chore: updated nova interface and simplified examples

examples/01_basic.py

@@ -8,20 +8,19 @@ async def main():
     cell = nova.cell()
     controller = await cell.controller("ur")
 
-    async with controller:
-        motion_group = controller.motion_group()
+    motion_group = controller[0]
 
-        # Current motion group state
-        state = await motion_group.get_state("Flange")
-        print(state)
+    # Current motion group state
+    state = await motion_group.get_state("Flange")
+    print(state)
 
-        # Current joints positions
-        joints = await motion_group.joints("Flange")
-        print(joints)
+    # Current joints positions
+    joints = await motion_group.joints("Flange")
+    print(joints)
 
-        # Current TCP pose
-        tcp_pose = await motion_group.tcp_pose("Flange")
-        print(tcp_pose)
+    # Current TCP pose
+    tcp_pose = await motion_group.tcp_pose("Flange")
+    print(tcp_pose)
 
 
 if __name__ == "__main__":

examples/02_plan_and_execute.py

@@ -1,4 +1,6 @@
-from nova import Nova, ptp, jnt, Pose
+from nova import Nova
+from nova.actions import ptp, jnt
+from nova.types import Pose
 from math import pi
 import asyncio
 
@@ -14,11 +16,9 @@ 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:
-        motion_group = controller.motion_group()
-
+    async with controller[0] as mg:
         # Get current TCP pose and offset it slightly along the x-axis
-        current_pose = await motion_group.tcp_pose("Flange")
+        current_pose = await mg.tcp_pose("Flange")
         target_pose = current_pose @ Pose((1, 0, 0, 0, 0, 0))
 
         actions = [
@@ -33,14 +33,9 @@ async def main():
             jnt(home_joints),
             ptp(target_pose @ Pose((400, 0, 0, 0, 0, 0))),
             jnt(home_joints),
-            ptp(target_pose),
-            jnt(home_joints),
         ]
 
-        # plan_response = await motion_group.plan(trajectory, tcp="Flange")
-        # print(plan_response)
-
-        await motion_group.run(actions, tcp="Flange", movement_controller=move_forward)
+        await mg.run(actions, tcp="Flange", movement_controller=move_forward)
 
 
 if __name__ == "__main__":

examples/03_move_and_set_ios.py

@@ -1,8 +1,9 @@
-from nova import Nova, Pose, ptp, jnt
+from nova import Nova
+from nova.types import Pose
 from math import pi
 
-# TODO: public interface
-from nova.types.action import WriteAction
+# TODO: update I/O interaction interface
+from nova.actions import WriteAction, ptp, jnt
 import asyncio
 
 
@@ -23,7 +24,7 @@ async def main():
         target_pose = current_pose @ Pose((100, 0, 0, 0, 0, 0))
         actions = [
             jnt(home_joints),
-            # controller.write_on_path("digital_out[0]", value=False),
+            # TODO: controller.write_on_path("digital_out[0]", value=False),
             WriteAction(device_id="ur", key="digital_out[0]", value=False),
             ptp(target_pose),
             jnt(home_joints),

examples/04_move_multiple_robots.py

@@ -1,21 +1,18 @@
-from nova import Nova, ptp, jnt, Controller, speed_up_movement_controller
+from nova import Nova, Controller, speed_up_movement_controller
+from nova.actions import ptp, jnt
 from math import pi
 import asyncio
 
 
 async def move_robot(controller: Controller):
     home_joints = (0, -pi / 4, -pi / 4, -pi / 4, pi / 4, 0)
 
-    async with controller:
-        motion_group = controller.motion_group()
-
-        current_pose = await motion_group.tcp_pose("Flange")
+    async with controller[0] as mg:
+        current_pose = await mg.tcp_pose("Flange")
         target_pose = current_pose @ (100, 0, 0, 0, 0, 0)
         actions = [jnt(home_joints), ptp(target_pose), jnt(home_joints)]
 
-        await motion_group.run(
-            actions, tcp="Flange", movement_controller=speed_up_movement_controller
-        )
+        await mg.run(actions, tcp="Flange", movement_controller=speed_up_movement_controller)
 
 
 async def main():

examples/05_selection_motion_group_activation.py

@@ -10,7 +10,9 @@
 """
 
 from math import pi
-from nova import Nova, ptp, MotionGroup, Pose
+from nova import Nova, MotionGroup
+from nova.types import Pose
+from nova.actions import ptp
 import asyncio
 
 

nova/__init__.py

@@ -1,20 +1,20 @@
 from nova.core.nova import Nova, Cell
 from nova.core.motion_group import MotionGroup
 from nova.core.controller import Controller
-from nova.types.pose import Pose
-from nova.types.action import Action, lin, ptp, jnt, cir
+from nova import types
+from nova import actions
 from nova.core.movement_controller import speed_up as speed_up_movement_controller
 
+# Provide autogenerated NOVA API client
+import wandelbots_api_client as api
+
 __all__ = [
     "Nova",
     "Cell",
     "MotionGroup",
     "Controller",
-    "lin",
-    "ptp",
-    "jnt",
-    "cir",
-    "Action",
-    "Pose",
     "speed_up_movement_controller",
+    "api",
+    "types",
+    "actions",
 ]

nova/types/action.py → nova/actions.py

@@ -1,6 +1,7 @@
 import pydantic
-from typing import Annotated, Literal, Any, Union
+from typing import Annotated, Literal, Any, Union, AsyncGenerator, Callable
 from nova.types.pose import Pose
+from nova.types.collision_scene import CollisionScene
 import wandelbots_api_client as wb
 from abc import ABC, abstractmethod
 
@@ -101,6 +102,29 @@ def is_cartesian(self):
         return isinstance(self.target, Pose)
 
 
+class UnresolvedMotion(Motion, ABC):
+    @abstractmethod
+    async def resolve(
+        self,
+        initial_joints: tuple[float, ...],
+        collision_scene: CollisionScene | None,
+        configuration: dict,
+        moving_robot_identifier: str,
+    ) -> tuple[list[Motion], tuple[float, ...]] | None:
+        """Convert the motion to a list of motion primitives
+
+        Args:
+            initial_joints: Joint positions at start of motion
+            collision_scene: The collision scene used to check collisions
+            configuration: E.g. data of physical setup of robot system, cell, etc.
+            moving_robot_identifier: The identifier of the robot that is moving in the scene
+
+        Returns:
+            Tuple of resolved motions and the joint position at the end of the motions. None, if the motion can't be resolved
+
+        """
+
+
 class Linear(Motion):
     """A linear motion
 
@@ -462,3 +486,16 @@ def to_set_io(self) -> list[wb.models.SetIO]:
             )
             for action in self.actions
         ]
+
+
+class MovementControllerContext(pydantic.BaseModel):
+    combined_actions: CombinedActions
+    motion_id: str
+
+
+ExecuteTrajectoryRequestStream = AsyncGenerator[wb.models.ExecuteTrajectoryRequest, None]
+ExecuteTrajectoryResponseStream = AsyncGenerator[wb.models.ExecuteTrajectoryResponse, None]
+MovementControllerFunction = Callable[
+    [ExecuteTrajectoryResponseStream], ExecuteTrajectoryRequestStream
+]
+MovementController = Callable[[MovementControllerContext], MovementControllerFunction]

nova/core/motion_group.py

@@ -1,17 +1,12 @@
 from nova.core.exceptions import PlanTrajectoryFailed, LoadPlanFailed
 from nova.gateway import ApiGateway
-from nova.types.action import Action, CombinedActions
+from nova.actions import Action, CombinedActions, MovementController, MovementControllerContext
 from nova.types.pose import Pose
-from nova.types import (
-    MovementController,
-    LoadPlanResponse,
-    InitialMovementStream,
-    InitialMovementConsumer,
-)
+from nova.types import LoadPlanResponse, InitialMovementStream, InitialMovementConsumer
 from loguru import logger
 import wandelbots_api_client as wb
 
-from nova.core.movement_controller import move_forward, MovementControllerContext
+from nova.core.movement_controller import move_forward
 
 MAX_JOINT_VELOCITY_PREPARE_MOVE = 0.2
 START_LOCATION_OF_MOTION = 0.0

nova/core/movement_controller.py

@@ -1,9 +1,9 @@
 from nova.core.exceptions import InitMovementFailed
-from nova.types.movement_controller_context import MovementControllerContext
-from nova.types import (
+from nova.actions import (
     MovementControllerFunction,
     ExecuteTrajectoryResponseStream,
     ExecuteTrajectoryRequestStream,
+    MovementControllerContext,
 )
 import wandelbots_api_client as wb
 from loguru import logger

nova/types/__init__.py

@@ -1,42 +1,22 @@
-from wandelbots_api_client.models import *  # noqa: F401, F403
 from nova.types.pose import Pose
 from nova.types.vector3d import Vector3d
-from nova.types.action import Action, Motion, MotionSettings, lin, spl, ptp, cir, jnt
+from nova.types.collision_scene import CollisionScene
 
 
 # This is the stream of requests that is send to execute trajectory websocket
 from typing import AsyncGenerator, Callable
 import wandelbots_api_client as wb
 
-from nova.types.movement_controller_context import MovementControllerContext
-
-ExecuteTrajectoryRequestStream = AsyncGenerator[wb.models.ExecuteTrajectoryRequest, None]
-ExecuteTrajectoryResponseStream = AsyncGenerator[wb.models.ExecuteTrajectoryResponse, None]
-MovementControllerFunction = Callable[
-    [ExecuteTrajectoryResponseStream], ExecuteTrajectoryRequestStream
-]
 LoadPlanResponse = wb.models.PlanSuccessfulResponse
 InitialMovementStream = AsyncGenerator[wb.models.StreamMoveResponse, None]
 InitialMovementConsumer = Callable[[wb.models.StreamMoveResponse], None]
-MovementController = Callable[[MovementControllerContext], MovementControllerFunction]
 
 
 __all__ = [
     "Vector3d",
     "Pose",
-    "Motion",
-    "MotionSettings",
-    "lin",
-    "spl",
-    "ptp",
-    "cir",
-    "jnt",
-    "Action",
-    "ExecuteTrajectoryRequestStream",
-    "ExecuteTrajectoryResponseStream",
-    "MovementControllerFunction",
+    "CollisionScene",
     "LoadPlanResponse",
     "InitialMovementStream",
     "InitialMovementConsumer",
-    "MovementController",
 ]

nova/types/collision_scene.py

@@ -1,10 +1,8 @@
-from abc import ABC, abstractmethod
 from typing import Literal
 
 import pydantic
 import wandelbots_api_client as wb
 from nova.types.pose import Pose
-from nova.types.action import Motion
 
 
 class DhParameter(pydantic.BaseModel):
@@ -130,30 +128,6 @@ def add_static_collider(self, identifier: str, collider: Collider):
 add_static_collider(scene, "box", Box(size_x=1, size_y=1, size_z=1), Pose.from_tuple([0, 0, 0, 0, 0, 0]))
 """
 
-
-class UnresolvedMotion(Motion, ABC):
-    @abstractmethod
-    async def resolve(
-        self,
-        initial_joints: tuple[float, ...],
-        collision_scene: CollisionScene | None,
-        configuration: dict,
-        moving_robot_identifier: str,
-    ) -> tuple[list[Motion], tuple[float, ...]] | None:
-        """Convert the motion to a list of motion primitives
-
-        Args:
-            initial_joints: Joint positions at start of motion
-            collision_scene: The collision scene used to check collisions
-            configuration: E.g. data of physical setup of robot system, cell, etc.
-            moving_robot_identifier: The identifier of the robot that is moving in the scene
-
-        Returns:
-            Tuple of resolved motions and the joint position at the end of the motions. None, if the motion can't be resolved
-
-        """
-
-
 __all__ = [
     "Box",
     "Capsule",
@@ -167,5 +141,4 @@ async def resolve(
     "Rectangle",
     "RectangularCapsule",
     "Sphere",
-    "UnresolvedMotion",
 ]