wandelbots-nova 0.2.0__tar.gz → 0.2.2__tar.gz

{wandelbots_nova-0.2.0 → wandelbots_nova-0.2.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: wandelbots-nova
-Version: 0.2.0
+Version: 0.2.2
 Summary: Official Python SDK for the Wandelbots
 Author: Wandelbots GmbH
 Requires-Python: >=3.10,<4.0

{wandelbots_nova-0.2.0 → wandelbots_nova-0.2.2}/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",
 ]

wandelbots_nova-0.2.0/nova/types/action.py → wandelbots_nova-0.2.2/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 @@ class Motion(Action, ABC):
         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 @@ class CombinedActions(pydantic.BaseModel):
             )
             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]

{wandelbots_nova-0.2.0 → wandelbots_nova-0.2.2}/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
@@ -65,7 +60,7 @@ class MotionGroup:
             raise ValueError("No actions provided")
 
         # PLAN MOTION
-        joint_trajectory = await self._plan(actions, tcp)
+        joint_trajectory = await self.plan(actions, tcp)
 
         # LOAD MOTION
         load_plan_response = await self._load_planned_motion(joint_trajectory, tcp)
@@ -110,7 +105,7 @@ class MotionGroup:
             cell=self._cell, motion_group=self._motion_group_id, tcp=tcp
         )
 
-    async def _plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory:
+    async def plan(self, actions: list[Action], tcp: str) -> wb.models.JointTrajectory:
         current_joints = await self.joints(tcp=tcp)
         robot_setup = await self._get_optimizer_setup(tcp=tcp)
         motion_commands = CombinedActions(items=actions).to_motion_command()

{wandelbots_nova-0.2.0 → wandelbots_nova-0.2.2}/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

wandelbots_nova-0.2.2/nova/types/__init__.py

@@ -0,0 +1,22 @@
+from nova.types.pose import Pose
+from nova.types.vector3d import Vector3d
+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
+
+LoadPlanResponse = wb.models.PlanSuccessfulResponse
+InitialMovementStream = AsyncGenerator[wb.models.StreamMoveResponse, None]
+InitialMovementConsumer = Callable[[wb.models.StreamMoveResponse], None]
+
+
+__all__ = [
+    "Vector3d",
+    "Pose",
+    "CollisionScene",
+    "LoadPlanResponse",
+    "InitialMovementStream",
+    "InitialMovementConsumer",
+]

{wandelbots_nova-0.2.0 → wandelbots_nova-0.2.2}/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 @@ scene = read(arg...)
 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 @@ __all__ = [
     "Rectangle",
     "RectangularCapsule",
     "Sphere",
-    "UnresolvedMotion",
 ]

{wandelbots_nova-0.2.0 → wandelbots_nova-0.2.2}/pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "wandelbots-nova"
-version = "0.2.0"
+version = "0.2.2"
 description = "Official Python SDK for the Wandelbots"
 authors = [
     "Wandelbots GmbH",

wandelbots_nova-0.2.0/nova/types/__init__.py

@@ -1,42 +0,0 @@
-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
-
-
-# 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",
-    "LoadPlanResponse",
-    "InitialMovementStream",
-    "InitialMovementConsumer",
-    "MovementController",
-]

wandelbots_nova-0.2.0/nova/types/movement_controller_context.py

@@ -1,8 +0,0 @@
-import pydantic
-
-from nova.types.action import CombinedActions
-
-
-class MovementControllerContext(pydantic.BaseModel):
-    combined_actions: CombinedActions
-    motion_id: str