From 6117719ab66df78cc9e0464f1858391e74e5c065 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Wed, 4 Oct 2023 19:09:44 +0800
Subject: [PATCH 01/12] Changed classes to inherete from compas.Data

---
 src/compas_fab/robots/planning_scene.py | 10 +++++--
 src/compas_fab/robots/robot.py          | 40 ++++++++++++++++++++++---
 src/compas_fab/robots/semantics.py      |  3 +-
 src/compas_fab/robots/tool.py           |  5 +++-
 4 files changed, 49 insertions(+), 9 deletions(-)

diff --git a/src/compas_fab/robots/planning_scene.py b/src/compas_fab/robots/planning_scene.py
index b1cb66e36..00f583a6b 100644
--- a/src/compas_fab/robots/planning_scene.py
+++ b/src/compas_fab/robots/planning_scene.py
@@ -2,6 +2,7 @@
 from __future__ import division
 from __future__ import print_function
 
+from compas.data import Data
 from compas.datastructures import Mesh
 from compas.geometry import Frame
 from compas.geometry import Scale
@@ -13,7 +14,7 @@
 ]
 
 
-class CollisionMesh(object):
+class CollisionMesh(Data):
     """Represents a collision mesh.
 
     Parameters
@@ -55,6 +56,7 @@ class CollisionMesh(object):
     """
 
     def __init__(self, mesh, id, frame=None, root_name=None):
+        super(CollisionMesh, self).__init__()
         self.id = id
         self.mesh = mesh
         self.frame = frame or Frame.worldXY()
@@ -130,7 +132,7 @@ def data(self, data_obj):
         self.root_name = data_obj["root_name"]
 
 
-class AttachedCollisionMesh(object):
+class AttachedCollisionMesh(Data):
     """Represents a collision mesh that is attached to a :class:`Robot`'s :class:`~compas.robots.Link`.
 
     Parameters
@@ -169,6 +171,7 @@ class AttachedCollisionMesh(object):
     """
 
     def __init__(self, collision_mesh, link_name, touch_links=None, weight=1.0):
+        super(AttachedCollisionMesh, self).__init__()
         self.collision_mesh = collision_mesh
         if self.collision_mesh:
             self.collision_mesh.root_name = link_name
@@ -224,7 +227,7 @@ def data(self, data_obj):
         self.weight = data_obj["weight"]
 
 
-class PlanningScene(object):
+class PlanningScene(Data):
     """Represents the planning scene.
 
     Parameters
@@ -241,6 +244,7 @@ class PlanningScene(object):
     """
 
     def __init__(self, robot):
+        super(PlanningScene, self).__init__()
         self.robot = robot
 
     @property
diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
index df3d54dfc..ec5297496 100644
--- a/src/compas_fab/robots/robot.py
+++ b/src/compas_fab/robots/robot.py
@@ -4,6 +4,7 @@
 
 import random
 
+from compas.data import Data
 from compas.geometry import Frame
 from compas.geometry import Sphere
 from compas.geometry import Transformation
@@ -21,7 +22,7 @@
 ]
 
 
-class Robot(object):
+class Robot(Data):
     """Represents a robot.
 
     This class binds together several building blocks, such as the robot's
@@ -47,15 +48,44 @@ class Robot(object):
         Dictionary mapping planning groups to the tool currently attached to them, if any.
     """
 
-    def __init__(self, model, artist=None, semantics=None, client=None):
+    def __init__(self, model=None, artist=None, semantics=None, client=None):
+        super(Robot, self).__init__()
+        # These attributes have to be initiated first, 
+        # because they are used in the setters of the other attributes
         self._scale_factor = 1.0
-        self.model = model
         self._attached_tools = {}  # { planning_group_name: robots.tool.Tool }
+        self._current_ik = {"request_id": None, "solutions": None}
+
+        self.model = model
         self.artist = artist
         self.semantics = semantics
         self.client = client
         self.attributes = {}
-        self._current_ik = {"request_id": None, "solutions": None}
+
+    @property
+    def data(self):
+        data = {
+            '_scale_factor': self._scale_factor,
+            '_attached_tools': self._attached_tools,
+            '_current_ik': self._current_ik,
+            'model': self.model.data,
+            # 'artist': self.artist.data if self.artist else None,
+            # 'semantics': self.semantics.data if self.semantics else None,
+            # 'client': self.client.data if self.client else None,
+            'attributes': self.attributes,
+        }
+        return data
+
+    @data.setter
+    def data(self, data):
+        self._scale_factor = data.get('_scale_factor', 1.0)
+        self._attached_tools = data.get('_attached_tools', {})
+        self._current_ik = data.get('_current_ik', {"request_id": None, "solutions": None})
+        self.model = RobotModel.from_data(data['model'])
+        # self.artist = data.get('artist', None)
+        # self.semantics = data.get('semantics', None)
+        # self.client = data.get('client', None)
+        self.attributes = data.get('attributes', {})
 
     @property
     def artist(self):
@@ -65,6 +95,8 @@ def artist(self):
     @artist.setter
     def artist(self, artist):
         self._artist = artist
+        if artist is None:
+            return
         if len(self.model.joints) > 0 and len(self.model.links) > 0:
             self.scale(self._scale_factor)
             for tool in self.attached_tools.values():
diff --git a/src/compas_fab/robots/semantics.py b/src/compas_fab/robots/semantics.py
index d209d3c39..dc0b21d7b 100644
--- a/src/compas_fab/robots/semantics.py
+++ b/src/compas_fab/robots/semantics.py
@@ -3,13 +3,14 @@
 from __future__ import print_function
 
 from compas.files import XML
+from compas.data import Data
 
 __all__ = [
     "RobotSemantics",
 ]
 
 
-class RobotSemantics(object):
+class RobotSemantics(Data):
     """Represents semantic information of a robot.
 
     The semantic model is based on the
diff --git a/src/compas_fab/robots/tool.py b/src/compas_fab/robots/tool.py
index fde614999..1c5f3e72a 100644
--- a/src/compas_fab/robots/tool.py
+++ b/src/compas_fab/robots/tool.py
@@ -4,6 +4,7 @@
 
 import json
 
+from compas.data import Data
 from compas.robots import Geometry
 from compas.robots import ToolModel
 
@@ -14,7 +15,7 @@
 __all__ = ["Tool"]
 
 
-class Tool(object):
+class Tool(Data):
     """Represents a tool to be attached to the robot's flange.
 
     Attributes
@@ -39,8 +40,10 @@ class Tool(object):
     """
 
     def __init__(self, visual, frame_in_tool0_frame, collision=None, name="attached_tool", link_name=None):
+        super(Tool, self).__init__()
         self.tool_model = ToolModel(visual, frame_in_tool0_frame, collision, name, link_name)
 
+
     @classmethod
     def from_tool_model(cls, tool_model):
         tool = cls(None, None)

From bf71c1f45bcd20d37fe500560f3a948dd70811b7 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Wed, 4 Oct 2023 19:52:33 +0800
Subject: [PATCH 02/12] Fix Lint Problems

---
 src/compas_fab/robots/robot.py | 32 +++++++++++++++-----------------
 src/compas_fab/robots/tool.py  |  1 -
 2 files changed, 15 insertions(+), 18 deletions(-)

diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
index ec5297496..86037d06e 100644
--- a/src/compas_fab/robots/robot.py
+++ b/src/compas_fab/robots/robot.py
@@ -50,7 +50,7 @@ class Robot(Data):
 
     def __init__(self, model=None, artist=None, semantics=None, client=None):
         super(Robot, self).__init__()
-        # These attributes have to be initiated first, 
+        # These attributes have to be initiated first,
         # because they are used in the setters of the other attributes
         self._scale_factor = 1.0
         self._attached_tools = {}  # { planning_group_name: robots.tool.Tool }
@@ -65,27 +65,25 @@ def __init__(self, model=None, artist=None, semantics=None, client=None):
     @property
     def data(self):
         data = {
-            '_scale_factor': self._scale_factor,
-            '_attached_tools': self._attached_tools,
-            '_current_ik': self._current_ik,
-            'model': self.model.data,
-            # 'artist': self.artist.data if self.artist else None,
-            # 'semantics': self.semantics.data if self.semantics else None,
-            # 'client': self.client.data if self.client else None,
-            'attributes': self.attributes,
+            "_scale_factor": self._scale_factor,
+            "_attached_tools": self._attached_tools,
+            "_current_ik": self._current_ik,
+            "model": self.model.data,
+            "attributes": self.attributes,
+            # The following attributes cannnot be serizlied
+            # "artist": self.artist.data if self.artist else None,
+            # "semantics": self.semantics.data if self.semantics else None,
+            # "client": self.client.data if self.client else None,
         }
         return data
 
     @data.setter
     def data(self, data):
-        self._scale_factor = data.get('_scale_factor', 1.0)
-        self._attached_tools = data.get('_attached_tools', {})
-        self._current_ik = data.get('_current_ik', {"request_id": None, "solutions": None})
-        self.model = RobotModel.from_data(data['model'])
-        # self.artist = data.get('artist', None)
-        # self.semantics = data.get('semantics', None)
-        # self.client = data.get('client', None)
-        self.attributes = data.get('attributes', {})
+        self._scale_factor = data.get("_scale_factor", 1.0)
+        self._attached_tools = data.get("_attached_tools", {})
+        self._current_ik = data.get("_current_ik", {"request_id": None, "solutions": None})
+        self.model = RobotModel.from_data(data["model"])
+        self.attributes = data.get("attributes", {})
 
     @property
     def artist(self):
diff --git a/src/compas_fab/robots/tool.py b/src/compas_fab/robots/tool.py
index 1c5f3e72a..f6cfd39af 100644
--- a/src/compas_fab/robots/tool.py
+++ b/src/compas_fab/robots/tool.py
@@ -43,7 +43,6 @@ def __init__(self, visual, frame_in_tool0_frame, collision=None, name="attached_
         super(Tool, self).__init__()
         self.tool_model = ToolModel(visual, frame_in_tool0_frame, collision, name, link_name)
 
-
     @classmethod
     def from_tool_model(cls, tool_model):
         tool = cls(None, None)

From 3dc93592182c11a4013a002b00fdc79130446391 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Thu, 5 Oct 2023 14:10:49 +0800
Subject: [PATCH 03/12] undo PlanningScene(Data)

---
 src/compas_fab/robots/planning_scene.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/compas_fab/robots/planning_scene.py b/src/compas_fab/robots/planning_scene.py
index 00f583a6b..9c025bbdf 100644
--- a/src/compas_fab/robots/planning_scene.py
+++ b/src/compas_fab/robots/planning_scene.py
@@ -227,7 +227,7 @@ def data(self, data_obj):
         self.weight = data_obj["weight"]
 
 
-class PlanningScene(Data):
+class PlanningScene(object):
     """Represents the planning scene.
 
     Parameters
@@ -244,7 +244,6 @@ class PlanningScene(Data):
     """
 
     def __init__(self, robot):
-        super(PlanningScene, self).__init__()
         self.robot = robot
 
     @property

From d9e15b0f38f3cd23a2f3ce0783f575c9b8e5dba9 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Thu, 5 Oct 2023 14:26:59 +0800
Subject: [PATCH 04/12] Data setter getter for RobotSemantics

---
 src/compas_fab/robots/semantics.py | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/src/compas_fab/robots/semantics.py b/src/compas_fab/robots/semantics.py
index dc0b21d7b..6d4ae7e45 100644
--- a/src/compas_fab/robots/semantics.py
+++ b/src/compas_fab/robots/semantics.py
@@ -42,6 +42,35 @@ def __init__(
         self.disabled_collisions = disabled_collisions or set()
         self.group_states = group_states or {}
 
+    @property
+    def data(self):
+        data = {
+            "robot_model": self.robot_model,
+            "groups": self.groups,
+            "main_group_name": self.main_group_name,
+            "passive_joints": self.passive_joints,
+            "end_effectors": self.end_effectors,
+            "disabled_collisions": self.disabled_collisions,
+            "group_states": self.group_states,
+        }
+        return data
+
+    @data.setter
+    def data(self, data):
+        self.robot_model = data.get("robot_model", None)
+        self.groups = data.get("groups", {})
+        self.main_group_name = data.get("main_group_name", None)
+        self.passive_joints = data.get("passive_joints", [])
+        self.end_effectors = data.get("end_effectors", [])
+        self.disabled_collisions = data.get("disabled_collisions", set())
+        self.group_states = data.get("group_states", {})
+
+    @classmethod
+    def from_data(cls, data):
+        robot_semantics = cls(None)
+        robot_semantics.data = data
+        return robot_semantics
+
     @property
     def group_names(self):
         return list(self.groups.keys())

From 03c657376631102a12df5061c0c99a80687bd3e6 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Thu, 5 Oct 2023 14:33:18 +0800
Subject: [PATCH 05/12] changelog

---
 CHANGELOG.md | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9e955420c..83f2c3ab2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+* `CollisionMesh` now inherit from `compas.data.Data`
+* `AttachedCollisionMesh` now inherit from `compas.data.Data`
+* `Robot` now inherit from `compas.data.Data`
+* `RobotSemantics` now inherit from `compas.data.Data`
+* `Tool` now inherit from `compas.data.Data`
+
 ### Removed
 
 

From 48893289ff6c5d9b768ad1a9d7a593442c919c25 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Thu, 5 Oct 2023 15:28:14 +0800
Subject: [PATCH 06/12] Serialization of disabled_collisions in RobotSemantics

---
 src/compas_fab/robots/robot.py     | 3 ++-
 src/compas_fab/robots/semantics.py | 5 ++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
index 86037d06e..f585c95a8 100644
--- a/src/compas_fab/robots/robot.py
+++ b/src/compas_fab/robots/robot.py
@@ -69,10 +69,10 @@ def data(self):
             "_attached_tools": self._attached_tools,
             "_current_ik": self._current_ik,
             "model": self.model.data,
+            "semantics": self.semantics,
             "attributes": self.attributes,
             # The following attributes cannnot be serizlied
             # "artist": self.artist.data if self.artist else None,
-            # "semantics": self.semantics.data if self.semantics else None,
             # "client": self.client.data if self.client else None,
         }
         return data
@@ -83,6 +83,7 @@ def data(self, data):
         self._attached_tools = data.get("_attached_tools", {})
         self._current_ik = data.get("_current_ik", {"request_id": None, "solutions": None})
         self.model = RobotModel.from_data(data["model"])
+        self.semantics = data.get("semantics", None)
         self.attributes = data.get("attributes", {})
 
     @property
diff --git a/src/compas_fab/robots/semantics.py b/src/compas_fab/robots/semantics.py
index 6d4ae7e45..aa1fb13c6 100644
--- a/src/compas_fab/robots/semantics.py
+++ b/src/compas_fab/robots/semantics.py
@@ -33,6 +33,7 @@ def __init__(
         disabled_collisions=None,
         group_states=None,
     ):
+        super(RobotSemantics, self).__init__()
         self.robot_model = robot_model
 
         self.groups = groups or {}
@@ -50,7 +51,7 @@ def data(self):
             "main_group_name": self.main_group_name,
             "passive_joints": self.passive_joints,
             "end_effectors": self.end_effectors,
-            "disabled_collisions": self.disabled_collisions,
+            "disabled_collisions": sorted(self.disabled_collisions),
             "group_states": self.group_states,
         }
         return data
@@ -63,6 +64,8 @@ def data(self, data):
         self.passive_joints = data.get("passive_joints", [])
         self.end_effectors = data.get("end_effectors", [])
         self.disabled_collisions = data.get("disabled_collisions", set())
+        if len(self.disabled_collisions) > 0:
+            self.disabled_collisions = {tuple(pair) for pair in self.disabled_collisions}
         self.group_states = data.get("group_states", {})
 
     @classmethod

From b2ab2488abfe131e1dcfbba43ac984842bece7b6 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Thu, 5 Oct 2023 15:29:11 +0800
Subject: [PATCH 07/12] Tests for RobotSemantics and Robot serialization

---
 tests/robots/test_robot.py | 38 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 38 insertions(+)

diff --git a/tests/robots/test_robot.py b/tests/robots/test_robot.py
index 6ec481fbd..f271e7145 100644
--- a/tests/robots/test_robot.py
+++ b/tests/robots/test_robot.py
@@ -3,6 +3,7 @@
 import re
 
 import pytest
+from compas.data import json_dumps, json_loads
 from compas.datastructures import Mesh
 from compas.geometry import Frame
 from compas.robots import RobotModel
@@ -289,6 +290,43 @@ def test_get_configurable_joints_wo_semantics(panda_robot_instance_wo_semantics)
     assert all(matches)
 
 
+def test_semantics_serialization(panda_srdf, panda_urdf):
+    model = RobotModel.from_urdf_file(panda_urdf)
+    semantics = RobotSemantics.from_srdf_file(panda_srdf, model)
+    semantics_string = json_dumps(semantics)
+    semantics2 = json_loads(semantics_string)
+    assert isinstance(semantics, RobotSemantics)
+    assert isinstance(semantics2, RobotSemantics)
+    assert ("panda_hand", "panda_link6") in semantics2.disabled_collisions
+    assert ("panda_hand", "panda_leftfinger") in semantics2.disabled_collisions
+
+
+def test_robot_serialization(panda_robot_instance):
+    robot = panda_robot_instance
+    robot_string = json_dumps(robot)
+    robot2 = json_loads(robot_string)
+    robot2_string = json_dumps(robot2)
+    assert isinstance(robot, Robot)
+    assert isinstance(robot2, Robot)
+    assert robot_string == robot2_string
+    assert robot.model.data == robot2.model.data
+    assert robot.attributes == robot2.attributes
+
+
+def test_robot_serialization_with_tool(ur5_robot_instance, robot_tool1):
+    robot = ur5_robot_instance
+    tool = robot_tool1
+    robot.attach_tool(tool)
+    robot_string = json_dumps(robot)
+    robot2 = json_loads(robot_string)
+    robot2_string = json_dumps(robot2)
+    for tool in robot2.attached_tools.values():
+        assert isinstance(tool, Tool)
+    assert robot_string == robot2_string
+    assert len(robot2.attached_tools) == 1
+    assert robot2.main_group_name == robot2.main_group_name
+
+
 def test_inverse_kinematics_repeated_calls_will_return_next_result(ur5_with_fake_ik):
     robot = ur5_with_fake_ik
 

From 4c5aa14291acd5088974cc99e8e308d281b42de4 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Thu, 5 Oct 2023 16:48:55 +0800
Subject: [PATCH 08/12] Avoid non str comparision in tests

---
 tests/robots/test_robot.py | 24 ++++++++++++++++--------
 1 file changed, 16 insertions(+), 8 deletions(-)

diff --git a/tests/robots/test_robot.py b/tests/robots/test_robot.py
index f271e7145..3ae759d21 100644
--- a/tests/robots/test_robot.py
+++ b/tests/robots/test_robot.py
@@ -297,20 +297,26 @@ def test_semantics_serialization(panda_srdf, panda_urdf):
     semantics2 = json_loads(semantics_string)
     assert isinstance(semantics, RobotSemantics)
     assert isinstance(semantics2, RobotSemantics)
-    assert ("panda_hand", "panda_link6") in semantics2.disabled_collisions
-    assert ("panda_hand", "panda_leftfinger") in semantics2.disabled_collisions
+    for disabled_collision in semantics.disabled_collisions:
+        assert disabled_collision in semantics2.disabled_collisions
 
 
 def test_robot_serialization(panda_robot_instance):
     robot = panda_robot_instance
+    robot.scale(0.001)
     robot_string = json_dumps(robot)
     robot2 = json_loads(robot_string)
     robot2_string = json_dumps(robot2)
+    assert robot2_string != ""
     assert isinstance(robot, Robot)
     assert isinstance(robot2, Robot)
-    assert robot_string == robot2_string
-    assert robot.model.data == robot2.model.data
-    assert robot.attributes == robot2.attributes
+    assert robot.model.name == robot2.model.name
+    assert robot._scale_factor == robot2._scale_factor
+    for index, joint in enumerate(robot.model.joints):
+        assert joint.name == robot2.model.joints[index].name
+        assert str(joint.origin) == str(robot2.model.joints[index].origin)
+    for index, link in enumerate(robot.model.links):
+        assert link.name == robot2.model.links[index].name
 
 
 def test_robot_serialization_with_tool(ur5_robot_instance, robot_tool1):
@@ -319,12 +325,14 @@ def test_robot_serialization_with_tool(ur5_robot_instance, robot_tool1):
     robot.attach_tool(tool)
     robot_string = json_dumps(robot)
     robot2 = json_loads(robot_string)
-    robot2_string = json_dumps(robot2)
     for tool in robot2.attached_tools.values():
         assert isinstance(tool, Tool)
-    assert robot_string == robot2_string
     assert len(robot2.attached_tools) == 1
-    assert robot2.main_group_name == robot2.main_group_name
+    assert robot.main_group_name == robot2.main_group_name
+    tool1 = robot.attached_tool
+    tool2 = robot2.attached_tool
+    assert tool1.name == tool2.name
+    assert str(tool1.frame) == str(tool2.frame)
 
 
 def test_inverse_kinematics_repeated_calls_will_return_next_result(ur5_with_fake_ik):

From 23376ab5c372559f55df417f2d583a64d2a9872d Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Mon, 6 Nov 2023 10:38:09 +0800
Subject: [PATCH 09/12] lint

---
 tests/robots/test_robot.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/tests/robots/test_robot.py b/tests/robots/test_robot.py
index 3ae759d21..7f8c6e318 100644
--- a/tests/robots/test_robot.py
+++ b/tests/robots/test_robot.py
@@ -3,7 +3,8 @@
 import re
 
 import pytest
-from compas.data import json_dumps, json_loads
+from compas.data import json_dumps
+from compas.data import json_loads
 from compas.datastructures import Mesh
 from compas.geometry import Frame
 from compas.robots import RobotModel
@@ -321,10 +322,11 @@ def test_robot_serialization(panda_robot_instance):
 
 def test_robot_serialization_with_tool(ur5_robot_instance, robot_tool1):
     robot = ur5_robot_instance
-    tool = robot_tool1
-    robot.attach_tool(tool)
+    robot.attach_tool(robot_tool1)
+    # serialization and deserialization using compas data serialization
     robot_string = json_dumps(robot)
     robot2 = json_loads(robot_string)
+
     for tool in robot2.attached_tools.values():
         assert isinstance(tool, Tool)
     assert len(robot2.attached_tools) == 1

From da851d9e7e3cd3731ad34d35763bf100818e529d Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Tue, 7 Nov 2023 21:08:26 +0800
Subject: [PATCH 10/12] removed the underscore keys of the serialized
 dictionary

---
 src/compas_fab/robots/robot.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
index f585c95a8..b7001533f 100644
--- a/src/compas_fab/robots/robot.py
+++ b/src/compas_fab/robots/robot.py
@@ -65,9 +65,10 @@ def __init__(self, model=None, artist=None, semantics=None, client=None):
     @property
     def data(self):
         data = {
-            "_scale_factor": self._scale_factor,
-            "_attached_tools": self._attached_tools,
-            "_current_ik": self._current_ik,
+            "scale_factor": self._scale_factor,
+            "attached_tools": self._attached_tools,
+            # The current_ik is an extrinsic state that is not serialized with the robot
+            # "current_ik": self._current_ik,
             "model": self.model.data,
             "semantics": self.semantics,
             "attributes": self.attributes,
@@ -79,9 +80,8 @@ def data(self):
 
     @data.setter
     def data(self, data):
-        self._scale_factor = data.get("_scale_factor", 1.0)
-        self._attached_tools = data.get("_attached_tools", {})
-        self._current_ik = data.get("_current_ik", {"request_id": None, "solutions": None})
+        self._scale_factor = data.get("scale_factor", 1.0)
+        self._attached_tools = data.get("attached_tools", {})
         self.model = RobotModel.from_data(data["model"])
         self.semantics = data.get("semantics", None)
         self.attributes = data.get("attributes", {})

From 0883f0702a81cd37ad8a39b1e093fb4a3144921c Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Tue, 7 Nov 2023 21:12:24 +0800
Subject: [PATCH 11/12] group name assertion

---
 tests/robots/test_robot.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/tests/robots/test_robot.py b/tests/robots/test_robot.py
index 7f8c6e318..e5acdbb99 100644
--- a/tests/robots/test_robot.py
+++ b/tests/robots/test_robot.py
@@ -296,6 +296,9 @@ def test_semantics_serialization(panda_srdf, panda_urdf):
     semantics = RobotSemantics.from_srdf_file(panda_srdf, model)
     semantics_string = json_dumps(semantics)
     semantics2 = json_loads(semantics_string)
+    assert semantics.main_group_name == semantics2.main_group_name
+    for group_name in semantics.group_names:
+        assert group_name in semantics2.group_names
     assert isinstance(semantics, RobotSemantics)
     assert isinstance(semantics2, RobotSemantics)
     for disabled_collision in semantics.disabled_collisions:

From 28c814bff13a9b173d6bdf5e579b013dc285d540 Mon Sep 17 00:00:00 2001
From: Victor LEUNG <yck011522@gmail.com>
Date: Tue, 7 Nov 2023 14:13:14 +0100
Subject: [PATCH 12/12] simplify comment line

Co-authored-by: Gonzalo Casas <casas@arch.ethz.ch>
---
 src/compas_fab/robots/robot.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/compas_fab/robots/robot.py b/src/compas_fab/robots/robot.py
index f585c95a8..c27231d5c 100644
--- a/src/compas_fab/robots/robot.py
+++ b/src/compas_fab/robots/robot.py
@@ -71,9 +71,7 @@ def data(self):
             "model": self.model.data,
             "semantics": self.semantics,
             "attributes": self.attributes,
-            # The following attributes cannnot be serizlied
-            # "artist": self.artist.data if self.artist else None,
-            # "client": self.client.data if self.client else None,
+            # The following attributes cannot be serialized: artist, client
         }
         return data