf"]], "Start the MoveIt! Setup Assistant": [[788, "start-the-moveit-setup-assistant"]], "Generate Self-Collision Matrix": [[788, "generate-self-collision-matrix"]], "Add Virtual Joints": [[788, "add-virtual-joints"]], "Add Planning Groups": [[788, "add-planning-groups"]], "Add the arm": [[788, "add-the-arm"]], "Add the gripper": [[788, "add-the-gripper"]], "Add Robot Poses": [[788, "add-robot-poses"]], "Label End-Effectors": [[788, "label-end-effectors"]], "Add Passive Joints": [[788, "add-passive-joints"]], "Add Author Information": [[788, "add-author-information"]], "Generate Configuration Files": [[788, "generate-configuration-files"]], "Start the newly generated MoveIt! Configuration": [[788, "start-the-newly-generated-moveit-configuration"]], "Creating a URDF of the UR10 on two linear axes": [[789, "creating-a-urdf-of-the-ur10-on-two-linear-axes"]], "Export meshes": [[789, "export-meshes"]], "tower.xacro": [[789, "tower-xacro"]], "Explanation:": [[789, "explanation"], [789, "id1"]], "ur10_tower.xacro": [[789, "ur10-tower-xacro"]], "Create URDF": [[789, "create-urdf"]], "Backends: PyBullet": [[790, "backends-pybullet"]], "Using PyBullet": [[791, "using-pybullet"]], "First Step": [[791, "first-step"]], "Backends: Analytical Kinematics": [[793, "backends-analytical-kinematics"]], "Analytical kinematics": [[794, "analytical-kinematics"]], "Planning: Reachability Map": [[795, "planning-reachability-map"]], "Introduction to the Reachability Map": [[796, "introduction-to-the-reachability-map"]], "Example 01: reachability map 1D": [[796, "example-01-reachability-map-1d"]], "Visualization": [[796, "visualization"]], "Projects where the reachability map was applied": [[796, "projects-where-the-reachability-map-was-applied"]], "Adaptive Detailing": [[796, "id1"]], "Robotic 360\u00b0 Light Painting Workshop": [[796, "id2"]], "Vector Generators": [[797, "vector-generators"]], "Generate orthonormal vectors from an axis": [[797, "generate-orthonormal-vectors-from-an-axis"]], "Generate vectors that deviate": [[797, "generate-vectors-that-deviate"]], "Generate frames": [[797, "generate-frames"]], "Reachability Map 2D": [[798, "reachability-map-2d"]], "Example 02: reachability map 2D with deviation vectors": [[798, "example-02-reachability-map-2d-with-deviation-vectors"]], "Example 03: reachability map 2D with sphere points": [[798, "example-03-reachability-map-2d-with-sphere-points"]], "Getting started": [[799, "getting-started"]], "Install with conda": [[799, "install-with-conda"]], "Installation options": [[799, "installation-options"]], "Install with pip": [[799, "install-with-pip"]], "Update with conda": [[799, "update-with-conda"]], "Update with pip": [[799, "update-with-pip"]], "Working in Rhino": [[799, "working-in-rhino"]], "Working in Blender": [[799, "working-in-blender"]], "Working in Visual Studio Code": [[799, "working-in-visual-studio-code"]], "Run scripts": [[799, "run-scripts"]], "Virtual environments": [[799, "virtual-environments"]], "Robotic Fabrication for COMPAS": [[800, "robotic-fabrication-for-compas"]], "Main features": [[800, "main-features"]], "Contents": [[800, "contents"]], "Indices and tables": [[800, "indices-and-tables"]], "License": [[801, "license"]]}, "indexentries": {"compas_fab": [[1, "module-compas_fab"]], "module": [[1, "module-compas_fab"], [2, "module-compas_fab.backends"], [3, "module-compas_fab.blender"], [4, "module-compas_fab.ghpython"], [5, "module-compas_fab.rhino"], [6, "module-compas_fab.robots"], [7, "module-compas_fab.sensors"], [8, "module-compas_fab.utilities"], [674, "module-compas_fab.backends.interfaces"], [674, "module-compas_fab.backends.pybullet.backend_features"], [674, "module-compas_fab.backends.ros.backend_features"]], "compas_fab.backends": [[2, "module-compas_fab.backends"]], "compas_fab.blender": [[3, "module-compas_fab.blender"]], "compas_fab.ghpython": [[4, "module-compas_fab.ghpython"]], "compas_fab.rhino": [[5, "module-compas_fab.rhino"]], "compas_fab.robots": [[6, "module-compas_fab.robots"]], "compas_fab.sensors": [[7, "module-compas_fab.sensors"]], "compas_fab.utilities": [[8, "module-compas_fab.utilities"]], "abb_irb4600_40_255kinematics (class in compas_fab.backends)": [[9, "compas_fab.backends.ABB_IRB4600_40_255Kinematics"]], "forward() (compas_fab.backends.abb_irb4600_40_255kinematics method)": [[10, "compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward"]], "inverse() (compas_fab.backends.abb_irb4600_40_255kinematics method)": [[11, "compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse"]], "analyticalinversekinematics (class in compas_fab.backends)": [[12, "compas_fab.backends.AnalyticalInverseKinematics"]], 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"compas_fab.backends.AnalyticalPyBulletClient.check_collisions"]], "check_robot_self_collision() (compas_fab.backends.analyticalpybulletclient method)": [[26, "compas_fab.backends.AnalyticalPyBulletClient.check_robot_self_collision"]], "connect() (compas_fab.backends.analyticalpybulletclient method)": [[27, "compas_fab.backends.AnalyticalPyBulletClient.connect"]], "convert_mesh_to_body() (compas_fab.backends.analyticalpybulletclient method)": [[28, "compas_fab.backends.AnalyticalPyBulletClient.convert_mesh_to_body"]], "disconnect() (compas_fab.backends.analyticalpybulletclient method)": [[29, "compas_fab.backends.AnalyticalPyBulletClient.disconnect"]], "ensure_cached_robot() (compas_fab.backends.analyticalpybulletclient static method)": [[30, "compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot"]], "ensure_cached_robot_geometry() (compas_fab.backends.analyticalpybulletclient static method)": [[31, "compas_fab.backends.AnalyticalPyBulletClient.ensure_cached_robot_geometry"]], "filter_configurations_in_collision() (compas_fab.backends.analyticalpybulletclient method)": [[32, "compas_fab.backends.AnalyticalPyBulletClient.filter_configurations_in_collision"]], "forward_kinematics() (compas_fab.backends.analyticalpybulletclient method)": [[33, "compas_fab.backends.AnalyticalPyBulletClient.forward_kinematics"]], "get_cached_robot() (compas_fab.backends.analyticalpybulletclient method)": [[34, "compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot"]], "get_cached_robot_filepath() (compas_fab.backends.analyticalpybulletclient method)": [[35, "compas_fab.backends.AnalyticalPyBulletClient.get_cached_robot_filepath"]], "get_planning_scene() (compas_fab.backends.analyticalpybulletclient method)": [[36, "compas_fab.backends.AnalyticalPyBulletClient.get_planning_scene"]], "get_robot_configuration() (compas_fab.backends.analyticalpybulletclient method)": [[37, "compas_fab.backends.AnalyticalPyBulletClient.get_robot_configuration"]], "get_uid() (compas_fab.backends.analyticalpybulletclient method)": [[38, "compas_fab.backends.AnalyticalPyBulletClient.get_uid"]], "inverse_kinematics() (compas_fab.backends.analyticalpybulletclient method)": [[39, "compas_fab.backends.AnalyticalPyBulletClient.inverse_kinematics"]], "load_robot() (compas_fab.backends.analyticalpybulletclient method)": [[40, "compas_fab.backends.AnalyticalPyBulletClient.load_robot"]], "load_semantics() (compas_fab.backends.analyticalpybulletclient method)": [[41, "compas_fab.backends.AnalyticalPyBulletClient.load_semantics"]], "load_ur5() (compas_fab.backends.analyticalpybulletclient method)": [[42, "compas_fab.backends.AnalyticalPyBulletClient.load_ur5"]], "plan_cartesian_motion() (compas_fab.backends.analyticalpybulletclient method)": [[43, "compas_fab.backends.AnalyticalPyBulletClient.plan_cartesian_motion"]], "plan_motion() (compas_fab.backends.analyticalpybulletclient 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781, 800], "special": [1, 777, 788], "focu": 1, "enabl": [1, 190, 428, 668, 670, 777], "its": [1, 21, 22, 24, 26, 28, 40, 42, 58, 93, 94, 96, 98, 100, 112, 114, 125, 126, 127, 222, 233, 234, 238, 253, 254, 258, 263, 264, 267, 276, 277, 281, 288, 289, 292, 299, 300, 303, 310, 311, 315, 321, 322, 326, 331, 332, 335, 342, 343, 346, 353, 354, 359, 367, 368, 372, 377, 378, 381, 399, 400, 404, 412, 413, 429, 435, 436, 439, 445, 446, 449, 461, 462, 466, 473, 474, 476, 477, 513, 514, 522, 523, 539, 552, 553, 556, 562, 563, 566, 574, 575, 579, 584, 585, 588, 594, 595, 597, 598, 606, 607, 613, 631, 669, 672, 674, 723, 725, 727, 755, 773, 774, 777, 779, 781, 787, 788, 789, 796], "usag": [1, 513, 671, 672, 673], "from": [1, 4, 5, 6, 13, 21, 27, 28, 29, 32, 40, 49, 73, 80, 82, 89, 93, 99, 100, 101, 104, 112, 121, 130, 133, 134, 141, 146, 148, 159, 160, 173, 174, 186, 190, 192, 193, 194, 195, 227, 228, 229, 230, 231, 232, 235, 246, 247, 248, 249, 251, 252, 255, 260, 261, 262, 269, 270, 271, 272, 273, 275, 283, 284, 287, 291, 294, 295, 296, 298, 305, 306, 309, 317, 318, 320, 324, 328, 329, 330, 334, 337, 338, 339, 341, 345, 348, 349, 350, 352, 358, 361, 362, 366, 374, 375, 376, 380, 385, 386, 387, 388, 391, 398, 403, 406, 407, 408, 411, 424, 425, 426, 428, 431, 432, 434, 438, 441, 442, 444, 448, 451, 452, 453, 454, 455, 456, 457, 460, 465, 469, 470, 472, 476, 479, 489, 490, 501, 513, 514, 521, 524, 525, 526, 527, 533, 538, 541, 542, 543, 551, 558, 559, 561, 568, 569, 573, 581, 582, 583, 590, 591, 593, 597, 599, 601, 602, 603, 604, 605, 613, 619, 631, 637, 650, 664, 670, 671, 672, 673, 674, 717, 719, 731, 732, 733, 734, 735, 749, 755, 761, 762, 764, 765, 770, 771, 773, 774, 775, 776, 778, 779, 780, 781, 783, 784, 785, 786, 787, 789, 791, 792, 794, 795, 796, 798, 799, 800, 801], "within": [1, 51, 358, 380, 383, 403, 448, 652, 653, 657, 661, 670, 672, 674, 770, 791, 799, 800], "environ": [1, 4, 5, 671, 673, 771, 777, 781, 796, 800], "The": [1, 6, 12, 13, 15, 22, 32, 34, 35, 37, 38, 40, 41, 45, 49, 50, 69, 73, 75, 78, 94, 104, 106, 107, 109, 110, 112, 113, 117, 121, 122, 125, 126, 128, 130, 136, 141, 143, 190, 193, 223, 224, 225, 226, 227, 229, 230, 231, 233, 234, 235, 236, 237, 239, 240, 241, 243, 244, 245, 246, 247, 248, 249, 250, 251, 253, 254, 255, 256, 257, 259, 260, 261, 263, 264, 265, 266, 270, 271, 276, 277, 278, 279, 280, 282, 283, 284, 288, 289, 290, 291, 293, 294, 295, 296, 297, 299, 300, 301, 305, 306, 310, 311, 313, 314, 316, 317, 318, 321, 322, 323, 324, 327, 328, 329, 331, 332, 333, 334, 336, 337, 338, 339, 340, 342, 343, 344, 345, 347, 348, 349, 350, 351, 353, 354, 355, 356, 358, 361, 362, 363, 367, 368, 370, 371, 373, 374, 375, 377, 378, 379, 380, 383, 384, 385, 386, 391, 393, 394, 395, 399, 400, 401, 403, 406, 407, 408, 412, 413, 415, 416, 417, 418, 420, 421, 422, 424, 426, 428, 430, 431, 432, 433, 435, 436, 437, 438, 440, 441, 442, 443, 445, 446, 447, 448, 451, 452, 453, 454, 455, 456, 457, 461, 462, 464, 465, 467, 468, 469, 470, 473, 474, 475, 476, 478, 480, 481, 488, 489, 490, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 511, 513, 514, 515, 516, 517, 518, 519, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 533, 534, 535, 536, 537, 538, 540, 541, 542, 543, 547, 548, 549, 550, 552, 553, 554, 555, 557, 558, 559, 560, 562, 563, 564, 565, 567, 568, 569, 574, 575, 577, 580, 581, 582, 584, 585, 586, 587, 589, 590, 591, 592, 594, 595, 596, 599, 600, 601, 602, 603, 604, 606, 607, 608, 609, 610, 613, 614, 623, 626, 630, 631, 632, 640, 643, 646, 652, 653, 654, 655, 656, 660, 662, 663, 664, 666, 670, 671, 672, 673, 674, 681, 695, 699, 701, 703, 723, 725, 729, 731, 746, 749, 752, 756, 770, 773, 774, 776, 777, 778, 779, 781, 782, 783, 784, 785, 786, 787, 788, 789, 791, 792, 794, 796, 797, 798, 799, 800, 801], "core": [1, 516, 517, 672], "featur": [1, 52, 129, 131, 132, 135, 614, 618, 628, 632, 636, 644, 647, 671, 672, 675, 677, 679, 681, 694, 696, 698, 699, 700, 702, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 718, 720, 786], "locat": [1, 770, 774, 777, 778, 781, 788, 796, 797], "implement": [1, 2, 62, 124, 143, 184, 488, 513, 514, 516, 517, 520, 555, 672, 673, 675, 677, 679, 681, 694, 696, 698, 700, 702, 716, 718, 720], "motion": [1, 15, 75, 76, 77, 78, 79, 291, 314, 428, 438, 516, 517, 555, 578, 587, 669, 672, 674, 700, 701, 702, 703, 751, 752, 753, 754, 756, 757, 771, 776, 779, 780, 785, 788, 800], "main": [1, 13, 49, 73, 75, 78, 121, 128, 130, 188, 224, 226, 241, 245, 422, 476, 478, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 524, 525, 526, 527, 528, 529, 530, 538, 547, 548, 549, 550, 670, 673, 729, 731, 749, 752, 756, 788], "class": [1, 2, 4, 5, 9, 12, 13, 14, 17, 53, 58, 62, 73, 75, 78, 86, 89, 124, 130, 136, 190, 197, 200, 203, 206, 209, 212, 215, 218, 221, 222, 237, 238, 257, 258, 266, 267, 280, 281, 291, 292, 302, 303, 314, 315, 324, 325, 326, 334, 335, 339, 345, 346, 350, 356, 358, 359, 363, 371, 372, 380, 381, 403, 404, 406, 416, 417, 422, 428, 429, 438, 439, 448, 449, 465, 466, 476, 477, 488, 533, 538, 539, 555, 556, 565, 566, 578, 579, 587, 588, 597, 598, 613, 621, 631, 639, 650, 651, 672, 674, 675, 677, 679, 681, 682, 694, 696, 698, 700, 702, 704, 716, 718, 720, 722, 724, 726, 728, 730, 731, 732, 734, 736, 739, 742, 745, 748, 749, 751, 752, 755, 756, 758, 761, 764, 767, 773, 774, 776, 777, 779, 783, 792], "path": [1, 13, 15, 21, 40, 41, 56, 75, 78, 93, 112, 113, 229, 233, 248, 253, 260, 263, 270, 276, 283, 288, 291, 294, 299, 305, 310, 314, 317, 321, 328, 331, 334, 337, 342, 348, 353, 361, 367, 374, 377, 385, 399, 407, 412, 428, 431, 435, 441, 445, 453, 461, 469, 473, 489, 516, 517, 522, 541, 543, 552, 558, 562, 568, 574, 581, 584, 590, 594, 601, 606, 660, 663, 664, 666, 701, 703, 751, 752, 755, 756, 770, 777, 780, 784, 785, 788, 789, 794, 796, 798, 799], "scene": [1, 40, 65, 67, 71, 82, 84, 112, 126, 127, 134, 221, 223, 237, 239, 242, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 476, 672, 678, 680, 682, 696, 697, 704, 719, 720, 721, 724, 725, 726, 727, 734, 735, 739, 740, 742, 743, 758, 759, 764, 765, 767, 768, 771, 777, 780, 800], "target": [1, 78, 79, 130, 291, 296, 297, 314, 319, 334, 339, 340, 345, 350, 351, 358, 363, 406, 428, 433, 438, 443, 452, 476, 517, 587, 592, 672, 703, 731, 755, 756, 757, 771, 774, 775, 783, 784, 792, 794, 800], "waypoint": [1, 15, 43, 75, 76, 77, 291, 314, 345, 350, 351, 438, 443, 516, 517, 672, 701, 752, 753, 754, 771, 775, 784, 794, 800], "constraint": [1, 50, 73, 75, 78, 122, 314, 358, 363, 364, 365, 369, 403, 406, 409, 410, 448, 451, 452, 455, 456, 457, 459, 516, 517, 555, 672, 749, 752, 756, 779, 784, 796], "built": [1, 533, 672, 770, 774, 787, 796, 799, 800], "unit": [1, 75, 291, 296, 297, 334, 340, 345, 351, 356, 363, 428, 438, 452, 456, 516, 668, 752], "convers": [1, 222, 238, 258, 267, 281, 292, 303, 315, 326, 335, 346, 359, 372, 381, 404, 429, 439, 449, 466, 477, 539, 556, 566, 579, 588, 598, 672], "ro": [1, 71, 73, 76, 136, 142, 144, 145, 146, 147, 148, 150, 152, 154, 156, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 176, 185, 186, 189, 190, 193, 194, 195, 196, 516, 517, 668, 672, 736, 739, 742, 745, 748, 749, 751, 753, 755, 758, 759, 761, 764, 767, 771, 774, 775, 776, 778, 779, 783, 784, 785, 787, 788, 789, 796, 799, 800], "pybullet": [1, 17, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 34, 35, 38, 40, 41, 42, 45, 57, 89, 93, 94, 96, 97, 98, 99, 100, 101, 102, 103, 106, 107, 110, 112, 113, 114, 117, 123, 124, 668, 672, 722, 724, 726, 728, 730, 732, 734, 771, 792, 800], "analyt": [1, 9, 17, 200, 203, 206, 209, 212, 215, 218, 465, 467, 513, 514, 672, 771, 796, 800], "kinemat": [1, 12, 13, 17, 32, 60, 61, 69, 73, 75, 104, 128, 130, 465, 467, 476, 488, 509, 513, 514, 555, 587, 672, 674, 694, 695, 698, 699, 728, 729, 730, 731, 745, 746, 748, 749, 752, 771, 775, 780, 784, 788, 789, 790, 796, 800], "long": [1, 53, 141, 513, 654, 655, 656, 672, 781], "run": [1, 53, 78, 176, 184, 668, 669, 670, 671, 672, 673, 756, 771, 777, 782, 783, 784, 785, 787, 789, 791, 800], "task": [1, 152, 428, 438, 587, 670, 672, 673, 779], "except": [1, 22, 34, 35, 51, 52, 55, 56, 57, 59, 60, 61, 73, 94, 106, 107, 123, 141, 145, 150, 152, 189, 196, 314, 423, 485, 486, 487, 491, 492, 648, 649, 672, 749], "interfac": [1, 4, 5, 7, 12, 62, 89, 124, 136, 476, 613, 631, 650, 668, 670, 671, 672, 675, 677, 679, 681, 682, 694, 696, 698, 700, 702, 704, 716, 718, 720, 777, 788, 791, 800], "follow": [1, 6, 13, 15, 49, 69, 73, 75, 78, 121, 125, 126, 127, 128, 130, 133, 152, 488, 516, 517, 538, 667, 670, 671, 672, 674, 701, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756, 774, 776, 777, 778, 781, 782, 783, 784, 785, 786, 787, 788, 789, 791, 794, 796, 798, 799, 801], "differ": [1, 73, 78, 130, 173, 314, 363, 391, 393, 488, 513, 514, 555, 587, 613, 631, 658, 668, 670, 672, 731, 749, 756, 771, 776, 781, 787, 788, 789, 798], "packag": [2, 6, 7, 8, 40, 112, 173, 190, 191, 667, 670, 672, 674, 771, 775, 777, 780, 786, 787, 789, 799, 800], "contain": [2, 6, 7, 8, 13, 15, 63, 65, 67, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 142, 145, 162, 193, 194, 195, 229, 230, 237, 248, 249, 260, 261, 266, 270, 271, 283, 284, 294, 295, 305, 306, 317, 318, 328, 329, 337, 338, 348, 349, 361, 362, 374, 375, 385, 386, 407, 408, 431, 432, 441, 442, 453, 454, 469, 470, 488, 489, 490, 513, 514, 516, 517, 533, 534, 535, 536, 537, 538, 541, 542, 558, 559, 568, 569, 581, 582, 590, 591, 601, 602, 626, 643, 664, 669, 670, 671, 672, 673, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 737, 740, 743, 746, 749, 752, 756, 778, 779, 785, 787, 788, 789], "simul": [2, 6, 50, 122, 669, 674], "interact": [2, 771, 782], "moveit": [2, 62, 70, 74, 76, 77, 79, 136, 150, 152, 671, 672, 747, 750, 753, 754, 757, 771, 778, 779, 780, 782, 783, 784, 785, 789, 800], "pure": 2, "python": [2, 669, 672, 673, 770, 771, 781, 791, 799, 800], "For": [2, 13, 21, 40, 93, 112, 136, 228, 247, 334, 428, 516, 604, 654, 655, 656, 668, 670, 671, 674, 777, 779, 787, 789, 794, 796, 797, 798, 799], "about": [2, 324, 403, 406, 512, 673, 777], "new": [2, 28, 100, 250, 395, 670, 672, 674, 770, 787, 788, 789, 791, 794], "check": [2, 13, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 40, 42, 93, 94, 95, 96, 97, 98, 100, 102, 103, 104, 112, 114, 125, 126, 127, 136, 485, 486, 487, 488, 513, 514, 516, 517, 518, 617, 635, 668, 670, 672, 673, 723, 725, 727, 773, 787, 788, 789, 794, 796, 798, 799], "client": [2, 12, 17, 89, 136, 140, 173, 184, 190, 417, 418, 420, 421, 422, 423, 424, 426, 476, 485, 488, 513, 516, 517, 534, 535, 536, 537, 538, 669, 672, 673, 676, 678, 680, 681, 682, 695, 697, 699, 701, 703, 704, 717, 719, 721, 781, 782, 783, 784, 785, 791, 792, 794, 796, 800], "document": [2, 516, 668, 670, 672, 674, 785, 786, 799, 801], "In": [4, 5, 334, 345, 428, 516, 668, 670, 672, 776, 777, 779, 784, 785, 787, 794, 796, 797, 798], "assist": [4, 5, 777, 780], "visual": [4, 5, 49, 121, 476, 484, 530, 533, 565, 668, 669, 672, 771, 775, 786, 787, 789, 795, 797, 798], "datastructur": [4, 5, 28, 100, 192, 193, 231, 232, 235, 251, 252, 255, 262, 266, 272, 275, 280, 287, 298, 309, 320, 330, 341, 352, 366, 376, 398, 411, 434, 444, 455, 460, 472, 521, 551, 561, 565, 573, 583, 593, 605, 777, 785, 791], "model": [4, 5, 6, 22, 34, 35, 38, 40, 45, 69, 73, 94, 106, 107, 110, 112, 117, 173, 190, 194, 195, 221, 237, 257, 296, 340, 351, 418, 476, 478, 479, 486, 488, 507, 533, 534, 535, 536, 537, 538, 543, 546, 549, 560, 565, 592, 669, 670, 672, 746, 749, 771, 774, 778, 780, 783, 787, 789, 796, 800], "wai": [4, 5, 668, 670, 673, 771, 773, 777, 781, 782, 783, 799], "maintain": [4, 5, 674, 777, 796], "data": [4, 5, 193, 223, 225, 229, 230, 232, 233, 234, 236, 239, 244, 248, 249, 252, 253, 254, 256, 257, 259, 260, 261, 262, 263, 264, 265, 266, 270, 271, 275, 276, 277, 279, 280, 282, 283, 284, 287, 288, 289, 290, 293, 294, 295, 298, 299, 300, 301, 302, 305, 306, 309, 310, 311, 313, 316, 317, 318, 320, 321, 322, 323, 325, 327, 328, 329, 330, 331, 332, 333, 336, 337, 338, 341, 342, 343, 344, 347, 348, 349, 352, 353, 354, 355, 356, 361, 362, 366, 367, 368, 370, 371, 373, 374, 375, 376, 377, 378, 379, 380, 384, 385, 386, 398, 399, 400, 401, 407, 408, 411, 412, 413, 415, 430, 431, 432, 434, 435, 436, 437, 440, 441, 442, 444, 445, 446, 447, 453, 454, 460, 461, 462, 464, 465, 468, 469, 470, 472, 473, 474, 475, 476, 480, 489, 490, 521, 522, 523, 531, 538, 540, 541, 542, 551, 552, 553, 554, 555, 557, 558, 559, 561, 562, 563, 564, 565, 567, 568, 569, 573, 574, 575, 577, 578, 580, 581, 582, 583, 584, 585, 586, 587, 589, 590, 591, 593, 594, 595, 596, 597, 599, 601, 602, 605, 606, 607, 610, 613, 620, 626, 631, 638, 643, 664, 666, 672, 777, 778, 781, 796, 798], "separ": [4, 5, 176, 597, 663, 672, 777, 791], "specif": [4, 5, 157, 173, 314, 471, 488, 513, 514, 516, 517, 628, 644, 647, 674, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 770, 774, 777, 779, 796, 798, 799], "while": [4, 5, 668, 669, 674, 777, 781, 785, 787, 791], "leverag": [4, 5, 777], "nativ": [4, 5, 76, 233, 234, 253, 254, 263, 264, 276, 277, 288, 289, 299, 300, 310, 311, 321, 322, 331, 332, 342, 343, 353, 354, 367, 368, 377, 378, 399, 400, 412, 413, 435, 436, 445, 446, 461, 462, 473, 474, 522, 523, 552, 553, 562, 563, 574, 575, 584, 585, 594, 595, 606, 607, 753, 777], "perform": [4, 5, 50, 78, 122, 314, 661, 674, 756, 777, 779, 787], "exchang": 6, "inform": [6, 41, 113, 380, 476, 512, 516, 538, 672, 772, 776, 780], "system": [6, 69, 128, 190, 240, 246, 247, 387, 488, 524, 525, 526, 527, 668, 671, 673, 695, 729, 746, 770, 773, 774, 778, 781, 783, 787, 791, 792, 800], "most": [6, 479, 670, 777, 779, 787], "commonli": [6, 779], "meter": [6, 291, 296, 297, 334, 340, 345, 351, 356, 380, 387, 597, 604, 787, 789], "radian": [6, 291, 296, 297, 324, 334, 345, 358, 363, 380, 387, 388, 403, 406, 416, 517, 611, 612, 784, 796, 797, 798], "help": [6, 673, 776, 788], "convert": [6, 28, 76, 100, 222, 233, 234, 238, 253, 254, 258, 263, 264, 267, 276, 277, 281, 288, 289, 292, 299, 300, 303, 310, 311, 315, 321, 322, 325, 326, 331, 332, 335, 342, 343, 346, 353, 354, 359, 367, 368, 372, 377, 378, 381, 399, 400, 404, 412, 413, 429, 435, 436, 439, 445, 446, 449, 461, 462, 466, 473, 474, 477, 491, 492, 522, 523, 539, 552, 553, 556, 562, 563, 566, 570, 571, 574, 575, 579, 584, 585, 588, 594, 595, 598, 606, 607, 611, 612, 659, 672, 753, 778], "one": [6, 13, 78, 150, 152, 250, 266, 302, 324, 363, 403, 406, 421, 428, 513, 514, 515, 517, 538, 587, 613, 621, 626, 631, 639, 643, 662, 670, 672, 673, 674, 756, 774, 781, 787, 788, 794, 797, 799], "other": [6, 69, 128, 222, 238, 258, 267, 281, 292, 297, 302, 303, 315, 326, 335, 346, 358, 359, 372, 381, 383, 391, 393, 394, 395, 403, 404, 406, 429, 439, 448, 449, 451, 452, 455, 456, 457, 466, 477, 488, 514, 539, 556, 566, 579, 588, 598, 662, 668, 672, 695, 699, 729, 746, 773, 781, 785, 791, 801], "common": [7, 421, 670, 674, 773, 779], "variou": [7, 672, 673, 674, 773, 776], "vendor": 7, "set": [8, 13, 27, 49, 73, 78, 89, 99, 121, 186, 296, 314, 356, 419, 423, 428, 467, 476, 485, 487, 492, 498, 499, 500, 538, 623, 625, 628, 640, 642, 644, 647, 668, 670, 671, 672, 749, 756, 777, 787, 788, 794, 796, 798, 799], "sourc": [9, 10, 11, 12, 13, 14, 15, 16, 17, 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, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 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, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 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, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 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, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 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, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 669, 670, 672, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 778, 787, 788, 789, 796, 799, 800], "base": [9, 12, 14, 17, 51, 52, 53, 56, 57, 58, 60, 61, 62, 69, 73, 75, 78, 86, 89, 123, 124, 136, 189, 190, 196, 197, 200, 203, 206, 209, 212, 215, 218, 221, 237, 257, 266, 280, 291, 296, 302, 314, 324, 325, 334, 345, 356, 358, 371, 380, 403, 416, 417, 428, 438, 448, 465, 476, 479, 495, 496, 497, 514, 533, 538, 543, 544, 545, 547, 555, 565, 578, 587, 597, 613, 631, 648, 649, 650, 651, 669, 670, 671, 672, 675, 677, 679, 681, 682, 694, 696, 698, 700, 702, 704, 716, 718, 720, 722, 724, 726, 728, 730, 732, 734, 736, 739, 742, 745, 746, 748, 749, 751, 752, 755, 756, 758, 761, 764, 767, 773, 774, 779, 781, 783, 787, 788, 789, 800], "sphericalwristkinemat": [9, 200], "ik": [9, 12, 13, 60, 74, 200, 203, 206, 209, 212, 215, 218, 228, 247, 465, 471, 513, 514, 672, 750, 794, 796], "solver": [9, 12, 13, 60, 61, 130, 200, 203, 206, 209, 212, 215, 218, 465, 467, 488, 513, 514, 672, 731, 788, 794, 796], "abb": [9, 534, 535, 670, 773, 777, 778], "irb4600": [9, 534, 670], "40": [9, 534, 670, 778, 797, 798], "255": [9, 670], "inherit": [9, 17, 53, 62, 89, 124, 136, 200, 203, 206, 209, 212, 215, 218, 221, 237, 257, 266, 280, 291, 302, 314, 325, 334, 345, 358, 371, 380, 403, 428, 438, 448, 465, 476, 538, 555, 565, 578, 587, 597, 672, 674], "method": [9, 12, 14, 17, 18, 19, 20, 28, 33, 36, 39, 43, 44, 46, 47, 48, 50, 53, 54, 55, 58, 59, 62, 86, 89, 90, 91, 92, 100, 105, 108, 111, 115, 116, 118, 119, 120, 122, 124, 129, 131, 132, 135, 136, 137, 138, 139, 150, 153, 161, 172, 177, 178, 179, 180, 181, 190, 197, 200, 203, 206, 209, 212, 215, 218, 221, 222, 224, 226, 237, 238, 241, 245, 257, 258, 266, 267, 280, 281, 291, 292, 302, 303, 314, 315, 325, 326, 334, 335, 345, 346, 356, 358, 359, 371, 372, 380, 381, 403, 404, 417, 428, 429, 438, 439, 448, 449, 465, 466, 476, 477, 488, 513, 514, 533, 538, 539, 555, 556, 565, 566, 578, 579, 587, 588, 597, 598, 613, 616, 619, 626, 631, 634, 637, 643, 672, 674, 675, 677, 679, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 696, 698, 700, 702, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 718, 720, 722, 724, 726, 728, 730, 732, 734, 736, 739, 742, 745, 748, 751, 755, 758, 761, 764, 767, 773, 791, 796], "joint_valu": [10, 87, 198, 201, 204, 207, 210, 213, 216, 219, 291, 380, 383, 391, 517, 672, 784, 794], "frame_rcf": [11, 88, 199, 202, 205, 208, 211, 214, 217, 220, 524, 525, 672, 774], "inversekinemat": [12, 672, 674, 730, 748, 800], "callabl": [12, 141, 143, 144, 150, 152, 162, 174, 175, 176, 674, 722, 724, 726, 728, 730, 732, 734, 736, 739, 742, 745, 748, 751, 755, 758, 761, 764, 767, 770], "calcul": [12, 13, 15, 21, 49, 69, 73, 75, 78, 93, 121, 128, 130, 227, 246, 324, 371, 391, 465, 488, 513, 514, 516, 517, 528, 529, 672, 674, 695, 699, 701, 703, 728, 729, 730, 731, 745, 746, 748, 749, 751, 752, 756, 783, 789, 792, 794, 796, 798], "": [12, 13, 15, 22, 28, 34, 35, 37, 38, 45, 49, 69, 73, 75, 78, 89, 94, 100, 106, 107, 109, 110, 117, 121, 128, 130, 136, 140, 173, 236, 256, 257, 265, 279, 290, 291, 301, 313, 314, 323, 333, 334, 339, 344, 345, 350, 355, 363, 370, 379, 383, 391, 393, 401, 403, 406, 415, 418, 419, 420, 421, 422, 423, 425, 428, 437, 438, 447, 452, 456, 464, 467, 475, 476, 478, 479, 483, 484, 486, 488, 491, 492, 495, 496, 497, 500, 501, 502, 503, 504, 505, 513, 514, 515, 516, 517, 524, 525, 526, 527, 528, 529, 530, 531, 554, 564, 565, 570, 571, 577, 586, 596, 604, 610, 613, 622, 626, 631, 643, 652, 653, 654, 655, 656, 659, 667, 668, 670, 672, 675, 677, 679, 694, 695, 696, 698, 699, 700, 701, 702, 703, 716, 718, 720, 728, 729, 730, 731, 745, 746, 748, 749, 752, 756, 774, 776, 777, 779, 781, 783, 785, 787, 789, 792, 796, 800], "invers": [12, 13, 17, 32, 69, 73, 104, 128, 130, 465, 467, 513, 514, 672, 674, 698, 699, 729, 730, 731, 746, 748, 749, 771, 780, 790, 793, 796, 800], "given": [12, 13, 21, 25, 28, 49, 73, 93, 97, 100, 121, 125, 126, 130, 140, 141, 143, 144, 191, 192, 193, 228, 247, 250, 291, 314, 334, 406, 428, 488, 507, 508, 511, 513, 515, 653, 699, 723, 725, 730, 731, 748, 749, 797], "frame": [12, 13, 28, 69, 73, 100, 125, 128, 130, 227, 228, 246, 247, 269, 273, 280, 334, 339, 340, 345, 350, 351, 356, 403, 406, 428, 438, 451, 452, 465, 467, 471, 478, 488, 491, 492, 493, 495, 502, 513, 514, 516, 517, 520, 524, 525, 529, 565, 570, 571, 587, 604, 659, 672, 674, 695, 699, 723, 729, 730, 731, 746, 748, 749, 771, 772, 776, 779, 783, 784, 785, 787, 788, 789, 792, 794, 795, 796, 798, 800], "paramet": [12, 13, 15, 21, 22, 24, 25, 26, 27, 28, 32, 34, 35, 37, 38, 40, 41, 42, 45, 49, 63, 65, 67, 69, 71, 73, 75, 78, 80, 82, 84, 89, 93, 94, 96, 97, 98, 99, 100, 104, 106, 107, 109, 110, 112, 113, 114, 117, 121, 125, 126, 127, 128, 130, 133, 134, 136, 148, 150, 152, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 186, 190, 191, 192, 193, 194, 195, 221, 223, 225, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 239, 240, 243, 244, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 259, 260, 261, 262, 263, 264, 265, 266, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 282, 283, 284, 285, 286, 287, 288, 289, 290, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 305, 306, 308, 309, 310, 311, 313, 316, 317, 318, 320, 321, 322, 323, 324, 325, 327, 328, 329, 330, 331, 332, 333, 334, 336, 337, 338, 339, 340, 341, 342, 343, 344, 347, 348, 349, 350, 351, 352, 353, 354, 355, 358, 361, 362, 363, 364, 365, 366, 367, 368, 370, 371, 373, 374, 375, 376, 377, 378, 379, 380, 383, 384, 385, 386, 387, 388, 391, 393, 394, 395, 396, 397, 398, 399, 400, 401, 403, 406, 407, 408, 410, 411, 412, 413, 414, 415, 416, 417, 418, 420, 421, 422, 424, 426, 430, 431, 432, 433, 434, 435, 436, 437, 440, 441, 442, 443, 444, 445, 446, 447, 448, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 467, 468, 469, 470, 472, 473, 474, 475, 476, 478, 479, 480, 481, 488, 489, 490, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 511, 513, 514, 515, 516, 517, 518, 519, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 534, 535, 536, 537, 538, 540, 541, 542, 543, 547, 548, 549, 550, 551, 552, 553, 554, 557, 558, 559, 560, 561, 562, 563, 564, 565, 567, 568, 569, 570, 571, 573, 574, 575, 577, 580, 581, 582, 583, 584, 585, 586, 589, 590, 591, 592, 593, 594, 595, 596, 599, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 626, 627, 629, 630, 643, 645, 646, 659, 660, 663, 664, 665, 666, 672, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 752, 756, 759, 762, 765, 768, 781, 787, 789, 794], "clientinterfac": [12, 89, 136, 417, 476, 672, 674, 681, 800], "option": [12, 13, 15, 21, 28, 39, 42, 43, 49, 63, 65, 67, 69, 70, 71, 73, 74, 75, 76, 77, 78, 79, 80, 82, 84, 93, 100, 114, 121, 125, 126, 127, 128, 130, 133, 134, 173, 190, 193, 194, 195, 221, 225, 227, 228, 232, 233, 234, 235, 237, 243, 244, 246, 247, 252, 253, 254, 255, 257, 259, 262, 263, 264, 275, 276, 277, 280, 282, 287, 288, 289, 291, 293, 298, 299, 300, 302, 309, 310, 311, 314, 316, 320, 321, 322, 327, 330, 331, 332, 334, 336, 339, 341, 342, 343, 345, 347, 350, 352, 353, 354, 358, 366, 367, 368, 371, 373, 376, 377, 378, 380, 384, 387, 388, 398, 399, 400, 403, 406, 411, 412, 413, 418, 420, 421, 422, 428, 430, 434, 435, 436, 438, 440, 444, 445, 446, 448, 451, 452, 460, 461, 462, 467, 468, 472, 473, 474, 478, 479, 480, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 534, 535, 536, 537, 538, 540, 547, 548, 549, 550, 551, 552, 553, 555, 557, 561, 562, 563, 567, 573, 574, 575, 580, 583, 584, 585, 587, 589, 593, 594, 595, 605, 606, 607, 626, 643, 660, 663, 668, 670, 671, 672, 674, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 747, 749, 750, 752, 753, 754, 756, 757, 759, 762, 765, 768, 783, 784, 785, 787, 788, 789, 792, 794, 796, 798], "commun": [12, 76, 189, 476, 613, 616, 619, 631, 634, 637, 650, 670, 753, 781], "str": [12, 13, 15, 21, 28, 34, 40, 41, 49, 69, 73, 75, 78, 80, 82, 89, 93, 100, 106, 112, 113, 121, 128, 130, 133, 134, 136, 140, 165, 169, 173, 174, 175, 190, 191, 192, 193, 194, 195, 227, 229, 230, 232, 233, 234, 237, 240, 243, 246, 248, 249, 250, 252, 253, 254, 257, 260, 261, 262, 263, 264, 270, 271, 275, 276, 277, 280, 283, 284, 287, 288, 289, 291, 294, 295, 298, 299, 300, 305, 306, 309, 310, 311, 314, 317, 318, 320, 321, 322, 328, 329, 330, 331, 332, 334, 337, 338, 339, 341, 342, 343, 345, 348, 349, 350, 352, 353, 354, 358, 361, 362, 366, 367, 368, 371, 374, 375, 376, 377, 378, 385, 386, 387, 388, 398, 399, 400, 403, 406, 407, 408, 411, 412, 413, 422, 424, 426, 428, 431, 432, 434, 435, 436, 438, 441, 442, 444, 445, 446, 448, 451, 452, 453, 454, 455, 456, 457, 460, 461, 462, 469, 470, 472, 473, 474, 476, 478, 479, 481, 488, 489, 490, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 513, 514, 515, 516, 517, 518, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 538, 541, 542, 543, 547, 548, 549, 550, 551, 552, 553, 555, 558, 559, 561, 562, 563, 565, 568, 569, 573, 574, 575, 581, 582, 583, 584, 585, 587, 590, 591, 593, 594, 595, 601, 602, 605, 606, 607, 660, 663, 664, 666, 695, 699, 701, 703, 717, 719, 729, 731, 733, 735, 746, 749, 752, 756, 762, 765, 783], "note": [12, 13, 15, 28, 40, 69, 75, 78, 100, 112, 136, 140, 148, 150, 152, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 186, 266, 302, 356, 363, 394, 395, 403, 406, 428, 465, 488, 498, 499, 500, 516, 517, 518, 555, 587, 604, 616, 619, 621, 622, 630, 634, 637, 639, 646, 654, 655, 656, 667, 671, 699, 746, 752, 756, 779, 788, 791, 792, 798, 799], "onli": [12, 13, 15, 21, 93, 130, 173, 190, 228, 235, 247, 255, 297, 314, 325, 363, 396, 397, 403, 406, 428, 452, 465, 467, 476, 479, 513, 538, 555, 565, 587, 613, 614, 616, 619, 621, 626, 631, 632, 634, 637, 639, 643, 651, 670, 671, 672, 731, 770, 779, 785, 788, 789, 791, 796, 797, 799], "industri": [12, 13, 228, 247, 773, 776, 777, 787, 789, 794], "arm": [12, 538, 778, 794], "six": 12, "revolut": [12, 13, 15, 291, 296, 297, 380, 387, 388, 391, 774, 776, 794], "joint": [12, 13, 15, 49, 69, 73, 75, 78, 121, 128, 130, 150, 152, 291, 296, 297, 302, 314, 358, 363, 364, 371, 380, 382, 387, 388, 391, 393, 394, 395, 396, 397, 479, 488, 495, 498, 499, 500, 502, 505, 507, 508, 511, 513, 514, 515, 516, 517, 530, 532, 538, 546, 548, 549, 555, 672, 695, 699, 701, 703, 729, 731, 746, 749, 752, 755, 756, 774, 775, 779, 780, 783, 787, 789, 792, 794], "If": [12, 13, 21, 22, 25, 28, 34, 35, 49, 54, 55, 59, 69, 73, 75, 93, 94, 97, 100, 106, 107, 121, 126, 128, 130, 142, 145, 173, 174, 176, 185, 223, 227, 228, 229, 230, 232, 233, 234, 235, 239, 246, 247, 248, 249, 252, 253, 254, 255, 260, 261, 262, 263, 264, 270, 271, 275, 276, 277, 283, 284, 287, 288, 289, 291, 294, 295, 298, 299, 300, 305, 306, 309, 310, 311, 317, 318, 320, 321, 322, 325, 328, 329, 330, 331, 332, 334, 337, 338, 339, 340, 341, 342, 343, 345, 348, 349, 350, 351, 352, 353, 354, 361, 362, 363, 366, 367, 368, 374, 375, 376, 377, 378, 385, 386, 391, 394, 395, 398, 399, 400, 403, 406, 407, 408, 411, 412, 413, 418, 420, 421, 422, 423, 428, 431, 432, 434, 435, 436, 438, 441, 442, 444, 445, 446, 452, 453, 454, 460, 461, 462, 467, 469, 470, 472, 473, 474, 485, 486, 487, 488, 489, 490, 491, 492, 498, 499, 500, 511, 513, 514, 515, 521, 522, 523, 532, 541, 542, 551, 552, 553, 558, 559, 560, 561, 562, 563, 568, 569, 573, 574, 575, 581, 582, 583, 584, 585, 590, 591, 592, 593, 594, 595, 601, 602, 605, 606, 607, 658, 667, 668, 673, 695, 725, 729, 731, 746, 749, 752, 776, 781, 787, 788, 791, 796, 799], "check_collis": [12, 13, 128, 729, 794, 796], "i": [12, 13, 15, 21, 24, 25, 26, 28, 40, 49, 50, 54, 69, 73, 75, 76, 78, 89, 93, 96, 97, 98, 100, 112, 121, 122, 125, 126, 128, 130, 136, 142, 143, 144, 145, 150, 152, 173, 175, 176, 182, 185, 190, 227, 229, 230, 235, 236, 246, 248, 249, 255, 256, 257, 260, 261, 265, 270, 271, 279, 280, 283, 284, 290, 291, 294, 295, 296, 301, 305, 306, 313, 314, 317, 318, 323, 325, 328, 329, 333, 334, 337, 338, 339, 340, 344, 345, 348, 349, 350, 351, 355, 356, 361, 362, 363, 370, 374, 375, 379, 380, 382, 385, 386, 391, 394, 395, 396, 397, 401, 403, 406, 407, 408, 415, 419, 420, 423, 428, 431, 432, 437, 438, 441, 442, 447, 452, 453, 454, 464, 467, 469, 470, 475, 476, 478, 485, 487, 488, 489, 490, 492, 495, 498, 499, 500, 502, 513, 514, 515, 516, 517, 518, 531, 532, 534, 535, 536, 537, 538, 541, 542, 543, 546, 549, 554, 558, 559, 560, 564, 565, 568, 569, 577, 581, 582, 586, 587, 590, 591, 592, 596, 601, 602, 610, 613, 614, 617, 621, 622, 626, 631, 632, 635, 639, 643, 652, 653, 654, 655, 656, 660, 662, 667, 668, 669, 670, 671, 672, 673, 674, 695, 699, 701, 703, 723, 725, 729, 731, 746, 749, 752, 753, 756, 770, 773, 774, 776, 777, 778, 779, 781, 782, 783, 785, 786, 787, 788, 789, 791, 792, 794, 796, 797, 798, 799, 801], "true": [12, 13, 21, 22, 27, 28, 40, 42, 54, 73, 75, 89, 93, 94, 99, 100, 112, 114, 125, 126, 127, 128, 130, 136, 173, 176, 190, 191, 232, 233, 234, 252, 253, 254, 262, 263, 264, 275, 276, 277, 287, 288, 289, 298, 299, 300, 309, 310, 311, 320, 321, 322, 330, 331, 332, 341, 342, 343, 352, 353, 354, 366, 367, 368, 376, 377, 378, 383, 391, 398, 399, 400, 411, 412, 413, 418, 420, 421, 422, 434, 435, 436, 444, 445, 446, 460, 461, 462, 472, 473, 474, 488, 513, 514, 516, 521, 522, 523, 530, 534, 535, 536, 537, 551, 552, 553, 561, 562, 563, 573, 574, 575, 583, 584, 585, 593, 594, 595, 605, 606, 607, 652, 671, 723, 725, 727, 729, 731, 749, 752, 777, 781, 784, 785, 787, 788, 789, 791, 794, 796], "requir": [12, 40, 112, 150, 152, 184, 314, 614, 632, 670, 673, 674, 770, 783, 787, 789, 791, 792, 794], "support": [12, 52, 77, 150, 152, 266, 314, 319, 516, 555, 587, 669, 671, 672, 681, 754, 771, 777, 779, 781, 787, 789, 794, 799], "so": [12, 89, 136, 533, 613, 631, 770, 801], "now": [12, 422, 670, 672, 674, 781, 787, 788, 789, 796, 797, 798], "pybulletcli": [12, 17, 128, 538, 672, 729, 791, 792, 794, 796], "frame_wcf": [13, 39, 73, 74, 130, 406, 452, 513, 514, 524, 525, 672, 674, 699, 731, 749, 750, 774, 783, 792, 794], "start_configur": [13, 15, 39, 43, 73, 74, 75, 76, 77, 78, 79, 130, 371, 513, 514, 516, 517, 672, 674, 699, 701, 703, 731, 749, 750, 752, 753, 754, 755, 756, 757, 783, 784, 792, 794], "none": [13, 15, 25, 27, 28, 32, 39, 40, 43, 49, 55, 59, 63, 65, 67, 69, 71, 73, 74, 75, 76, 77, 78, 79, 80, 82, 84, 97, 99, 100, 104, 112, 121, 125, 126, 127, 128, 130, 133, 134, 148, 150, 152, 154, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 173, 174, 186, 193, 225, 227, 228, 231, 240, 242, 243, 244, 246, 247, 251, 259, 282, 293, 316, 324, 327, 336, 339, 347, 350, 373, 384, 387, 388, 389, 396, 397, 406, 416, 418, 419, 420, 421, 422, 424, 426, 430, 440, 452, 467, 468, 476, 478, 479, 480, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 519, 520, 524, 525, 526, 527, 528, 529, 530, 532, 534, 535, 536, 537, 540, 547, 548, 549, 550, 557, 565, 567, 576, 580, 589, 608, 620, 626, 638, 643, 660, 672, 674, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 750, 752, 753, 754, 756, 757, 759, 762, 765, 768, 794], "group": [13, 15, 39, 43, 49, 69, 73, 74, 75, 76, 77, 78, 79, 121, 128, 130, 240, 250, 291, 334, 406, 419, 421, 422, 428, 452, 476, 478, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 509, 511, 513, 514, 515, 516, 517, 518, 520, 524, 525, 526, 527, 528, 529, 530, 532, 538, 547, 548, 549, 550, 672, 674, 695, 699, 701, 703, 729, 731, 746, 749, 750, 752, 753, 754, 756, 757, 779, 780, 784], "6": [13, 15, 130, 228, 247, 325, 403, 406, 513, 514, 516, 603, 629, 672, 731, 774, 778, 784, 787, 792, 794, 797], "axi": [13, 77, 228, 247, 324, 387, 403, 406, 416, 428, 433, 438, 443, 754, 773, 774, 776, 779, 787, 789, 794, 795, 796], "return": [13, 15, 21, 27, 28, 32, 34, 35, 37, 38, 42, 54, 55, 59, 63, 65, 67, 69, 71, 73, 75, 78, 80, 82, 84, 93, 99, 100, 104, 106, 107, 109, 110, 114, 125, 126, 127, 128, 130, 133, 134, 141, 145, 150, 152, 156, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 191, 192, 193, 194, 195, 223, 225, 227, 228, 229, 230, 231, 232, 234, 236, 239, 240, 242, 243, 244, 246, 247, 248, 249, 250, 251, 252, 254, 256, 259, 260, 261, 262, 264, 265, 268, 269, 270, 271, 272, 273, 275, 277, 279, 282, 283, 284, 287, 289, 290, 293, 294, 295, 296, 297, 298, 300, 301, 304, 305, 306, 309, 311, 313, 316, 317, 318, 319, 320, 322, 323, 325, 327, 328, 329, 330, 332, 333, 336, 337, 338, 339, 340, 341, 343, 344, 347, 348, 349, 350, 351, 352, 354, 355, 357, 360, 361, 362, 363, 366, 368, 370, 373, 374, 375, 376, 378, 379, 383, 384, 385, 386, 387, 388, 393, 395, 396, 397, 398, 400, 401, 405, 406, 407, 408, 411, 413, 415, 418, 420, 421, 422, 424, 426, 430, 431, 432, 433, 434, 436, 437, 440, 441, 442, 443, 444, 446, 447, 450, 451, 452, 453, 454, 455, 456, 457, 460, 462, 464, 465, 468, 469, 470, 471, 472, 474, 475, 476, 478, 479, 480, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 513, 514, 515, 516, 517, 518, 519, 521, 523, 524, 525, 526, 527, 528, 529, 531, 534, 535, 536, 537, 540, 541, 542, 546, 547, 548, 549, 550, 551, 553, 554, 557, 558, 559, 560, 561, 563, 564, 567, 568, 569, 570, 571, 573, 575, 577, 580, 581, 582, 583, 585, 586, 589, 590, 591, 592, 593, 595, 596, 599, 600, 601, 602, 603, 604, 605, 607, 608, 609, 610, 611, 612, 621, 622, 623, 626, 639, 640, 643, 652, 653, 654, 655, 656, 657, 658, 659, 660, 662, 663, 664, 665, 672, 674, 676, 678, 680, 695, 697, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 752, 756, 759, 762, 765, 768, 796, 798], "default": [13, 21, 22, 25, 27, 28, 40, 42, 49, 50, 69, 73, 75, 78, 89, 93, 94, 97, 99, 100, 112, 114, 121, 122, 125, 126, 127, 128, 129, 130, 131, 132, 135, 136, 150, 152, 173, 190, 194, 195, 222, 225, 233, 234, 238, 244, 253, 254, 257, 258, 259, 263, 264, 267, 276, 277, 280, 281, 282, 288, 289, 291, 292, 293, 296, 299, 300, 302, 303, 310, 311, 314, 315, 316, 321, 322, 326, 327, 331, 332, 334, 335, 336, 339, 340, 342, 343, 345, 346, 347, 350, 351, 353, 354, 358, 359, 367, 368, 372, 373, 377, 378, 381, 383, 384, 389, 399, 400, 403, 404, 406, 412, 413, 422, 428, 429, 430, 435, 436, 438, 439, 440, 445, 446, 448, 449, 451, 452, 455, 456, 457, 461, 462, 466, 468, 473, 474, 476, 477, 478, 480, 481, 488, 491, 492, 493, 495, 496, 497, 498, 499, 500, 502, 503, 504, 509, 511, 513, 514, 516, 517, 518, 522, 523, 524, 525, 526, 527, 528, 529, 530, 534, 535, 536, 537, 539, 540, 547, 548, 549, 550, 552, 553, 555, 556, 557, 562, 563, 565, 566, 567, 574, 575, 579, 580, 584, 585, 587, 588, 589, 594, 595, 598, 606, 607, 613, 626, 631, 643, 663, 670, 672, 674, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 723, 725, 727, 729, 731, 746, 749, 752, 756, 774, 787, 788, 789, 796, 799], "8": [13, 73, 228, 247, 672, 749, 787, 789, 794, 799], "possibl": [13, 28, 100, 280, 302, 465, 514, 670, 671, 673, 674, 779, 783, 792, 794, 799], "solut": [13, 60, 75, 78, 228, 247, 465, 513, 514, 516, 517, 672, 752, 756, 783, 792, 794, 796], "These": [13, 670, 674, 778], "have": [13, 15, 57, 129, 131, 132, 135, 223, 239, 363, 587, 613, 626, 631, 643, 668, 670, 672, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 773, 777, 779, 781, 782, 783, 784, 785, 786, 787, 788, 794, 796, 797], "an": [13, 21, 22, 51, 55, 59, 75, 80, 93, 94, 133, 140, 141, 145, 150, 152, 168, 173, 174, 175, 189, 194, 196, 223, 225, 229, 230, 233, 234, 236, 239, 243, 244, 248, 249, 253, 254, 256, 259, 260, 261, 263, 264, 265, 270, 271, 276, 277, 279, 282, 283, 284, 288, 289, 290, 293, 294, 295, 299, 300, 301, 305, 306, 310, 311, 313, 316, 317, 318, 321, 322, 323, 327, 328, 329, 331, 332, 333, 336, 337, 338, 342, 343, 344, 347, 348, 349, 353, 354, 355, 361, 362, 367, 368, 370, 373, 374, 375, 377, 378, 379, 382, 384, 385, 386, 387, 388, 399, 400, 401, 403, 406, 407, 408, 412, 413, 415, 416, 418, 421, 424, 428, 430, 431, 432, 435, 436, 437, 440, 441, 442, 445, 446, 447, 453, 454, 461, 462, 464, 467, 468, 469, 470, 473, 474, 475, 476, 480, 489, 490, 513, 514, 522, 523, 531, 538, 540, 541, 542, 543, 544, 545, 552, 553, 554, 557, 558, 559, 562, 563, 564, 567, 568, 569, 574, 575, 577, 580, 581, 582, 584, 585, 586, 589, 590, 591, 594, 595, 596, 601, 602, 606, 607, 610, 613, 614, 622, 626, 627, 631, 632, 643, 656, 664, 668, 669, 670, 671, 672, 673, 717, 732, 733, 752, 761, 762, 771, 774, 776, 777, 780, 781, 788, 789, 792, 794, 795, 796, 798, 799, 800, 801], "order": [13, 235, 255, 403, 513, 538, 587, 668, 774, 787, 794], "That": [13, 40, 112, 789, 794], "mean": [13, 302, 358, 371, 403, 406, 448, 451, 452, 455, 456, 457, 534, 535, 536, 537, 599, 783, 792, 794, 799], "you": [13, 50, 122, 363, 403, 406, 613, 631, 660, 667, 668, 670, 673, 777, 781, 782, 783, 784, 785, 787, 788, 789, 791, 794, 796, 799], "call": [13, 18, 19, 20, 28, 33, 36, 39, 43, 44, 46, 47, 48, 54, 90, 91, 92, 100, 105, 108, 111, 115, 116, 118, 119, 120, 128, 137, 138, 139, 141, 143, 144, 148, 153, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 177, 178, 179, 180, 181, 186, 513, 616, 619, 634, 637, 672, 674, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 729, 776, 781, 785, 788, 791, 794], "two": [13, 57, 325, 538, 652, 658, 670, 671, 672, 771, 773, 776, 780, 781, 782, 785, 794, 797, 798, 800], "subsequ": [13, 794], "compar": [13, 383, 391, 393, 779, 794, 796], "configur": [13, 15, 16, 24, 25, 26, 32, 37, 49, 69, 70, 73, 75, 78, 96, 97, 98, 104, 109, 121, 128, 130, 151, 291, 296, 297, 314, 363, 371, 380, 383, 387, 388, 391, 393, 394, 396, 397, 465, 471, 488, 495, 498, 499, 500, 501, 502, 505, 511, 513, 514, 515, 516, 517, 518, 528, 529, 530, 532, 546, 548, 549, 555, 670, 671, 672, 695, 699, 701, 703, 729, 731, 746, 747, 749, 752, 756, 777, 779, 780, 781, 782, 783, 784, 785, 787, 792, 794], "first": [13, 227, 235, 246, 255, 465, 547, 663, 671, 672, 770, 780, 787, 789, 790, 794, 798], "second": [13, 50, 55, 59, 73, 78, 122, 141, 144, 145, 325, 672, 749, 756, 781, 784, 788, 794], "respect": [13, 227, 246, 380, 403, 663, 668, 672, 789, 794, 796], "indic": [13, 42, 51, 52, 60, 61, 114, 136, 371, 514, 613, 623, 626, 631, 640, 643, 656, 794, 798], "close": [13, 781, 791, 794], "anoth": [13, 334, 345, 391, 393, 394, 395, 546, 549, 661, 674, 781, 787, 789, 794, 797], "reason": [13, 794], "certain": [13, 144, 358, 383, 403, 448, 465, 662, 776, 783, 788, 792, 794, 796, 797], "case": [13, 123, 150, 152, 314, 394, 395, 515, 668, 777, 779, 785, 789, 794, 796, 797, 798], "e": [13, 15, 75, 78, 203, 206, 212, 218, 314, 371, 380, 396, 397, 476, 495, 502, 516, 517, 538, 546, 549, 660, 667, 668, 670, 672, 673, 701, 703, 752, 756, 771, 773, 776, 779, 787, 794, 796, 799, 800], "g": [13, 314, 371, 380, 476, 660, 667, 668, 672, 673, 771, 787, 794, 800], "cartesian": [13, 15, 75, 76, 77, 314, 516, 672, 700, 701, 751, 752, 753, 754, 779, 780, 783, 794], "make": [13, 28, 40, 100, 112, 136, 148, 156, 157, 158, 159, 160, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 186, 222, 225, 238, 244, 258, 259, 267, 268, 281, 282, 292, 293, 303, 315, 316, 326, 327, 335, 336, 346, 347, 359, 363, 372, 373, 381, 384, 404, 429, 430, 439, 440, 449, 465, 466, 467, 468, 477, 480, 539, 540, 556, 557, 566, 567, 579, 580, 588, 589, 598, 600, 668, 669, 671, 673, 674, 777, 781, 782, 783, 784, 785, 787, 789, 791, 794, 797, 799, 800], "sens": [13, 465, 467, 794, 797], "keep": [13, 513, 514, 672, 673, 785, 794], "can": [13, 28, 40, 53, 56, 73, 75, 78, 100, 112, 191, 193, 236, 256, 265, 266, 279, 290, 301, 313, 314, 323, 333, 344, 355, 356, 370, 379, 401, 403, 415, 428, 437, 438, 447, 464, 475, 476, 513, 514, 516, 517, 531, 533, 534, 535, 536, 537, 546, 549, 554, 564, 577, 586, 596, 610, 613, 621, 626, 631, 639, 643, 668, 670, 671, 672, 674, 749, 752, 756, 771, 773, 776, 777, 778, 779, 781, 782, 787, 788, 789, 794, 796, 797, 798, 799], "achiev": [13, 363, 403, 517, 703, 781, 794], "keep_ord": [13, 794, 796], "collis": [13, 17, 21, 22, 23, 24, 25, 26, 28, 32, 40, 42, 50, 57, 63, 65, 67, 73, 75, 80, 82, 84, 93, 94, 95, 96, 97, 98, 100, 104, 112, 114, 122, 125, 126, 127, 133, 134, 257, 280, 285, 286, 371, 418, 420, 421, 422, 424, 426, 427, 483, 494, 510, 518, 530, 533, 538, 565, 669, 672, 675, 676, 677, 678, 679, 680, 716, 717, 718, 719, 721, 722, 723, 724, 725, 726, 727, 732, 733, 734, 735, 736, 737, 739, 740, 742, 743, 749, 752, 761, 762, 764, 765, 767, 768, 771, 780, 784, 787, 789, 791, 794, 796, 800], "outsid": [13, 794], "boundari": [13, 794], "remov": [13, 40, 80, 82, 84, 112, 133, 134, 174, 421, 424, 425, 426, 427, 604, 672, 716, 717, 718, 719, 721, 732, 733, 734, 735, 761, 762, 764, 765, 768, 791, 794], "list": [13, 32, 40, 73, 75, 78, 104, 112, 125, 130, 154, 157, 158, 160, 166, 167, 170, 171, 193, 227, 240, 246, 247, 257, 266, 291, 296, 302, 314, 324, 345, 350, 356, 363, 371, 380, 387, 388, 403, 406, 438, 465, 467, 476, 478, 479, 491, 492, 494, 498, 499, 500, 506, 508, 509, 510, 516, 517, 528, 529, 538, 546, 548, 549, 565, 570, 571, 587, 599, 603, 611, 612, 622, 626, 643, 652, 654, 655, 656, 658, 660, 662, 670, 674, 699, 723, 731, 749, 752, 756, 779, 788, 794, 797, 798, 799], "instanc": [13, 15, 28, 42, 69, 73, 75, 78, 100, 114, 125, 128, 130, 133, 150, 152, 168, 173, 192, 222, 229, 230, 238, 248, 249, 258, 260, 261, 267, 270, 271, 281, 283, 284, 292, 294, 295, 303, 305, 306, 315, 317, 318, 326, 328, 329, 335, 337, 338, 346, 348, 349, 359, 361, 362, 372, 374, 375, 381, 385, 386, 387, 388, 404, 407, 408, 426, 429, 431, 432, 439, 441, 442, 449, 453, 454, 466, 467, 469, 470, 476, 477, 479, 488, 489, 490, 530, 534, 535, 536, 537, 539, 541, 542, 543, 544, 545, 556, 558, 559, 566, 568, 569, 579, 581, 582, 588, 590, 591, 598, 601, 602, 613, 616, 619, 631, 634, 637, 650, 672, 695, 699, 701, 703, 723, 729, 731, 733, 746, 749, 752, 756, 771, 777, 785], "which": [13, 15, 21, 32, 69, 73, 75, 78, 93, 104, 125, 128, 130, 133, 162, 174, 175, 314, 324, 383, 406, 416, 428, 452, 465, 467, 495, 534, 535, 536, 537, 565, 587, 613, 622, 626, 631, 643, 670, 672, 674, 695, 699, 701, 703, 723, 729, 731, 733, 746, 749, 752, 756, 770, 774, 776, 777, 779, 785, 786, 787, 789, 791, 792, 799], "being": [13, 15, 54, 69, 73, 75, 78, 128, 130, 152, 467, 669, 672, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 729, 731, 746, 749, 752, 756, 792], "geometri": [13, 22, 28, 31, 40, 42, 73, 94, 100, 103, 112, 114, 125, 130, 173, 227, 246, 266, 269, 273, 278, 280, 324, 334, 339, 345, 350, 391, 403, 406, 414, 416, 428, 438, 448, 451, 452, 456, 457, 463, 465, 467, 483, 484, 486, 488, 491, 492, 493, 495, 502, 510, 513, 514, 519, 524, 525, 526, 527, 528, 529, 530, 534, 535, 536, 537, 565, 570, 571, 587, 597, 604, 672, 674, 699, 723, 731, 749, 773, 774, 777, 779, 783, 784, 785, 787, 789, 791, 792, 794, 796, 797, 798], "determin": [13, 128, 130, 191, 314, 630, 646, 729, 731, 779, 796], "end": [13, 69, 75, 128, 130, 140, 243, 291, 314, 334, 345, 406, 422, 428, 438, 452, 478, 488, 502, 503, 504, 517, 538, 550, 613, 631, 668, 672, 674, 729, 731, 746, 752, 771, 779, 780, 783, 791, 792, 794, 796, 800], "effector": [13, 69, 75, 128, 130, 291, 314, 334, 345, 406, 422, 428, 438, 452, 478, 488, 502, 503, 504, 538, 550, 672, 729, 731, 746, 752, 771, 779, 780, 783, 791, 792, 794, 796, 800], "label": [13, 128, 130, 428, 729, 731, 780], "dict": [13, 15, 63, 65, 67, 69, 71, 73, 75, 78, 80, 82, 84, 125, 126, 127, 128, 130, 133, 134, 221, 223, 237, 239, 371, 380, 467, 476, 479, 488, 513, 514, 516, 517, 538, 578, 663, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 735, 737, 740, 743, 746, 749, 752, 756, 759, 762, 765, 768, 783, 784, 792], "dictionari": [13, 15, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 476, 488, 513, 514, 516, 517, 538, 663, 672, 676, 678, 680, 695, 697, 699, 701, 703, 717, 719, 721, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756], "kei": [13, 15, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 389, 488, 513, 514, 516, 517, 538, 663, 670, 672, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756], "valu": [13, 15, 49, 55, 58, 59, 69, 73, 75, 78, 121, 125, 126, 127, 128, 130, 133, 159, 186, 291, 296, 297, 314, 325, 334, 339, 345, 350, 358, 363, 364, 380, 382, 387, 388, 393, 394, 395, 403, 406, 428, 438, 488, 495, 502, 513, 514, 515, 516, 517, 532, 538, 603, 611, 612, 623, 626, 629, 630, 640, 643, 645, 646, 653, 654, 655, 657, 661, 663, 672, 674, 701, 703, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756, 779, 787, 788, 789], "pair": [13, 15, 69, 73, 75, 78, 125, 126, 127, 128, 130, 133, 488, 513, 514, 516, 517, 538, 723, 725, 727, 729, 731, 733, 746, 749, 752, 756], "when": [13, 21, 22, 28, 40, 42, 56, 57, 58, 93, 94, 100, 112, 114, 125, 126, 127, 128, 130, 144, 150, 152, 162, 175, 176, 222, 238, 258, 267, 281, 292, 303, 315, 326, 334, 335, 345, 346, 359, 372, 381, 404, 429, 439, 449, 466, 477, 539, 543, 556, 566, 579, 588, 598, 613, 621, 626, 631, 639, 643, 651, 671, 672, 673, 674, 723, 725, 727, 729, 731, 779, 781, 785, 787, 791, 799], "fals": [13, 21, 22, 28, 40, 42, 54, 89, 93, 94, 100, 112, 114, 125, 126, 127, 128, 130, 136, 173, 176, 190, 191, 232, 233, 234, 252, 253, 254, 262, 263, 264, 275, 276, 277, 287, 288, 289, 298, 299, 300, 309, 310, 311, 320, 321, 322, 330, 331, 332, 341, 342, 343, 352, 353, 354, 366, 367, 368, 376, 377, 378, 383, 398, 399, 400, 411, 412, 413, 418, 420, 421, 422, 434, 435, 436, 444, 445, 446, 460, 461, 462, 472, 473, 474, 513, 514, 521, 522, 523, 530, 534, 535, 536, 537, 551, 552, 553, 561, 562, 563, 573, 574, 575, 583, 584, 585, 593, 594, 595, 605, 606, 607, 660, 723, 725, 727, 729, 731, 773], "yield": [13, 73, 130, 235, 255, 324, 391, 416, 467, 513, 514, 672, 699, 731, 749, 796, 797, 798], "tupl": [13, 21, 27, 73, 93, 99, 130, 296, 438, 465, 538, 623, 640, 699, 731, 749], "A": [13, 42, 73, 114, 130, 162, 193, 240, 266, 268, 302, 314, 356, 358, 380, 395, 403, 406, 417, 428, 448, 451, 452, 455, 456, 457, 467, 476, 478, 479, 494, 506, 515, 524, 525, 533, 538, 546, 549, 555, 587, 597, 626, 643, 660, 665, 667, 699, 731, 749, 776, 779, 781, 794, 796, 801], "2": [13, 73, 75, 78, 130, 273, 325, 356, 383, 391, 393, 428, 452, 488, 513, 514, 516, 532, 534, 538, 597, 599, 603, 608, 609, 613, 629, 630, 631, 646, 658, 670, 672, 699, 731, 749, 752, 756, 770, 774, 778, 779, 780, 783, 784, 787, 789, 792, 796, 797, 799, 800], "element": [13, 73, 125, 130, 356, 652, 658, 699, 723, 731, 749, 776, 789, 796], "posit": [13, 15, 73, 75, 78, 130, 150, 152, 291, 302, 334, 339, 345, 350, 356, 380, 387, 396, 406, 428, 438, 452, 456, 511, 513, 514, 515, 517, 614, 632, 645, 665, 699, 701, 703, 731, 749, 752, 756, 773, 774, 779, 787, 788, 789, 794, 796, 798], 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223, 229, 230, 235, 239, 248, 249, 255, 260, 261, 270, 271, 283, 284, 294, 295, 305, 306, 317, 318, 319, 328, 329, 337, 338, 348, 349, 361, 362, 363, 374, 375, 382, 385, 386, 391, 394, 395, 406, 407, 408, 423, 431, 432, 441, 442, 453, 454, 467, 469, 470, 485, 486, 487, 488, 489, 490, 491, 492, 511, 513, 514, 515, 520, 541, 542, 558, 559, 568, 569, 581, 582, 590, 591, 601, 602, 648, 649, 658, 672, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 731, 749], "valueerror": [13, 223, 235, 239, 255, 363, 391, 394, 395, 406, 467, 488, 511, 515, 658], "solv": [13, 50, 122, 794], "ha": [13, 22, 28, 30, 31, 34, 35, 55, 59, 94, 100, 102, 103, 106, 107, 144, 229, 230, 248, 249, 260, 261, 270, 271, 283, 284, 291, 294, 295, 305, 306, 317, 318, 328, 329, 334, 337, 338, 345, 348, 349, 361, 362, 363, 374, 375, 385, 386, 407, 408, 423, 431, 432, 441, 442, 453, 454, 467, 469, 470, 486, 489, 490, 491, 541, 542, 558, 559, 568, 569, 581, 582, 590, 591, 601, 602, 613, 631, 665, 672, 674, 774, 776, 782, 785, 787, 789, 792, 799], "been": [13, 22, 28, 30, 31, 34, 35, 57, 94, 100, 102, 103, 106, 107, 291, 486, 614, 632, 672, 786], "pass": [13, 15, 69, 73, 128, 130, 144, 148, 152, 156, 157, 158, 159, 160, 163, 164, 165, 166, 167, 168, 169, 170, 171, 186, 228, 247, 325, 340, 351, 363, 403, 406, 467, 479, 488, 498, 499, 500, 513, 514, 516, 517, 560, 587, 592, 658, 672, 673, 674, 695, 729, 731, 746, 749, 777, 779, 781, 787, 796, 797, 798], "plancartesianmot": [14, 751, 800], "linear": [15, 75, 516, 597, 661, 672, 701, 751, 752, 771, 780, 800], "space": [15, 75, 314, 416, 516, 597, 653, 672, 701, 751, 752, 755, 774, 779, 783, 791, 796], "compas_robot": [15, 35, 37, 38, 40, 75, 107, 109, 110, 112, 221, 237, 257, 291, 296, 371, 380, 418, 465, 476, 479, 495, 496, 499, 500, 501, 502, 503, 505, 507, 508, 511, 513, 514, 515, 516, 517, 518, 528, 529, 530, 543, 546, 549, 565, 672, 695, 699, 701, 703, 752, 774, 776, 777, 783, 791, 792], "full": [15, 49, 69, 75, 78, 121, 128, 371, 488, 495, 502, 513, 514, 515, 516, 517, 660, 668, 670, 672, 695, 701, 703, 729, 746, 752, 756, 782, 784, 796, 798], "all": [15, 50, 75, 78, 84, 122, 173, 174, 314, 363, 394, 395, 403, 406, 421, 427, 465, 476, 494, 495, 498, 499, 500, 502, 505, 513, 514, 515, 516, 517, 538, 546, 548, 549, 650, 668, 670, 671, 672, 673, 674, 681, 682, 701, 703, 704, 721, 752, 756, 768, 776, 785, 787, 788, 789, 796, 799, 801], "entir": [15, 75, 78, 173, 495, 502, 516, 517, 671, 701, 703, 752, 756, 777], "start": [15, 75, 78, 182, 184, 243, 371, 380, 516, 517, 587, 613, 616, 631, 634, 653, 670, 671, 673, 701, 703, 752, 756, 773, 777, 780, 781, 782, 783, 784, 785, 787, 800], "iter_inverse_kinemat": [15, 672, 783, 792, 794], "jointtrajectori": [15, 75, 78, 150, 152, 516, 517, 672, 701, 703, 752, 756], "trajectori": [15, 75, 78, 150, 152, 371, 380, 516, 517, 672, 701, 703, 752, 756, 784, 794], "combin": [17, 89, 136, 613, 631, 670, 779, 786, 787, 789, 797, 798], "detect": [17, 40, 50, 112, 122, 615, 627, 633, 669, 672, 787], "arg": [18, 19, 20, 33, 36, 44, 46, 47, 48, 90, 91, 92, 105, 108, 111, 115, 116, 118, 119, 120, 129, 131, 132, 135, 137, 138, 139, 140, 141, 142, 143, 144, 145, 149, 153, 161, 162, 172, 174, 175, 176, 177, 178, 179, 180, 181, 182, 185, 650, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 773, 787, 789], "kwarg": [18, 19, 20, 33, 36, 44, 46, 47, 48, 90, 91, 92, 105, 108, 111, 115, 116, 118, 119, 120, 129, 131, 132, 135, 137, 138, 139, 153, 161, 172, 177, 178, 179, 180, 181, 221, 223, 237, 239, 479, 676, 678, 680, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 695, 697, 699, 701, 703, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 717, 719, 721], "forward": [18, 19, 20, 33, 36, 39, 43, 44, 46, 47, 48, 50, 69, 75, 90, 91, 92, 105, 108, 111, 115, 116, 118, 119, 120, 122, 128, 137, 138, 139, 153, 161, 172, 177, 178, 179, 180, 181, 488, 668, 672, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 728, 729, 745, 746, 752, 771, 780, 787, 790, 800], "appropri": [18, 19, 20, 33, 36, 39, 43, 44, 46, 47, 48, 90, 91, 92, 105, 108, 111, 115, 116, 118, 119, 120, 137, 138, 139, 153, 161, 172, 177, 178, 179, 180, 181, 674, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 799], "planner": [18, 19, 20, 33, 36, 39, 43, 44, 46, 47, 48, 62, 69, 76, 77, 78, 79, 90, 91, 92, 105, 108, 111, 115, 116, 118, 119, 120, 124, 129, 131, 132, 135, 136, 137, 138, 139, 152, 153, 161, 172, 177, 178, 179, 180, 181, 291, 314, 334, 339, 340, 345, 350, 351, 428, 438, 488, 516, 517, 560, 587, 592, 672, 674, 675, 677, 679, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 696, 698, 700, 702, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 718, 720, 746, 753, 754, 756, 757, 782, 783, 784, 785, 788], "scale": [21, 93, 237, 418, 420, 421, 422, 476, 671, 672, 773], "1": [21, 50, 78, 93, 122, 125, 232, 252, 257, 262, 269, 275, 280, 287, 296, 298, 302, 309, 320, 324, 325, 330, 341, 352, 356, 358, 366, 371, 376, 383, 391, 393, 398, 403, 406, 411, 416, 428, 434, 444, 448, 451, 452, 455, 456, 457, 460, 472, 478, 488, 491, 492, 513, 514, 516, 517, 521, 538, 551, 561, 565, 570, 571, 573, 583, 593, 597, 599, 603, 604, 605, 608, 609, 613, 626, 629, 630, 631, 643, 646, 650, 659, 662, 665, 672, 674, 723, 756, 773, 774, 779, 780, 781, 783, 784, 787, 789, 791, 792, 794, 796, 797, 798, 799], "0": [21, 28, 75, 93, 100, 125, 126, 192, 228, 232, 247, 252, 257, 262, 273, 275, 280, 287, 296, 298, 309, 320, 324, 325, 330, 340, 341, 351, 352, 356, 358, 366, 376, 383, 391, 393, 398, 403, 406, 411, 416, 434, 444, 448, 451, 452, 455, 456, 457, 460, 472, 478, 488, 491, 492, 499, 513, 514, 516, 517, 521, 524, 525, 532, 551, 560, 561, 565, 570, 571, 573, 583, 592, 593, 597, 599, 603, 604, 605, 608, 609, 629, 630, 646, 671, 672, 674, 723, 725, 752, 773, 774, 783, 784, 785, 787, 789, 791, 792, 794, 796, 797, 798, 799], "concav": [21, 22, 28, 40, 42, 93, 94, 100, 112, 114, 125, 126, 127, 672, 723, 725, 727], "mass": [21, 28, 93, 100, 125, 126, 356, 604, 672, 723, 725, 791], "color": [21, 27, 93, 99, 227, 243, 246, 672, 789, 796, 798], "5": [21, 93, 273, 325, 406, 448, 457, 513, 514, 516, 517, 629, 672, 783, 784, 785, 789, 791, 792, 798], "creat": [21, 28, 40, 93, 100, 112, 223, 227, 239, 246, 247, 250, 269, 272, 273, 297, 304, 339, 340, 350, 351, 360, 363, 405, 406, 421, 450, 451, 452, 455, 456, 457, 479, 533, 534, 535, 536, 537, 538, 543, 544, 545, 560, 592, 668, 670, 673, 770, 771, 776, 777, 779, 780, 784, 785, 791, 796, 798, 799, 800], "bodi": [21, 28, 93, 100, 356, 672, 783, 792], "obj": [21, 93, 232, 252, 262, 272, 275, 287, 296, 298, 309, 320, 330, 341, 352, 363, 366, 376, 380, 398, 406, 411, 434, 444, 451, 455, 460, 472, 488, 513, 514, 521, 551, 561, 573, 583, 593, 605, 787, 789], "file": [21, 40, 41, 93, 112, 113, 190, 193, 229, 233, 248, 253, 260, 263, 270, 276, 283, 288, 294, 299, 305, 310, 317, 321, 328, 331, 337, 342, 348, 353, 361, 367, 374, 377, 385, 399, 407, 412, 428, 431, 435, 441, 445, 453, 461, 469, 473, 489, 522, 533, 538, 541, 543, 552, 558, 562, 568, 574, 581, 584, 590, 594, 601, 606, 660, 663, 664, 666, 670, 671, 672, 673, 674, 776, 777, 778, 780, 781, 787, 789, 796, 799, 801], "float": [21, 27, 28, 75, 78, 93, 99, 100, 125, 126, 130, 140, 237, 257, 274, 285, 286, 291, 296, 297, 302, 308, 324, 325, 334, 339, 340, 345, 350, 351, 356, 358, 363, 364, 365, 371, 380, 383, 387, 388, 391, 393, 396, 397, 403, 406, 410, 416, 428, 433, 438, 443, 448, 451, 452, 455, 456, 457, 458, 459, 476, 511, 516, 519, 560, 578, 592, 599, 603, 604, 611, 612, 627, 657, 665, 672, 723, 725, 731, 752, 756], "factor": [21, 93, 237, 274, 285, 286, 297, 302, 308, 319, 340, 351, 358, 364, 365, 396, 397, 403, 406, 410, 418, 420, 421, 422, 433, 443, 448, 451, 452, 455, 456, 457, 458, 459, 476, 519, 560, 592, 672], "mesh": [21, 22, 28, 40, 42, 63, 65, 67, 80, 82, 84, 93, 94, 100, 112, 114, 125, 126, 127, 133, 134, 173, 190, 191, 192, 193, 232, 252, 257, 262, 266, 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"AnalyticalPyBulletClient.check_collisions": [[25, "analyticalpybulletclient-check-collisions"]], "AnalyticalPyBulletClient.check_robot_self_collision": [[26, "analyticalpybulletclient-check-robot-self-collision"]], "AnalyticalPyBulletClient.connect": [[27, "analyticalpybulletclient-connect"]], "AnalyticalPyBulletClient.convert_mesh_to_body": [[28, "analyticalpybulletclient-convert-mesh-to-body"]], "AnalyticalPyBulletClient.disconnect": [[29, "analyticalpybulletclient-disconnect"]], "AnalyticalPyBulletClient.ensure_cached_robot_model": [[30, "analyticalpybulletclient-ensure-cached-robot-model"]], "AnalyticalPyBulletClient.ensure_cached_robot_model_geometry": [[31, "analyticalpybulletclient-ensure-cached-robot-model-geometry"]], "AnalyticalPyBulletClient.filter_configurations_in_collision": [[32, "analyticalpybulletclient-filter-configurations-in-collision"]], "AnalyticalPyBulletClient.forward_kinematics": [[33, "analyticalpybulletclient-forward-kinematics"]], 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"AnalyticalPyBulletClient.plan_motion": [[44, "analyticalpybulletclient-plan-motion"]], "AnalyticalPyBulletClient.reload_from_cache": [[45, "analyticalpybulletclient-reload-from-cache"]], "AnalyticalPyBulletClient.remove_attached_collision_mesh": [[46, "analyticalpybulletclient-remove-attached-collision-mesh"]], "AnalyticalPyBulletClient.remove_collision_mesh": [[47, "analyticalpybulletclient-remove-collision-mesh"]], "AnalyticalPyBulletClient.reset_planning_scene": [[48, "analyticalpybulletclient-reset-planning-scene"]], "AnalyticalPyBulletClient.set_robot_configuration": [[49, "analyticalpybulletclient-set-robot-configuration"]], "AnalyticalPyBulletClient.step_simulation": [[50, "analyticalpybulletclient-step-simulation"]], "BackendError": [[51, "backenderror"]], "BackendFeatureNotSupportedError": [[52, "backendfeaturenotsupportederror"]], "CancellableFutureResult": [[53, "cancellablefutureresult"]], "CancellableFutureResult.cancel": [[54, "cancellablefutureresult-cancel"]], "CancellableFutureResult.result": [[55, "cancellablefutureresult-result"]], "CartesianMotionError": [[56, "cartesianmotionerror"]], "CollisionError": [[57, "collisionerror"]], "FutureResult": [[58, "futureresult"]], "FutureResult.result": [[59, "futureresult-result"]], "InverseKinematicsError": [[60, "inversekinematicserror"]], "KinematicsError": [[61, "kinematicserror"]], "MoveItPlanner": [[62, "moveitplanner"]], "MoveItPlanner.add_attached_collision_mesh": [[63, "moveitplanner-add-attached-collision-mesh"]], "MoveItPlanner.add_attached_collision_mesh_async": [[64, "moveitplanner-add-attached-collision-mesh-async"]], "MoveItPlanner.add_collision_mesh": [[65, "moveitplanner-add-collision-mesh"]], "MoveItPlanner.add_collision_mesh_async": [[66, "moveitplanner-add-collision-mesh-async"]], "MoveItPlanner.append_collision_mesh": [[67, "moveitplanner-append-collision-mesh"]], "MoveItPlanner.append_collision_mesh_async": [[68, "moveitplanner-append-collision-mesh-async"]], "MoveItPlanner.forward_kinematics": [[69, "moveitplanner-forward-kinematics"]], "MoveItPlanner.forward_kinematics_async": [[70, "moveitplanner-forward-kinematics-async"]], "MoveItPlanner.get_planning_scene": [[71, "moveitplanner-get-planning-scene"]], "MoveItPlanner.get_planning_scene_async": [[72, "moveitplanner-get-planning-scene-async"]], "MoveItPlanner.inverse_kinematics": [[73, "moveitplanner-inverse-kinematics"]], "MoveItPlanner.inverse_kinematics_async": [[74, "moveitplanner-inverse-kinematics-async"]], "MoveItPlanner.plan_cartesian_motion": [[75, "moveitplanner-plan-cartesian-motion"]], "MoveItPlanner.plan_cartesian_motion_with_frame_waypoints_async": [[76, "moveitplanner-plan-cartesian-motion-with-frame-waypoints-async"]], "MoveItPlanner.plan_cartesian_motion_with_point_axis_waypoints_async": [[77, "moveitplanner-plan-cartesian-motion-with-point-axis-waypoints-async"]], "MoveItPlanner.plan_motion": [[78, "moveitplanner-plan-motion"]], "MoveItPlanner.plan_motion_async": [[79, 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"PyBulletClient.add_collision_mesh": [[91, "pybulletclient-add-collision-mesh"]], "PyBulletClient.append_collision_mesh": [[92, "pybulletclient-append-collision-mesh"]], "PyBulletClient.body_from_obj": [[93, "pybulletclient-body-from-obj"]], "PyBulletClient.cache_robot_model": [[94, "pybulletclient-cache-robot-model"]], "PyBulletClient.check_collision_objects_for_collision": [[95, "pybulletclient-check-collision-objects-for-collision"]], "PyBulletClient.check_collision_with_objects": [[96, "pybulletclient-check-collision-with-objects"]], "PyBulletClient.check_collisions": [[97, "pybulletclient-check-collisions"]], "PyBulletClient.check_robot_self_collision": [[98, "pybulletclient-check-robot-self-collision"]], "PyBulletClient.connect": [[99, "pybulletclient-connect"]], "PyBulletClient.convert_mesh_to_body": [[100, "pybulletclient-convert-mesh-to-body"]], "PyBulletClient.disconnect": [[101, "pybulletclient-disconnect"]], "PyBulletClient.ensure_cached_robot_model": [[102, "pybulletclient-ensure-cached-robot-model"]], "PyBulletClient.ensure_cached_robot_model_geometry": [[103, "pybulletclient-ensure-cached-robot-model-geometry"]], "PyBulletClient.filter_configurations_in_collision": [[104, "pybulletclient-filter-configurations-in-collision"]], "PyBulletClient.forward_kinematics": [[105, "pybulletclient-forward-kinematics"]], "PyBulletClient.get_cached_robot_filepath": [[106, "pybulletclient-get-cached-robot-filepath"]], "PyBulletClient.get_cached_robot_model": [[107, "pybulletclient-get-cached-robot-model"]], "PyBulletClient.get_planning_scene": [[108, "pybulletclient-get-planning-scene"]], "PyBulletClient.get_robot_configuration": [[109, "pybulletclient-get-robot-configuration"]], "PyBulletClient.get_uid": [[110, "pybulletclient-get-uid"]], "PyBulletClient.inverse_kinematics": [[111, "pybulletclient-inverse-kinematics"]], "PyBulletClient.load_robot": [[112, "pybulletclient-load-robot"]], "PyBulletClient.load_semantics": [[113, 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"PyBulletPlanner.add_collision_mesh": [[126, "pybulletplanner-add-collision-mesh"]], "PyBulletPlanner.append_collision_mesh": [[127, "pybulletplanner-append-collision-mesh"]], "PyBulletPlanner.forward_kinematics": [[128, "pybulletplanner-forward-kinematics"]], "PyBulletPlanner.get_planning_scene": [[129, "pybulletplanner-get-planning-scene"]], "PyBulletPlanner.inverse_kinematics": [[130, "pybulletplanner-inverse-kinematics"]], "PyBulletPlanner.plan_cartesian_motion": [[131, "pybulletplanner-plan-cartesian-motion"]], "PyBulletPlanner.plan_motion": [[132, "pybulletplanner-plan-motion"]], "PyBulletPlanner.remove_attached_collision_mesh": [[133, "pybulletplanner-remove-attached-collision-mesh"]], "PyBulletPlanner.remove_collision_mesh": [[134, "pybulletplanner-remove-collision-mesh"]], "PyBulletPlanner.reset_planning_scene": [[135, "pybulletplanner-reset-planning-scene"]], "RosClient": [[136, "rosclient"]], "RosClient.add_attached_collision_mesh": [[137, 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"RosClient.follow_joint_trajectory": [[152, "rosclient-follow-joint-trajectory"]], "RosClient.forward_kinematics": [[153, "rosclient-forward-kinematics"]], "RosClient.get_action_servers": [[154, "rosclient-get-action-servers"]], "RosClient.get_configuration": [[155, "rosclient-get-configuration"]], "RosClient.get_message_details": [[156, "rosclient-get-message-details"]], "RosClient.get_node_details": [[157, "rosclient-get-node-details"]], "RosClient.get_nodes": [[158, "rosclient-get-nodes"]], "RosClient.get_param": [[159, "rosclient-get-param"]], "RosClient.get_params": [[160, "rosclient-get-params"]], "RosClient.get_planning_scene": [[161, "rosclient-get-planning-scene"]], "RosClient.get_service_request_callback": [[162, "rosclient-get-service-request-callback"]], "RosClient.get_service_request_details": [[163, "rosclient-get-service-request-details"]], "RosClient.get_service_response_details": [[164, "rosclient-get-service-response-details"]], "RosClient.get_service_type": [[165, 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"PosCon3D.reset": [[625, "poscon3d-reset"]], "PosCon3D.send_command": [[626, "poscon3d-send-command"]], "PosCon3D.set_edge_height": [[627, "poscon3d-set-edge-height"]], "PosCon3D.set_flex_mount": [[628, "poscon3d-set-flex-mount"]], "PosCon3D.set_measurement_type": [[629, "poscon3d-set-measurement-type"]], "PosCon3D.set_precision": [[630, "poscon3d-set-precision"]], "PosConCM": [[631, "posconcm"]], "PosConCM.activate_flex_mount": [[632, "posconcm-activate-flex-mount"]], "PosConCM.adjust_to_dark_object": [[633, "posconcm-adjust-to-dark-object"]], "PosConCM.begin": [[634, "posconcm-begin"]], "PosConCM.calculate_checksum": [[635, "posconcm-calculate-checksum"]], "PosConCM.deactivate_flex_mount": [[636, "posconcm-deactivate-flex-mount"]], "PosConCM.end": [[637, "posconcm-end"]], "PosConCM.format_command": [[638, "posconcm-format-command"]], "PosConCM.get_address": [[639, "posconcm-get-address"]], "PosConCM.get_measurement": [[640, "posconcm-get-measurement"]], "PosConCM.get_payload": [[641, 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"read_csv_to_dictionary": [[663, "read-csv-to-dictionary"]], "read_data_from_pickle": [[664, "read-data-from-pickle"]], "sign": [[665, "sign"]], "write_data_to_pickle": [[666, "write-data-to-pickle"]], "Citing": [[667, "citing"]], "Authors": [[667, "authors"]], "Working with backends": [[668, "working-with-backends"]], "Installing backends": [[668, "installing-backends"]], "Installing Docker": [[668, "installing-docker"]], "Working with containers": [[668, "working-with-containers"]], "Developing new backends": [[668, "developing-new-backends"]], "Next steps": [[668, "next-steps"]], "Next Steps": [[669, "next-steps"], [670, "next-steps"], [799, "next-steps"]], "ROS on Docker": [[670, "ros-on-docker"]], "Complete ROS systems": [[670, "complete-ros-systems"]], "ROS on Linux": [[670, "ros-on-linux"]], "ROS on WSL": [[670, "ros-on-wsl"]], "Access backend GUI": [[671, "access-backend-gui"]], "Visualization over web browser": [[671, "visualization-over-web-browser"]], "Visualization forwarding display": [[671, "visualization-forwarding-display"]], "CHANGELOG": [[672, "changelog"]], "Contributor\u2019s Guide": [[673, "contributor-s-guide"]], "Code contributions": [[673, "code-contributions"]], "Documentation improvements": [[673, "documentation-improvements"]], "Bug reports": [[673, "bug-reports"]], "Feature requests and feedback": [[673, "feature-requests-and-feedback"]], "Design documents": [[673, "design-documents"]], "Backend clients": [[674, "backend-clients"]], "Backend interfaces": [[674, "module-compas_fab.backends.interfaces"]], "Client interfaces": [[674, "client-interfaces"]], "Feature interfaces": [[674, "feature-interfaces"]], "Planning scene interfaces": [[674, "planning-scene-interfaces"]], "Implemented backend features": [[674, "implemented-backend-features"]], "ROS backend features": [[674, "ros-backend-features"]], "PyBullet backend features": [[674, "pybullet-backend-features"]], "AddAttachedCollisionMesh": [[675, "addattachedcollisionmesh"]], "AddAttachedCollisionMesh.add_attached_collision_mesh": [[676, "addattachedcollisionmesh-add-attached-collision-mesh"]], "AddCollisionMesh": [[677, "addcollisionmesh"]], "AddCollisionMesh.add_collision_mesh": [[678, "addcollisionmesh-add-collision-mesh"]], "AppendCollisionMesh": [[679, "appendcollisionmesh"]], "AppendCollisionMesh.append_collision_mesh": [[680, "appendcollisionmesh-append-collision-mesh"]], "BackendFeature": [[681, "backendfeature"]], "ClientInterface": [[682, "clientinterface"]], "ClientInterface.add_attached_collision_mesh": [[683, "clientinterface-add-attached-collision-mesh"]], "ClientInterface.add_collision_mesh": [[684, "clientinterface-add-collision-mesh"]], "ClientInterface.append_collision_mesh": [[685, "clientinterface-append-collision-mesh"]], "ClientInterface.forward_kinematics": [[686, "clientinterface-forward-kinematics"]], "ClientInterface.get_planning_scene": [[687, "clientinterface-get-planning-scene"]], "ClientInterface.inverse_kinematics": [[688, "clientinterface-inverse-kinematics"]], "ClientInterface.plan_cartesian_motion": [[689, "clientinterface-plan-cartesian-motion"]], "ClientInterface.plan_motion": [[690, "clientinterface-plan-motion"]], "ClientInterface.remove_attached_collision_mesh": [[691, "clientinterface-remove-attached-collision-mesh"]], "ClientInterface.remove_collision_mesh": [[692, "clientinterface-remove-collision-mesh"]], "ClientInterface.reset_planning_scene": [[693, "clientinterface-reset-planning-scene"]], "ForwardKinematics": [[694, "forwardkinematics"]], "ForwardKinematics.forward_kinematics": [[695, "forwardkinematics-forward-kinematics"]], "GetPlanningScene": [[696, "getplanningscene"]], "GetPlanningScene.get_planning_scene": [[697, "getplanningscene-get-planning-scene"]], "InverseKinematics": [[698, "inversekinematics"]], "InverseKinematics.inverse_kinematics": [[699, "inversekinematics-inverse-kinematics"]], "PlanCartesianMotion": [[700, "plancartesianmotion"]], "PlanCartesianMotion.plan_cartesian_motion": [[701, "plancartesianmotion-plan-cartesian-motion"]], "PlanMotion": [[702, "planmotion"]], "PlanMotion.plan_motion": [[703, "planmotion-plan-motion"]], "PlannerInterface": [[704, "plannerinterface"]], "PlannerInterface.add_attached_collision_mesh": [[705, "plannerinterface-add-attached-collision-mesh"]], "PlannerInterface.add_collision_mesh": [[706, "plannerinterface-add-collision-mesh"]], "PlannerInterface.append_collision_mesh": [[707, "plannerinterface-append-collision-mesh"]], "PlannerInterface.forward_kinematics": [[708, "plannerinterface-forward-kinematics"]], "PlannerInterface.get_planning_scene": [[709, "plannerinterface-get-planning-scene"]], "PlannerInterface.inverse_kinematics": [[710, "plannerinterface-inverse-kinematics"]], "PlannerInterface.plan_cartesian_motion": [[711, "plannerinterface-plan-cartesian-motion"]], "PlannerInterface.plan_motion": [[712, "plannerinterface-plan-motion"]], "PlannerInterface.remove_attached_collision_mesh": [[713, "plannerinterface-remove-attached-collision-mesh"]], "PlannerInterface.remove_collision_mesh": [[714, "plannerinterface-remove-collision-mesh"]], "PlannerInterface.reset_planning_scene": [[715, "plannerinterface-reset-planning-scene"]], "RemoveAttachedCollisionMesh": [[716, "removeattachedcollisionmesh"]], "RemoveAttachedCollisionMesh.remove_attached_collision_mesh": [[717, "removeattachedcollisionmesh-remove-attached-collision-mesh"]], "RemoveCollisionMesh": [[718, "removecollisionmesh"]], "RemoveCollisionMesh.remove_collision_mesh": [[719, "removecollisionmesh-remove-collision-mesh"]], "ResetPlanningScene": [[720, "resetplanningscene"]], "ResetPlanningScene.reset_planning_scene": [[721, "resetplanningscene-reset-planning-scene"]], "PyBulletAddAttachedCollisionMesh": [[722, "pybulletaddattachedcollisionmesh"]], "PyBulletAddAttachedCollisionMesh.add_attached_collision_mesh": [[723, "pybulletaddattachedcollisionmesh-add-attached-collision-mesh"]], "PyBulletAddCollisionMesh": [[724, "pybulletaddcollisionmesh"]], "PyBulletAddCollisionMesh.add_collision_mesh": [[725, "pybulletaddcollisionmesh-add-collision-mesh"]], "PyBulletAppendCollisionMesh": [[726, "pybulletappendcollisionmesh"]], "PyBulletAppendCollisionMesh.append_collision_mesh": [[727, "pybulletappendcollisionmesh-append-collision-mesh"]], "PyBulletForwardKinematics": [[728, "pybulletforwardkinematics"]], "PyBulletForwardKinematics.forward_kinematics": [[729, "pybulletforwardkinematics-forward-kinematics"]], "PyBulletInverseKinematics": [[730, "pybulletinversekinematics"]], "PyBulletInverseKinematics.inverse_kinematics": [[731, "pybulletinversekinematics-inverse-kinematics"]], "PyBulletRemoveAttachedCollisionMesh": [[732, "pybulletremoveattachedcollisionmesh"]], "PyBulletRemoveAttachedCollisionMesh.remove_attached_collision_mesh": [[733, "pybulletremoveattachedcollisionmesh-remove-attached-collision-mesh"]], "PyBulletRemoveCollisionMesh": [[734, "pybulletremovecollisionmesh"]], "PyBulletRemoveCollisionMesh.remove_collision_mesh": [[735, "pybulletremovecollisionmesh-remove-collision-mesh"]], "MoveItAddAttachedCollisionMesh": [[736, "moveitaddattachedcollisionmesh"]], "MoveItAddAttachedCollisionMesh.add_attached_collision_mesh": [[737, "moveitaddattachedcollisionmesh-add-attached-collision-mesh"]], "MoveItAddAttachedCollisionMesh.add_attached_collision_mesh_async": [[738, "moveitaddattachedcollisionmesh-add-attached-collision-mesh-async"]], "MoveItAddCollisionMesh": [[739, "moveitaddcollisionmesh"]], "MoveItAddCollisionMesh.add_collision_mesh": [[740, "moveitaddcollisionmesh-add-collision-mesh"]], "MoveItAddCollisionMesh.add_collision_mesh_async": [[741, "moveitaddcollisionmesh-add-collision-mesh-async"]], "MoveItAppendCollisionMesh": [[742, "moveitappendcollisionmesh"]], "MoveItAppendCollisionMesh.append_collision_mesh": [[743, "moveitappendcollisionmesh-append-collision-mesh"]], "MoveItAppendCollisionMesh.append_collision_mesh_async": [[744, "moveitappendcollisionmesh-append-collision-mesh-async"]], "MoveItForwardKinematics": [[745, "moveitforwardkinematics"]], "MoveItForwardKinematics.forward_kinematics": [[746, "moveitforwardkinematics-forward-kinematics"]], "MoveItForwardKinematics.forward_kinematics_async": [[747, "moveitforwardkinematics-forward-kinematics-async"]], "MoveItInverseKinematics": [[748, "moveitinversekinematics"]], "MoveItInverseKinematics.inverse_kinematics": [[749, "moveitinversekinematics-inverse-kinematics"]], "MoveItInverseKinematics.inverse_kinematics_async": [[750, "moveitinversekinematics-inverse-kinematics-async"]], "MoveItPlanCartesianMotion": [[751, "moveitplancartesianmotion"]], "MoveItPlanCartesianMotion.plan_cartesian_motion": [[752, "moveitplancartesianmotion-plan-cartesian-motion"]], "MoveItPlanCartesianMotion.plan_cartesian_motion_with_frame_waypoints_async": [[753, "moveitplancartesianmotion-plan-cartesian-motion-with-frame-waypoints-async"]], "MoveItPlanCartesianMotion.plan_cartesian_motion_with_point_axis_waypoints_async": [[754, "moveitplancartesianmotion-plan-cartesian-motion-with-point-axis-waypoints-async"]], "MoveItPlanMotion": [[755, "moveitplanmotion"]], "MoveItPlanMotion.plan_motion": [[756, "moveitplanmotion-plan-motion"]], "MoveItPlanMotion.plan_motion_async": [[757, "moveitplanmotion-plan-motion-async"]], "MoveItPlanningScene": [[758, "moveitplanningscene"]], "MoveItPlanningScene.get_planning_scene": [[759, "moveitplanningscene-get-planning-scene"]], "MoveItPlanningScene.get_planning_scene_async": [[760, "moveitplanningscene-get-planning-scene-async"]], "MoveItRemoveAttachedCollisionMesh": [[761, "moveitremoveattachedcollisionmesh"]], "MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh": [[762, "moveitremoveattachedcollisionmesh-remove-attached-collision-mesh"]], "MoveItRemoveAttachedCollisionMesh.remove_attached_collision_mesh_async": [[763, "moveitremoveattachedcollisionmesh-remove-attached-collision-mesh-async"]], "MoveItRemoveCollisionMesh": [[764, "moveitremovecollisionmesh"]], "MoveItRemoveCollisionMesh.remove_collision_mesh": [[765, "moveitremovecollisionmesh-remove-collision-mesh"]], "MoveItRemoveCollisionMesh.remove_collision_mesh_async": [[766, "moveitremovecollisionmesh-remove-collision-mesh-async"]], "MoveItResetPlanningScene": [[767, "moveitresetplanningscene"]], "MoveItResetPlanningScene.reset_planning_scene": [[768, "moveitresetplanningscene-reset-planning-scene"]], "MoveItResetPlanningScene.reset_planning_scene_async": [[769, "moveitresetplanningscene-reset-planning-scene-async"]], "Grasshopper components": [[770, "grasshopper-components"]], "Examples": [[771, "examples"]], "Robotic fabrication examples": [[771, "robotic-fabrication-examples"]], "Fundamentals": [[772, "fundamentals"]], "Frame and Transformation": [[773, "frame-and-transformation"]], "Further information": [[773, "further-information"]], "Coordinate frames": [[774, "coordinate-frames"]], "World coordinate frame (WCF)": [[774, "world-coordinate-frame-wcf"]], "Robot coordinate frame (RCF)": [[774, "robot-coordinate-frame-rcf"]], "Tool0 coordinate frame (T0CF)": [[774, "tool0-coordinate-frame-t0cf"]], "Tool coordinate frame (TCF)": [[774, "tool-coordinate-frame-tcf"]], "Object coordinate frame (OCF)": [[774, "object-coordinate-frame-ocf"]], "Example": [[774, "example"]], "Links": [[774, "links"], [776, "links"], [776, "id2"], [794, "links"], [796, "links"]], "Description Models": [[775, "description-models"]], "Kinematic model": [[776, "kinematic-model"]], "Joints": [[776, "joints"]], "Robot models": [[777, "robot-models"]], "Loading model from disk": [[777, "loading-model-from-disk"]], "Loading model from Github": [[777, "loading-model-from-github"]], "Loading model from ROS": [[777, "loading-model-from-ros"]], "Visualizing robot models": [[777, "visualizing-robot-models"]], "RobotModel Packages": [[778, "robotmodel-packages"]], "Robot Packages": [[778, "id1"]], "Origin of the packages": [[778, "origin-of-the-packages"]], "Targets (Single Goal)": [[779, "targets-single-goal"]], "Waypoints (Multiple Points / Segments)": [[779, "waypoints-multiple-points-segments"]], "Backends: ROS": [[780, "backends-ros"]], "Using ROS": [[781, "using-ros"]], "First step": [[781, "first-step"]], "Hello World": [[781, "hello-world"]], "Writing the talker node": [[781, "writing-the-talker-node"]], "Writing the listener node": [[781, "writing-the-listener-node"]], "Running the example": [[781, "running-the-example"]], "Robots in ROS": [[782, "robots-in-ros"]], "Load model from ROS": [[782, "load-model-from-ros"]], "Forward and inverse kinematics": [[783, "forward-and-inverse-kinematics"], [792, "forward-and-inverse-kinematics"]], "Forward kinematics": [[783, "forward-kinematics"], [792, "forward-kinematics"]], "Inverse kinematics": [[783, "inverse-kinematics"], [792, "inverse-kinematics"], [794, "inverse-kinematics"]], "Plan motion": [[784, "plan-motion"], [784, "id1"]], "Plan cartesian motion": [[784, "plan-cartesian-motion"]], "Planning scene and collision objects": [[785, "planning-scene-and-collision-objects"]], "1. Non-attached Collision meshes": [[785, "non-attached-collision-meshes"]], "Add/remove a single mesh": [[785, "add-remove-a-single-mesh"]], "Add/remove several meshes": [[785, "add-remove-several-meshes"]], "2. Attached collision meshes": [[785, "attached-collision-meshes"]], "Attach end-effector": [[785, "attach-end-effector"]], "Grasshopper example": [[785, "grasshopper-example"]], "ROS in Grasshopper": [[786, "ros-in-grasshopper"]], "Grasshopper playground": [[786, "grasshopper-playground"]], "Grasshopper Components": [[786, "grasshopper-components"]], "Creating a URDF with an UR5 robot and a custom end-effector": [[787, "creating-a-urdf-with-an-ur5-robot-and-a-custom-end-effector"]], "Export your meshes": [[787, "export-your-meshes"]], "Prepare your catkin workspace": [[787, "prepare-your-catkin-workspace"], [789, "prepare-your-catkin-workspace"]], "Create xacros and generate urdf": [[787, "create-xacros-and-generate-urdf"], [789, "create-xacros-and-generate-urdf"]], "Explanation": [[787, "explanation"]], "View urdf": [[787, "view-urdf"], [789, "view-urdf"]], "Add path to search paths": [[787, "add-path-to-search-paths"]], "Further links": [[787, "further-links"], [788, "further-links"], [789, "further-links"]], "Creating a MoveIt! package from the custom created URDF": [[788, "creating-a-moveit-package-from-the-custom-created-urdf"]], "Start the MoveIt! Setup Assistant": [[788, "start-the-moveit-setup-assistant"]], "Generate Self-Collision Matrix": [[788, "generate-self-collision-matrix"]], "Add Virtual Joints": [[788, "add-virtual-joints"]], "Add Planning Groups": [[788, "add-planning-groups"]], "Add the arm": [[788, "add-the-arm"]], "Add the gripper": [[788, "add-the-gripper"]], "Add Robot Poses": [[788, "add-robot-poses"]], "Label End-Effectors": [[788, "label-end-effectors"]], "Add Passive Joints": [[788, "add-passive-joints"]], "Add Author Information": [[788, "add-author-information"]], "Generate Configuration Files": [[788, "generate-configuration-files"]], "Start the newly generated MoveIt! Configuration": [[788, "start-the-newly-generated-moveit-configuration"]], "Creating a URDF of the UR10 on two linear axes": [[789, "creating-a-urdf-of-the-ur10-on-two-linear-axes"]], "Export meshes": [[789, "export-meshes"]], "tower.xacro": [[789, "tower-xacro"]], "Explanation:": [[789, "explanation"], [789, "id1"]], "ur10_tower.xacro": [[789, "ur10-tower-xacro"]], "Create URDF": [[789, "create-urdf"]], "Backends: PyBullet": [[790, "backends-pybullet"]], "Using PyBullet": [[791, "using-pybullet"]], "First Step": [[791, "first-step"]], "Backends: Analytical Kinematics": [[793, "backends-analytical-kinematics"]], "Analytical kinematics": [[794, "analytical-kinematics"]], "Planning: Reachability Map": [[795, "planning-reachability-map"]], "Introduction to the Reachability Map": [[796, "introduction-to-the-reachability-map"]], "Example 01: reachability map 1D": [[796, "example-01-reachability-map-1d"]], "Visualization": [[796, "visualization"]], "Projects where the reachability map was applied": [[796, "projects-where-the-reachability-map-was-applied"]], "Adaptive Detailing": [[796, "id1"]], "Robotic 360\u00b0 Light Painting Workshop": [[796, "id2"]], "Vector Generators": [[797, "vector-generators"]], "Generate orthonormal vectors from an axis": [[797, "generate-orthonormal-vectors-from-an-axis"]], "Generate vectors that deviate": [[797, "generate-vectors-that-deviate"]], "Generate frames": [[797, "generate-frames"]], "Reachability Map 2D": [[798, "reachability-map-2d"]], "Example 02: reachability map 2D with deviation vectors": [[798, "example-02-reachability-map-2d-with-deviation-vectors"]], "Example 03: reachability map 2D with sphere points": [[798, "example-03-reachability-map-2d-with-sphere-points"]], "Getting started": [[799, "getting-started"]], "Install with conda": [[799, "install-with-conda"]], "Installation options": [[799, "installation-options"]], "Install with pip": [[799, "install-with-pip"]], "Update with conda": [[799, "update-with-conda"]], "Update with pip": [[799, "update-with-pip"]], "Working in Rhino": [[799, "working-in-rhino"]], "Working in Blender": [[799, "working-in-blender"]], "Working in Visual Studio Code": [[799, "working-in-visual-studio-code"]], "Run scripts": [[799, "run-scripts"]], "Virtual environments": [[799, "virtual-environments"]], "Robotic Fabrication for COMPAS": [[800, "robotic-fabrication-for-compas"]], "Main features": [[800, "main-features"]], "Contents": [[800, "contents"]], "Indices and tables": [[800, "indices-and-tables"]], "License": [[801, "license"]]}, "indexentries": {"compas_fab": [[1, "module-compas_fab"]], "module": [[1, "module-compas_fab"], [2, "module-compas_fab.backends"], [3, "module-compas_fab.blender"], [4, "module-compas_fab.ghpython"], [5, "module-compas_fab.rhino"], [6, "module-compas_fab.robots"], [7, "module-compas_fab.sensors"], [8, "module-compas_fab.utilities"], [674, "module-compas_fab.backends.interfaces"], [674, "module-compas_fab.backends.pybullet.backend_features"], [674, "module-compas_fab.backends.ros.backend_features"]], "compas_fab.backends": [[2, "module-compas_fab.backends"]], "compas_fab.blender": [[3, "module-compas_fab.blender"]], "compas_fab.ghpython": [[4, "module-compas_fab.ghpython"]], "compas_fab.rhino": [[5, "module-compas_fab.rhino"]], "compas_fab.robots": [[6, "module-compas_fab.robots"]], "compas_fab.sensors": [[7, "module-compas_fab.sensors"]], "compas_fab.utilities": [[8, "module-compas_fab.utilities"]], "abb_irb4600_40_255kinematics (class in compas_fab.backends)": [[9, "compas_fab.backends.ABB_IRB4600_40_255Kinematics"]], "forward() (compas_fab.backends.abb_irb4600_40_255kinematics method)": [[10, "compas_fab.backends.ABB_IRB4600_40_255Kinematics.forward"]], "inverse() (compas_fab.backends.abb_irb4600_40_255kinematics method)": [[11, "compas_fab.backends.ABB_IRB4600_40_255Kinematics.inverse"]], "analyticalinversekinematics (class in compas_fab.backends)": [[12, "compas_fab.backends.AnalyticalInverseKinematics"]], "inverse_kinematics() (compas_fab.backends.analyticalinversekinematics method)": [[13, "compas_fab.backends.AnalyticalInverseKinematics.inverse_kinematics"]], "analyticalplancartesianmotion (class in compas_fab.backends)": [[14, "compas_fab.backends.AnalyticalPlanCartesianMotion"]], "plan_cartesian_motion() (compas_fab.backends.analyticalplancartesianmotion method)": [[15, "compas_fab.backends.AnalyticalPlanCartesianMotion.plan_cartesian_motion"]], "smooth_configurations() (compas_fab.backends.analyticalplancartesianmotion method)": [[16, "compas_fab.backends.AnalyticalPlanCartesianMotion.smooth_configurations"]], "analyticalpybulletclient (class in compas_fab.backends)": [[17, "compas_fab.backends.AnalyticalPyBulletClient"]], "add_attached_collision_mesh() (compas_fab.backends.analyticalpybulletclient method)": [[18, "compas_fab.backends.AnalyticalPyBulletClient.add_attached_collision_mesh"]], "add_collision_mesh() (compas_fab.backends.analyticalpybulletclient method)": [[19, 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