See here for the code and details:
https://github.com/robin-gdwl/UR_Face...
Code is licensed under GPLv3 (https://www.gnu.org/licenses/gpl-3.0....)
Huge thanks to these Repositories:
https://github.com/Mandelbr0t/Univers...
https://bitbucket.org/RopeRobotics/ur...
https://gitlab.com/morlin/pymath3d