fix

examples/01_basic.py

@@ -1,5 +1,4 @@
 import asyncio
-
 from nova import Nova
 
 
@@ -10,16 +9,21 @@ async def main():
     controller = controllers[0]
     motion_group = controller[0]
 
+    tcp_names = await motion_group.tcp_names()
+    print(tcp_names)
+
+    tcp = tcp_names[0]
+
     # Current motion group state
-    state = await motion_group.get_state("Flange")
+    state = await motion_group.get_state(tcp)
     print(state)
 
     # Current joints positions
-    joints = await motion_group.joints("Flange")
+    joints = await motion_group.joints()
     print(joints)
 
     # Current TCP pose
-    tcp_pose = await motion_group.tcp_pose("Flange")
+    tcp_pose = await motion_group.tcp_pose(tcp)
     print(tcp_pose)
 
 

nova/core/motion_group.py

@@ -175,7 +175,7 @@ async def get_state(self, tcp: str | None) -> wb.models.MotionGroupStateResponse
         )
         return response
 
-    async def joints(self, tcp: str) -> wb.models.Joints:
+    async def joints(self, tcp: str | None = None) -> wb.models.Joints:
         state = await self.get_state(tcp=tcp)
         return state.state.joint_position
 
@@ -184,7 +184,10 @@ async def tcp_pose(self, tcp: str) -> Pose:
         return Pose(state.state.tcp_pose)
 
     async def tcps(self) -> list[wb.models.RobotTcp]:
-        return (await self._api_gateway.motion_group_infos_api.list_tcps()).tcps
+        response = await self._api_gateway.motion_group_infos_api.list_tcps(
+            cell=self._cell, motion_group=self.motion_group_id
+        )
+        return response.tcps
 
     async def tcp_names(self) -> list[str]:
         return [tcp.id for tcp in await self.tcps()]

nova/gateway.py

@@ -69,8 +69,6 @@ def __init__(
         if host is None:
             host = config("NOVA_API", default=INTERNAL_CLUSTER_NOVA_API)
 
-        print()
-
         if username is None:
             username = config("NOVA_USERNAME", default=None)
 
@@ -93,6 +91,7 @@ def __init__(
         )
 
         self._api_client = wb.ApiClient(api_client_config)
+        self._host = host
 
         # Use the intercept function to wrap each API client
         self.controller_api = intercept(wb.ControllerApi(api_client=self._api_client))