chore(RPS-1004): updated to new wandelbots-nova library #3
Conversation
biering
commented
Dec 19, 2024
•
biering
commented
- updated to new wandelbots-nova lib
- updated notebook
- added yamllint
- using ruff
| @@ -1,5 +1,5 @@ | |||
| # provide the host where the nova api is running (e.g. your virtual dev instance) | |||
| WANDELAPI_BASE_URL="{{ .InstanceInformation.NovaApiHost }}" | |||
There was a problem hiding this comment.
It's still called like that in the typescript lib, for consistency we would have to change it there as well
There was a problem hiding this comment.
Ok, we now have made it all like
- NOVA_HOST
- NOVA_PASSWORD
- NOVA_USERNAME
- NOVA_ACCESS_TOKEN
Would you change it in the ts-lib?
| "id": "b74681ee", | ||
| "metadata": {}, | ||
| "outputs": [], |
There was a problem hiding this comment.
I would clean the outputs before committing
| "print(my_robot.tcps())\n", | ||
| "print([round(j,2) for j in my_robot.current_joints()])\n", | ||
| "print(my_robot.current_tcp_pose())" | ||
| "tcp_pose = await motion_group.tcp_pose(\"Flange\")\n", |
There was a problem hiding this comment.
I would fetch the TCP in this example, so it right away works with any attached robot
| ")" | ||
| "nova = Nova()\n", | ||
| "cell = nova.cell()\n", | ||
| "controller = await cell.controller(\"ur\")\n", |
There was a problem hiding this comment.
I would prefer to fetch a controller, so it works with every attached robot
| "from nova.core.movement_controller import move_forward\n", | ||
| "\n", | ||
| "async with controller[0] as motion_group:\n", | ||
| " home_joints = (await motion_group.joints(\"Flange\")).joints\n", |
| " jnt(home_joints),\n", | ||
| " ]\n", | ||
| "\n", | ||
| " await motion_group.run(actions, tcp=\"Flange\", movement_controller=move_forward)" |
There was a problem hiding this comment.
I would prefer if the example took the planned motion and executes this directly. One could optimize the behaviour for planning several motions beforehand and executing them later one.
biering
changed the title
