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wandelbots-nova

This library provides an SDK for the Wandelbots NOVA API.

The SDK will help you to build your own apps and services on top of NOVA and makes programming a robot as easy as possible.

Requirements

This library requires

  • Python >=3.10

Installation

To use the library, first install it using the following command

pip install wandelbots-nova

Then import the library in your code

from nova import Nova, MotionGroup

Usage

Here is an example of how to use the library to connect to a robot controller and move the robot.

from nova import Nova, pi, jnt, ptp
import asyncio


async def main():
  nova = Nova()
  cell = nova.cell()
  controller = await cell.controller("ur")

  # Define a home position
  home_joints = (0, -pi / 4, -pi / 4, -pi / 4, pi / 4, 0)

  # Connect to the controller and activate motion groups
  async with controller:
    motion_group = controller.motion_group()

    # Get current TCP pose and offset it slightly along the x-axis
    current_pose = await motion_group.tcp_pose("Flange")
    target_pose = current_pose @ Pose((100, 50, 0, 0, 0, 0))

    actions = [
      jnt(home_joints),
      ptp(target_pose),
      ptp(target_pose @ (200, 0, 0, 0, 0, 0)),
      jnt(home_joints),
    ]

    await motion_group.run(actions, tcp="Flange")


if __name__ == "__main__":
  asyncio.run(main())

Have a look at the examples directory to see how to use the library.

Development

To install the development dependencies, run the following command

poetry install

Environment Variables for NOVA Configuration

  1. Copy the Template: Make a copy of the provided .env.template file and rename it to .env with cp .env.template .env.
  2. Fill in the Values: Open the .env file in a text editor and provide the necessary values for each variable. The table below describes each variable and its usage.
Variable Description Required Default Example
NOVA_HOST The base URL or hostname of the NOVA server instance. Yes None https://nova.example.com
NOVA_USERNAME The username credential used for authentication with the NOVA service. Yes* None my_username
NOVA_PASSWORD The password credential used in conjunction with NOVA_USERNAME. Yes* None my_password
NOVA_ACCESS_TOKEN A pre-obtained access token for NOVA if using token-based authentication. Yes* None eyJhbGciOi...

Note on Authentication: You can authenticate with NOVA using either username/password credentials or a pre-obtained access token, depending on your setup and security model:

  • If using username/password: Ensure both NOVA_USERNAME and NOVA_PASSWORD are set, and leave NOVA_ACCESS_TOKEN unset.
  • If using an access token: Ensure NOVA_ACCESS_TOKEN is set, and leave NOVA_USERNAME and NOVA_PASSWORD unset.

Only one method should be used at a time. If both methods are set, the token-based authentication (NOVA_ACCESS_TOKEN) will typically take precedence.