fix

examples/02_plan_and_execute.py

@@ -17,9 +17,12 @@ async def main():
     home_joints = (0, -pi / 4, -pi / 4, -pi / 4, pi / 4, 0)
 
     # Connect to the controller and activate motion groups
-    async with controller[0] as mg:
+    async with controller[0] as motion_group:
+        tcp_names = await motion_group.tcp_names()
+        tcp = tcp_names[0]
+
         # Get current TCP pose and offset it slightly along the x-axis
-        current_pose = await mg.tcp_pose("Flange")
+        current_pose = await motion_group.tcp_pose(tcp)
         target_pose = current_pose @ Pose((1, 0, 0, 0, 0, 0))
 
         actions = [
@@ -36,7 +39,7 @@ async def main():
             jnt(home_joints),
         ]
 
-        await mg.run(actions, tcp="Flange", movement_controller=move_forward)
+        await motion_group.run(actions, tcp=tcp, movement_controller=move_forward)
 
 
 if __name__ == "__main__":

examples/03_move_and_set_ios.py

@@ -11,17 +11,17 @@ async def main():
     nova = Nova()
     cell = nova.cell()
     controllers = await cell.controllers()
-    controller = controllers[0]
 
     # 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()
+    async with controllers[0] as motion_group:
+        tcp_names = await motion_group.tcp_names()
+        tcp = tcp_names[0]
 
         # Get current TCP pose and offset it slightly along the x-axis
-        current_pose = await motion_group.tcp_pose("Flange")
+        current_pose = await motion_group.tcp_pose(tcp)
         target_pose = current_pose @ Pose((100, 0, 0, 0, 0, 0))
         actions = [
             jnt(home_joints),
@@ -39,9 +39,9 @@ async def main():
         def print_motion(motion):
             print(motion)
 
-        await motion_group.run(actions, tcp="Flange", initial_movement_consumer=print_motion)
-        await motion_group.run(actions, tcp="Flange")
-        await motion_group.run(ptp(target_pose), tcp="Flange")
+        await motion_group.run(actions, tcp=tcp, initial_movement_consumer=print_motion)
+        await motion_group.run(actions, tcp=tcp)
+        await motion_group.run(ptp(target_pose), tcp=tcp)
 
 
 if __name__ == "__main__":

examples/04_move_multiple_robots.py

@@ -7,12 +7,15 @@
 async def move_robot(controller: Controller):
     home_joints = (0, -pi / 4, -pi / 4, -pi / 4, pi / 4, 0)
 
-    async with controller[0] as mg:
-        current_pose = await mg.tcp_pose("Flange")
+    async with controller[0] as motion_group:
+        tcp_names = await motion_group.tcp_names()
+        tcp = tcp_names[0]
+
+        current_pose = await motion_group.tcp_pose(tcp)
         target_pose = current_pose @ (100, 0, 0, 0, 0, 0)
         actions = [jnt(home_joints), ptp(target_pose), jnt(home_joints)]
 
-        await mg.run(actions, tcp="Flange", movement_controller=speed_up_movement_controller)
+        await motion_group.run(actions, tcp=tcp, movement_controller=speed_up_movement_controller)
 
 
 async def main():

examples/05_selection_motion_group_activation.py

@@ -16,7 +16,7 @@
 import asyncio
 
 
-async def move_robot(motion_group: MotionGroup):
+async def move_robot(motion_group: MotionGroup, tcp: str):
     home_pose = Pose((200, 200, 600, 0, pi, 0))
     target_pose = home_pose @ (100, 0, 0, 0, 0, 0)
     actions = [
@@ -27,16 +27,17 @@ async def move_robot(motion_group: MotionGroup):
         ptp(home_pose),
     ]
 
-    await motion_group.run(actions, tcp="Flange")
+    await motion_group.run(actions, tcp=tcp)
 
 
 async def main():
     nova = Nova()
     cell = nova.cell()
     ur = await cell.controller("ur")
     kuka = await cell.controller("kuka")
+    tcp = "Flange"
 
-    flange_state = await ur[0].get_state("Flange")
+    flange_state = await ur[0].get_state(tcp=tcp)
     print(flange_state)
 
     # activate all motion groups
@@ -53,13 +54,13 @@ async def main():
 
     # activate motion group 0 from two different controllers
     async with ur[0] as ur_0_mg, kuka[0] as kuka_0_mg:
-        await asyncio.gather(move_robot(ur_0_mg), move_robot(kuka_0_mg))
+        await asyncio.gather(move_robot(ur_0_mg, tcp), move_robot(kuka_0_mg, tcp))
 
     # activate motion group 0 from two different controllers
     mg_0 = ur.motion_group(0)
     mg_1 = kuka.motion_group(0)
     async with mg_0, mg_1:
-        await asyncio.gather(move_robot(mg_0), move_robot(mg_1))
+        await asyncio.gather(move_robot(mg_0, tcp), move_robot(mg_1, tcp))
 
 
 if __name__ == "__main__":