diff --git a/lecture_04/assignment_03/ananya_kango/assignment-03.json b/lecture_04/assignment_03/ananya_kango/assignment-03.json
new file mode 100644
index 0000000..a2365ff
--- /dev/null
+++ b/lecture_04/assignment_03/ananya_kango/assignment-03.json
@@ -0,0 +1,321 @@
+[
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -6.057747560698094,
+                4.186381649930286,
+                -2.128169050660379,
+                5.795769035492999,
+                -4.712388971897831,
+                1.7962340734893134
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -6.2752833395775465,
+                4.290723852532892,
+                -2.365750309119598,
+                5.929008089454119,
+                -4.712388971838435,
+                1.5786982946098613
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -0.29709798154273676,
+                -1.9446282916825937,
+                -2.480754159211547,
+                -0.2870065396566978,
+                -4.712388974290103,
+                -5.009486962008193
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -0.672703287978784,
+                -1.9547210433746867,
+                -2.4559602539291374,
+                -0.3017076954774477,
+                -4.712388978268733,
+                -5.38509226844424
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -1.0513929194895173,
+                -2.0141374192441255,
+                -2.315268365985418,
+                -0.3829832084206043,
+                -4.71238898304272,
+                -5.7637818999549735
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -1.3929065846634088,
+                -2.104166227211656,
+                -2.1118545399914344,
+                -0.49636822568933664,
+                -4.712388987657746,
+                -6.105295565128865
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -5.552737458744558,
+                -0.9481634130909733,
+                1.9159366141372824,
+                -2.5385695284470624,
+                -1.5707963263603117,
+                5.442836828618871
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -5.778493871741615,
+                -0.8855879856353794,
+                1.780491145781097,
+                -2.4656994874970084,
+                -1.5707963262684945,
+                5.2170804156218145
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -6.005258766433345,
+                -0.8397376379484895,
+                1.681899508424523,
+                -2.4129581977559553,
+                -1.5707963261874696,
+                4.990315520930085
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -6.223955465496162,
+                -0.7872421679803526,
+                1.5695141088518056,
+                -2.353068268064482,
+                -1.5707963261246773,
+                4.771618821867268
+            ]
+        }
+    },
+    {
+        "dtype": "compas.robots/Configuration",
+        "value": {
+            "joint_names": [
+                "shoulder_pan_joint",
+                "shoulder_lift_joint",
+                "elbow_joint",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+            ],
+            "joint_types": [
+                0,
+                0,
+                0,
+                0,
+                0,
+                0
+            ],
+            "joint_values": [
+                -2.6933975641036167,
+                3.8507438100444116,
+                -1.4030352459531346,
+                5.406273142528284,
+                -4.712388799291535,
+                -1.1226012363178763
+            ]
+        }
+    }
+]
\ No newline at end of file
diff --git a/lecture_04/assignment_03/ananya_kango/assignment_03.py b/lecture_04/assignment_03/ananya_kango/assignment_03.py
new file mode 100644
index 0000000..592a31e
--- /dev/null
+++ b/lecture_04/assignment_03/ananya_kango/assignment_03.py
@@ -0,0 +1,66 @@
+import os
+#from xml.dom.expatbuilder import FragmentBuilderNS
+import compas
+import compas_fab
+from compas_fab.backends import RosClient
+from compas_fab.robots import Configuration
+
+from compas.geometry import Frame
+from compas.geometry import Point
+from compas.geometry import Vector
+
+
+# Step 1: Inside this function, complete the main part of the solution for the assignment:
+#  - Taking a robot and a list of frames as parameter, calculate a feasible configuration for each of the frames
+#  - Try to find an optimal start_configuration for each so that the motion from one config to the next is minimized
+def calculate_ik_for_frames(robot, frames):
+    configs = []
+    start_config = robot.zero_configuration()
+    options = {"solver": "ur3e", "check_collision": True, "keep_order": True}
+    base_configs = []
+    #list of start configurations from zero configuration
+    for it in robot.iter_inverse_kinematics(frames[0], options=options):
+        base_configs.append(it)
+    #sort list to limit movement in 'shoulder lift' andd 'wrist 1' to a maximum value, so as to avoid unfeasible configurations and singularities during motion
+    start_config = sorted(base_configs,key = lambda values:values.joint_values[1]+values.joint_values[3])[-1]
+    #use optimal start config to get list of feasible configurations on each frame
+    for f in frames:
+        ik = robot.inverse_kinematics(f, start_config, group = robot.main_group_name, return_full_configuration = True,options = options)
+        start_config = ik
+        configs.append(ik)
+    return configs
+
+
+# Step 2: store all found configurations in a JSON file using compas.json_dump or compas.json_dumps
+def store_configurations(configurations, filename):
+    compas.json_dump(configurations,filename,pretty=True)
+
+# Use the following to test from the command line
+# Or copy solution_viewer.ghx next to the folder where you created assignment_03.py to visualize the same in Grasshopper
+if __name__ == '__main__':
+
+    frames = [
+        Frame(Point(-0.329, 0.059, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.260, 0.129, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.186, 0.194, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.106, 0.252, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(-0.020, 0.299, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.074, 0.329, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.172, 0.330, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.263, 0.295, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.339, 0.233, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.400, 0.155, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
+        Frame(Point(0.448, 0.070, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000))]
+
+    # Loads the robot from ROS
+    with RosClient('localhost') as client:
+        robot = client.load_robot()
+
+        # Step 1: calculate IK solutions for each frame
+        configurations = calculate_ik_for_frames(robot, frames)
+        print("Found {} configurations".format(len(configurations)))
+
+        # Step 2: store all configurations in a JSON file
+        filename = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'assignment-03.json')
+        store_configurations(configurations, filename)
+        print("Stored results in {}".format(filename))
diff --git a/lecture_04/assignment_03/ananya_kango/solution_viewer.ghx b/lecture_04/assignment_03/ananya_kango/solution_viewer.ghx
new file mode 100644
index 0000000..a550030
--- /dev/null
+++ b/lecture_04/assignment_03/ananya_kango/solution_viewer.ghx
@@ -0,0 +1,1824 @@
+<?xml version="1.0" encoding="utf-8" standalone="yes"?>
+<Archive name="Root">
+  <!--Grasshopper archive-->
+  <!--Grasshopper and GH_IO.dll are copyrighted by Robert McNeel & Associates-->
+  <!--Archive generated by GH_IO.dll file utility library {0.2.0002}-->
+  <items count="1">
+    <item name="ArchiveVersion" type_name="gh_version" type_code="80">
+      <Major>0</Major>
+      <Minor>2</Minor>
+      <Revision>2</Revision>
+    </item>
+  </items>
+  <chunks count="2">
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+          <Revision>7</Revision>
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+      </items>
+      <chunks count="5">
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+            <item name="DocumentID" type_name="gh_guid" type_code="9">267186b6-22d4-4301-830e-efc68b78e363</item>
+            <item name="Preview" type_name="gh_string" type_code="10">Shaded</item>
+            <item name="PreviewMeshType" type_name="gh_int32" type_code="3">1</item>
+            <item name="PreviewNormal" type_name="gh_drawing_color" type_code="36">
+              <ARGB>100;150;0;0</ARGB>
+            </item>
+            <item name="PreviewSelected" type_name="gh_drawing_color" type_code="36">
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+            <item name="Name" type_name="gh_string" type_code="10">solution_viewer.ghx</item>
+          </items>
+          <chunks count="3">
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+                <item name="Zoom" type_name="gh_single" type_code="5">2.87352824</item>
+              </items>
+            </chunk>
+            <chunk name="Views">
+              <items count="1">
+                <item name="ViewCount" type_name="gh_int32" type_code="3">0</item>
+              </items>
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+        </chunk>
+        <chunk name="RcpLayout">
+          <items count="1">
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+                <chunk name="Container">
+                  <items count="12">
+                    <item name="CodeInput" type_name="gh_string" type_code="10"># NOTE: Don't write you solution here!
+# Write the code in the assignment_03.py and if
+# the file is located in the same folder as this GH file
+# then Grasshopper will find it and import it
+from compas_ghpython import unload_modules
+unload_modules('assignment_03')
+
+try:
+    from assignment_03 import calculate_ik_for_frames
+except ImportError:
+    raise Exception("Please make sure you have the file assignment_03.py in the same location as this GH file")
+
+from compas_fab.ghpython.components import coerce_frame
+
+frames = [coerce_frame(f) for f in frames]
+configuration = calculate_ik_for_frames(robot, frames)
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">GhPython provides a Python script component</item>
+                    <item name="EditorLocation" type_name="gh_drawing_point" type_code="30">
+                      <X>891</X>
+                      <Y>131</Y>
+                    </item>
+                    <item name="EditorSize" type_name="gh_drawing_size" type_code="32">
+                      <W>1373</W>
+                      <H>900</H>
+                    </item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="InputIsPath" type_name="gh_bool" type_code="1">false</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">205c786a-b8cf-4a07-8455-eea7b91954d2</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">false</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Python</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>787</X>
+                          <Y>233</Y>
+                          <W>149</W>
+                          <H>60</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>844</X>
+                          <Y>263</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="5">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">2</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">1</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="3">
+                        <chunk name="InputParam" index="0">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script variable Python</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">ba3333a4-a4af-41c9-9db8-4a84ea6a37df</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">d4bae7b0-750f-4b86-a929-7bf58d55c307</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
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+                                  <X>789</X>
+                                  <Y>235</Y>
+                                  <W>40</W>
+                                  <H>28</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>810.5</X>
+                                  <Y>249</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="12">
+                            <item name="Access" type_name="gh_int32" type_code="3">1</item>
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">Script input frames.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">c640367c-4d94-4702-8a36-9b422631f663</item>
+                            <item name="Name" type_name="gh_string" type_code="10">frames</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">frames</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">1</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
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+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">87f87f55-5b71-41f4-8aea-21d494016f81</item>
+                          </items>
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+                                  <X>810.5</X>
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+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">Script output configuration.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">66f1bdea-7701-4476-b28d-6ea50cb1a15e</item>
+                            <item name="Name" type_name="gh_string" type_code="10">configuration</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">configuration</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
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+                                  <X>896.5</X>
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+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="4">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">59daf374-bc21-4a5e-8282-5504fb7ae9ae</item>
+                <item name="Name" type_name="gh_string" type_code="10">List Item</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="5">
+                    <item name="BaseOutputIndex" type_name="gh_int32" type_code="3">0</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Retrieve a specific item from a list.</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">7198f137-5adf-40bd-9365-ce004651bcdf</item>
+                    <item name="Name" type_name="gh_string" type_code="10">List Item</item>
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+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
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+                          <W>64</W>
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+                        </item>
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+                          <X>1024</X>
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+                        </item>
+                      </items>
+                    </chunk>
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+                            <item name="Name" type_name="gh_string" type_code="10">List</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">L</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                                </item>
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+                                  <X>1002</X>
+                                  <Y>263</Y>
+                                </item>
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+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="7">
+                            <item name="Description" type_name="gh_string" type_code="10">Item index</item>
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+                            <item name="Name" type_name="gh_string" type_code="10">Index</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">i</item>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="7">
+              <items count="2">
+                <item name="GUID" type_name="gh_guid" type_code="9">c552a431-af5b-46a9-a8a4-0fcbc27ef596</item>
+                <item name="Name" type_name="gh_string" type_code="10">Group</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="Border" type_name="gh_int32" type_code="3">1</item>
+                    <item name="Colour" type_name="gh_drawing_color" type_code="36">
+                      <ARGB>150;170;135;255</ARGB>
+                    </item>
+                    <item name="Description" type_name="gh_string" type_code="10">A group of Grasshopper objects</item>
+                    <item name="ID" index="0" type_name="gh_guid" type_code="9">205c786a-b8cf-4a07-8455-eea7b91954d2</item>
+                    <item name="ID" index="1" type_name="gh_guid" type_code="9">7198f137-5adf-40bd-9365-ce004651bcdf</item>
+                    <item name="ID" index="2" type_name="gh_guid" type_code="9">9c88f1df-80d2-4fc0-a569-528fab1a8314</item>
+                    <item name="ID" index="3" type_name="gh_guid" type_code="9">716141ca-3bd8-4b27-8dca-290a69e4a2eb</item>
+                    <item name="ID_Count" type_name="gh_int32" type_code="3">4</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">a10ab389-c3a2-495c-979b-e89e0f6f17c4</item>
+                    <item name="Name" type_name="gh_string" type_code="10">Group</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
+                  </items>
+                  <chunks count="1">
+                    <chunk name="Attributes" />
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="8">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">ROS Connect</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
+Connect or disconnect to ROS.
+
+COMPAS FAB v0.22.0
+"""
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.backends import RosClient
+from compas_fab.ghpython.components import create_id
+
+
+class ROSConnect(component):
+    def RunScript(self, ip, port, connect):
+        ros_client = None
+
+        ip = ip or '127.0.0.1'
+        port = port or 9090
+
+        key = create_id(self, 'ros_client')
+        ros_client = st.get(key, None)
+
+        if ros_client:
+            st[key].close()
+        if connect:
+            st[key] = RosClient(ip, port)
+            st[key].run(5)
+
+        ros_client = st.get(key, None)
+        is_connected = ros_client.is_connected if ros_client else False
+        return (ros_client, is_connected)
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Connect or disconnect to ROS.
+COMPAS FAB v0.22.0</item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
+                      <bitmap length="564">iVBORw0KGgoAAAANSUhEUgAAABgAAAAYCAYAAADgdz34AAAABGdBTUEAALGPC/xhBQAAAAlwSFlzAAALDQAACw0B7QfALAAAAdZJREFUSEu1lD2O4kAQRrkBcwP2BnADfARuABEhcAMcEEyCQKuVCCEkY27A3ADCyUAimQyHm/V+r9bNNp5iSLwtPWF/9dvdZRohhP+KK9aJK9aJK9aJKzpk4k08W4XYiB/CYquJPJbX6zVMp9PQbrcV0XhIt9sN6/VaIVZoQLyXMGVC8piYXwp5jMfj0Gq1zK/f7yvUVsdLGnkRBV0RlHT2/g2WHH+KonmJI4PD4ZA6HwVFPd9IR1hTzWZTj76Tcjay1Wr1QWIKnE6n0Ov17DnhXeSiWnTJbvHZ7/d3BkNrg3E2m/2OBbiH4XCITkLg+YhNnMVtakRuib0CWgMMYlMUxetutzPH8vwZ00f+HB8auznHe6CxagDdnMt3ztPOkunAWYsiPcF3YYxGo19ZloXtdvtT78d4b9yDVpEmf8Eg8qiJt7gLCi0WC9v2IxjV6Mu9aU3SAh2MYhI1wZaPBMcZfwadl8n5oqX8Sya7OZkhgSJoge1Xu04pE/Ot3E4hTUQBmyDB+d7ZBIU4f4INBmE+n3/meR4ul8tS2pe4+5e/91CURRjH7BuYIIYCX/vf8fgqaKYFHxEvz6CZh8nBFUGLQl7nN7y4Kq5YJ65YJ65YJ65YH6HxB7b14P1B22tpAAAAAElFTkSuQmCC</bitmap>
+                    </item>
+                    <item name="InputIsPath" type_name="gh_bool" type_code="1">false</item>
+                    <item name="InstanceGuid" type_name="gh_guid" type_code="9">eccb9686-8536-4332-975d-684efb918cee</item>
+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">ROS Connect</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">ROS</item>
+                  </items>
+                  <chunks count="2">
+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                          <X>178</X>
+                          <Y>187</Y>
+                          <W>153</W>
+                          <H>64</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>241</X>
+                          <Y>219</Y>
+                        </item>
+                      </items>
+                    </chunk>
+                    <chunk name="ParameterData">
+                      <items count="7">
+                        <item name="InputCount" type_name="gh_int32" type_code="3">3</item>
+                        <item name="InputId" index="0" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="1" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="InputId" index="2" type_name="gh_guid" type_code="9">84fa917c-1ed8-4db3-8be1-7bdc4a6495a2</item>
+                        <item name="OutputCount" type_name="gh_int32" type_code="3">2</item>
+                        <item name="OutputId" index="0" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                        <item name="OutputId" index="1" type_name="gh_guid" type_code="9">8ec86459-bf01-4409-baee-174d0d2b13d0</item>
+                      </items>
+                      <chunks count="5">
+                        <chunk name="InputParam" index="0">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The ip address ROS. Defaults to 127.0.0.1.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">cbcceb8e-d113-460c-8c91-6474031ab1a7</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ip</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ip</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">37261734-eec7-4f50-b6a8-b8d1f3c4396b</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>180</X>
+                                  <Y>189</Y>
+                                  <W>46</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>204.5</X>
+                                  <Y>199</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
+                          <items count="10">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The port of ROS. Defaults to 9090.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">23ab18d4-0816-4280-b382-e2cbdab4caa9</item>
+                            <item name="Name" type_name="gh_string" type_code="10">port</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">port</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">48d01794-d3d8-4aef-990e-127168822244</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>180</X>
+                                  <Y>209</Y>
+                                  <W>46</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>204.5</X>
+                                  <Y>219</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="2">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">If True, connects to ROS. If False, disconnects from ROS. Defaults to False.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">da4e32db-96ba-40c4-b661-67c91677a2ed</item>
+                            <item name="Name" type_name="gh_string" type_code="10">connect</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">connect</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">true</item>
+                            <item name="ScriptParamAccess" type_name="gh_int32" type_code="3">0</item>
+                            <item name="ShowTypeHints" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Source" index="0" type_name="gh_guid" type_code="9">c7d255bb-e9cf-4deb-b4de-248fedfcc9fd</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">1</item>
+                            <item name="TypeHintID" type_name="gh_guid" type_code="9">d60527f5-b5af-4ef6-8970-5f96fe412559</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>180</X>
+                                  <Y>229</Y>
+                                  <W>46</W>
+                                  <H>20</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>204.5</X>
+                                  <Y>239</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The ROS client.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">20b3b82c-7d50-4449-b49c-d0195f7b838a</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>256</X>
+                                  <Y>189</Y>
+                                  <W>73</W>
+                                  <H>30</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>292.5</X>
+                                  <Y>204</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="1">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">True if connection established.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">f636540e-bf52-4933-9f75-bdfdc23e479c</item>
+                            <item name="Name" type_name="gh_string" type_code="10">is_connected</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">is_connected</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
+                            <item name="SourceCount" type_name="gh_int32" type_code="3">0</item>
+                          </items>
+                          <chunks count="1">
+                            <chunk name="Attributes">
+                              <items count="2">
+                                <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
+                                  <X>256</X>
+                                  <Y>219</Y>
+                                  <W>73</W>
+                                  <H>30</H>
+                                </item>
+                                <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                                  <X>292.5</X>
+                                  <Y>234</Y>
+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="9">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">ROS Robot</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
+Load robot directly from ROS.
+
+COMPAS FAB v0.22.0
+"""
+from compas_ghpython.artists import RobotModelArtist
+from ghpythonlib.componentbase import executingcomponent as component
+from scriptcontext import sticky as st
+
+from compas_fab.ghpython.components import create_id
+
+
+class ROSRobot(component):
+    def RunScript(self, ros_client, load):
+        key = create_id(self, 'robot')
+
+        if ros_client and ros_client.is_connected and load:
+            # Load URDF from ROS
+            st[key] = ros_client.load_robot(load_geometry=True, precision='12f')
+            st[key].artist = RobotModelArtist(st[key].model)
+
+        robot = st.get(key, None)
+        if robot:  # client sometimes need to be restarted, without needing to reload geometry
+            robot.client = ros_client
+        return robot
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Load robot directly from ROS.
+COMPAS FAB v0.22.0</item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
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+                    </item>
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+                    <item name="IsAdvancedMode" type_name="gh_bool" type_code="1">true</item>
+                    <item name="MarshalOutGuids" type_name="gh_bool" type_code="1">true</item>
+                    <item name="Name" type_name="gh_string" type_code="10">ROS Robot</item>
+                    <item name="NickName" type_name="gh_string" type_code="10">Robot</item>
+                  </items>
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+                      </items>
+                      <chunks count="3">
+                        <chunk name="InputParam" index="0">
+                          <items count="11">
+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">The ROS client.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">9df689c7-f25f-4820-b9e3-e243f1ac71db</item>
+                            <item name="Name" type_name="gh_string" type_code="10">ros_client</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">ros_client</item>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="InputParam" index="1">
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
+                            <item name="Description" type_name="gh_string" type_code="10">If True, loads the robot from ROS. Defaults to False.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">28374d3d-390d-4b67-88a5-0746309c0629</item>
+                            <item name="Name" type_name="gh_string" type_code="10">load</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">load</item>
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+                          </items>
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+                                </item>
+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                        <chunk name="OutputParam" index="0">
+                          <items count="6">
+                            <item name="Description" type_name="gh_string" type_code="10">The robot.</item>
+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">d4bae7b0-750f-4b86-a929-7bf58d55c307</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
+                            <item name="NickName" type_name="gh_string" type_code="10">robot</item>
+                            <item name="Optional" type_name="gh_bool" type_code="1">false</item>
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+                          </items>
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+                                </item>
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+                              </items>
+                            </chunk>
+                          </chunks>
+                        </chunk>
+                      </chunks>
+                    </chunk>
+                  </chunks>
+                </chunk>
+              </chunks>
+            </chunk>
+            <chunk name="Object" index="10">
+              <items count="3">
+                <item name="GUID" type_name="gh_guid" type_code="9">410755b1-224a-4c1e-a407-bf32fb45ea7e</item>
+                <item name="Lib" type_name="gh_guid" type_code="9">00000000-0000-0000-0000-000000000000</item>
+                <item name="Name" type_name="gh_string" type_code="10">Robot Visualize</item>
+              </items>
+              <chunks count="1">
+                <chunk name="Container">
+                  <items count="11">
+                    <item name="CodeInput" type_name="gh_string" type_code="10">"""
+Visualizes the robot.
+
+COMPAS FAB v0.22.0
+"""
+from compas.geometry import Frame
+from compas.geometry import Transformation
+from compas_ghpython.artists import FrameArtist
+from compas_ghpython.artists import MeshArtist
+from ghpythonlib.componentbase import executingcomponent as component
+
+
+class RobotVisualize(component):
+    def RunScript(self, robot, group, configuration, attached_collision_meshes, show_visual, show_collision,
+                  show_frames, show_base_frame, show_end_effector_frame, show_acm):
+
+        visual = None
+        collision = None
+        attached_meshes = None
+        frames = None
+        base_frame = None
+        ee_frame = None
+
+        if robot:
+            show_visual = True if show_visual is None else show_visual
+            configuration = configuration or robot.zero_configuration()
+
+            robot.update(configuration, visual=show_visual, collision=show_collision)
+            compas_frames = robot.transformed_frames(configuration, group)
+
+            if show_visual:
+                visual = robot.artist.draw_visual()
+
+            if show_collision:
+                collision = robot.artist.draw_collision()
+
+            if show_base_frame:
+                base_compas_frame = compas_frames[0]
+                artist = FrameArtist(base_compas_frame)
+                base_frame = artist.draw()
+
+            if show_end_effector_frame:
+                ee_compas_frame = robot.forward_kinematics(configuration, group, options=dict(solver='model'))
+                artist = FrameArtist(ee_compas_frame)
+                ee_frame = artist.draw()
+
+            if show_frames:
+                frames = []
+                for compas_frame in compas_frames[1:]:
+                    artist = FrameArtist(compas_frame)
+                    frame = artist.draw()
+                    frames.append(frame)
+
+            if show_acm:
+                attached_meshes = []
+                for acm in attached_collision_meshes:
+                    frame = robot.forward_kinematics(configuration, options=dict(solver='model', link_name=acm.link_name))
+                    T = Transformation.from_frame_to_frame(Frame.worldXY(), frame)
+                    mesh = acm.collision_mesh.mesh.transformed(T)
+                    attached_meshes.append(MeshArtist(mesh).draw())
+
+        return (visual, collision, attached_meshes, frames, base_frame, ee_frame)
+</item>
+                    <item name="Description" type_name="gh_string" type_code="10">Visualizes the robot.
+COMPAS FAB v0.22.0</item>
+                    <item name="HideInput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="HideOutput" type_name="gh_bool" type_code="1">true</item>
+                    <item name="IconOverride" type_name="gh_drawing_bitmap" type_code="37">
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+                    </item>
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+                            <item name="InstanceGuid" type_name="gh_guid" type_code="9">5665115c-dc6f-4b96-b649-90363f6f156d</item>
+                            <item name="Name" type_name="gh_string" type_code="10">robot</item>
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+                            <item name="AllowTreeAccess" type_name="gh_bool" type_code="1">true</item>
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</bitmap>
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+    </chunk>
+  </chunks>
+</Archive>
\ No newline at end of file