This repo uses Wandelbots NOVA to create a pick and place application. App interface uses TypeScript and React. The UR5-cb3 robot uses Wandelscript to send commands
This app was built with
- NOVA 28.8.1
- Nvidia Omniverse and Isaac Sim 4.1
To create an app, a local or cloud hosted instance of NOVA must be available. Installing a local instance of NOVA via Hyper-V is proven to work
- Download .ISO from Wandelbots developer portal
- Create a VM that meets the Requirements. NO DYNAMIC MEMORY on the VM
- After the initial install and first restart, shut down VM and remove the .ISO to prevent getting stuck in an infinite install loop
App developed using VS Code. Follow instructions in Wandelbots DEV portal.
Create the template app by running nova app create yourAppNameHere. Must have NOVA CLI tools installed and added to PATH variable
To install the dependencies, run: npm install
in the VS Code terminal
Add credentials in .env file to connect to cloud hosted or local NOVA virtual machine
WANDELAPI_BASE_URL=http://my.instance.wandelbots.io
CELL_ID=cell
NOVA_USERNAME="wb"
NOVA_PASSWORD="password"
Once everything is set up, you can run the NextJS dev server with npm run dev
Terminal window will provide the local url to connect to via the web browser
Apps can be deployed via Docker by following the official instructions
Our current simulation scene is located in the Wiki
Robot positions and schematics - https://github.com/CPTC-CAM/PickAndPlace/wiki/Diagrams
To get IP address of Hyper-V VMs, run in admin Powershell
get-vm | ?{$_.State -eq "Running"} | select -ExpandProperty networkadapters | select vmname, macaddress, switchname, ipaddresses | ft -wrap -autosize