wandelbots-nova 0.2.2__tar.gz → 0.3.0__tar.gz

{wandelbots_nova-0.2.2 → wandelbots_nova-0.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: wandelbots-nova
-Version: 0.2.2
+Version: 0.3.0
 Summary: Official Python SDK for the Wandelbots
 Author: Wandelbots GmbH
 Requires-Python: >=3.10,<4.0
@@ -100,7 +100,7 @@ poetry install
 
 | Variable            | Description                                                               | Required | Default | Example                    |
 |---------------------|---------------------------------------------------------------------------|----------|---------|----------------------------|
-| `NOVA_HOST`         | The base URL or hostname of the NOVA server instance.                     | Yes      | None    | `https://nova.example.com` |
+| `NOVA_API`         | The base URL or hostname of the NOVA server instance.                     | Yes      | None    | `https://nova.example.com` |
 | `NOVA_USERNAME`     | The username credential used for authentication with the NOVA service.    | Yes*     | None    | `my_username`              |
 | `NOVA_PASSWORD`     | The password credential used in conjunction with `NOVA_USERNAME`.         | Yes*     | None    | `my_password`              |
 | `NOVA_ACCESS_TOKEN` | A pre-obtained access token for NOVA if using token-based authentication. | Yes*     | None    | `eyJhbGciOi...`            |

{wandelbots_nova-0.2.2 → wandelbots_nova-0.3.0}/README.md

@@ -79,7 +79,7 @@ poetry install
 
 | Variable            | Description                                                               | Required | Default | Example                    |
 |---------------------|---------------------------------------------------------------------------|----------|---------|----------------------------|
-| `NOVA_HOST`         | The base URL or hostname of the NOVA server instance.                     | Yes      | None    | `https://nova.example.com` |
+| `NOVA_API`         | The base URL or hostname of the NOVA server instance.                     | Yes      | None    | `https://nova.example.com` |
 | `NOVA_USERNAME`     | The username credential used for authentication with the NOVA service.    | Yes*     | None    | `my_username`              |
 | `NOVA_PASSWORD`     | The password credential used in conjunction with `NOVA_USERNAME`.         | Yes*     | None    | `my_password`              |
 | `NOVA_ACCESS_TOKEN` | A pre-obtained access token for NOVA if using token-based authentication. | Yes*     | None    | `eyJhbGciOi...`            |

{wandelbots_nova-0.2.2 → wandelbots_nova-0.3.0}/nova/core/motion_group.py

@@ -21,6 +21,7 @@ class MotionGroup:
         self._cell = cell
         self._motion_group_id = motion_group_id
         self._current_motion: str | None = None
+        self._optimizer_setup: wb.models.OptimizerSetup | None = None
         self.is_activated = is_activated
 
     async def __aenter__(self):
@@ -44,6 +45,32 @@ class MotionGroup:
         #    raise ValueError("No MotionId attached. There is no planned motion available.")
         return self._current_motion
 
+    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()
+
+        request = wb.models.PlanTrajectoryRequest(
+            robot_setup=robot_setup,
+            motion_group=self.motion_group_id,
+            start_joint_position=current_joints.joints,
+            motion_commands=motion_commands,
+            tcp=tcp,
+        )
+
+        motion_api_client = self._api_gateway.motion_api
+        plan_response = await motion_api_client.plan_trajectory(
+            cell=self._cell, plan_trajectory_request=request
+        )
+
+        if isinstance(
+            plan_response.response.actual_instance, wb.models.PlanTrajectoryFailedResponse
+        ):
+            failed_response = plan_response.response.actual_instance
+            raise PlanTrajectoryFailed(failed_response)
+
+        return plan_response.response.actual_instance
+
     async def run(
         self,
         actions: list[Action] | Action,
@@ -80,20 +107,6 @@ class MotionGroup:
         _movement_controller = movement_controller(movement_controller_context)
         await self._api_gateway.motion_api.execute_trajectory(self._cell, _movement_controller)
 
-    async def get_state(self, tcp: str) -> wb.models.MotionGroupStateResponse:
-        response = await self._api_gateway.motion_group_infos_api.get_current_motion_group_state(
-            cell=self._cell, motion_group=self.motion_group_id, tcp=tcp
-        )
-        return response
-
-    async def joints(self, tcp: str) -> wb.models.Joints:
-        state = await self.get_state(tcp=tcp)
-        return state.state.joint_position
-
-    async def tcp_pose(self, tcp: str) -> Pose:
-        state = await self.get_state(tcp=tcp)
-        return Pose(state.state.tcp_pose)
-
     async def _get_number_of_joints(self) -> int:
         spec = await self._api_gateway.motion_group_infos_api.get_motion_group_specification(
             cell=self._cell, motion_group=self.motion_group_id
@@ -101,35 +114,13 @@ class MotionGroup:
         return len(spec.mechanical_joint_limits)
 
     async def _get_optimizer_setup(self, tcp: str) -> wb.models.OptimizerSetup:
-        return await self._api_gateway.motion_group_infos_api.get_optimizer_configuration(
-            cell=self._cell, motion_group=self._motion_group_id, tcp=tcp
-        )
-
-    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()
-
-        request = wb.models.PlanTrajectoryRequest(
-            robot_setup=robot_setup,
-            motion_group=self.motion_group_id,
-            start_joint_position=current_joints.joints,
-            motion_commands=motion_commands,
-            tcp=tcp,
-        )
-
-        motion_api_client = self._api_gateway.motion_api
-        plan_response = await motion_api_client.plan_trajectory(
-            cell=self._cell, plan_trajectory_request=request
-        )
-
-        if isinstance(
-            plan_response.response.actual_instance, wb.models.PlanTrajectoryFailedResponse
-        ):
-            failed_response = plan_response.response.actual_instance
-            raise PlanTrajectoryFailed(failed_response)
-
-        return plan_response.response.actual_instance
+        if self._optimizer_setup is None:
+            self._optimizer_setup = (
+                await self._api_gateway.motion_group_infos_api.get_optimizer_configuration(
+                    cell=self._cell, motion_group=self._motion_group_id, tcp=tcp
+                )
+            )
+        return self._optimizer_setup
 
     async def _load_planned_motion(
         self, joint_trajectory: wb.models.JointTrajectory, tcp: str
@@ -176,3 +167,36 @@ class MotionGroup:
             logger.debug(f"Motion {self.current_motion} stopped.")
         except ValueError as e:
             logger.debug(f"No motion to stop for {self}: {e}")
+
+    async def get_state(self, tcp: str | None = None) -> wb.models.MotionGroupStateResponse:
+        """Get the current state of the motion group
+
+        Args:
+            tcp (str): The identifier of the tool center point (TCP) to be used for tcp_pose in response. If not set,
+                the flange pose is returned as tcp_pose.
+        """
+        response = await self._api_gateway.motion_group_infos_api.get_current_motion_group_state(
+            cell=self._cell, motion_group=self.motion_group_id, tcp=tcp
+        )
+        return response
+
+    async def joints(self) -> wb.models.Joints:
+        """Get the current joint positions"""
+        state = await self.get_state()
+        return state.state.joint_position
+
+    async def tcp_pose(self, tcp: str | None = None) -> Pose:
+        """Get the current TCP pose"""
+        state = await self.get_state(tcp=tcp)
+        return Pose(state.state.tcp_pose)
+
+    async def tcps(self) -> list[wb.models.RobotTcp]:
+        """Get the available tool center points (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]:
+        """Get the names of the available tool center points (TCPs)"""
+        return [tcp.id for tcp in await self.tcps()]

{wandelbots_nova-0.2.2 → wandelbots_nova-0.3.0}/nova/core/nova.py

@@ -1,6 +1,8 @@
 from nova.core.controller import Controller
 from nova.core.exceptions import ControllerNotFoundException
 from nova.gateway import ApiGateway
+import wandelbots_api_client as wb
+from decouple import config
 
 
 class Nova:
@@ -21,7 +23,7 @@ class Nova:
             version=version,
         )
 
-    def cell(self, cell_id: str = "cell") -> "Cell":
+    def cell(self, cell_id: str = config("CELL_NAME", default="cell")) -> "Cell":
         return Cell(self._api_client, cell_id)
 
 
@@ -30,12 +32,20 @@ class Cell:
         self._api_gateway = api_gateway
         self._cell_id = cell_id
 
+    async def _get_controllers(self) -> list[wb.models.ControllerInstance]:
+        response = await self._api_gateway.controller_api.list_controllers(cell=self._cell_id)
+        return response.instances
+
+    async def controllers(self) -> list["Controller"]:
+        controllers = await self._get_controllers()
+        return [
+            Controller(api_gateway=self._api_gateway, cell=self._cell_id, controller_host=c.host)
+            for c in controllers
+        ]
+
     async def controller(self, controller_host: str = None) -> "Controller":
-        controller_api = self._api_gateway.controller_api
-        controller_list = await controller_api.list_controllers(cell=self._cell_id)
-        found_controller = next(
-            (c for c in controller_list.instances if c.host == controller_host), None
-        )
+        controllers = await self._get_controllers()
+        found_controller = next((c for c in controllers if c.host == controller_host), None)
 
         if found_controller is None:
             raise ControllerNotFoundException(controller=controller_host)

{wandelbots_nova-0.2.2 → wandelbots_nova-0.3.0}/nova/gateway.py

@@ -9,6 +9,8 @@ from decouple import config
 
 T = TypeVar("T")
 
+INTERNAL_CLUSTER_NOVA_API = "http://api-gateway.wandelbots.svc.cluster.local:8080"
+
 
 def intercept(api_instance: T) -> T:
     class Interceptor:
@@ -65,7 +67,7 @@ class ApiGateway:
         version: str = "v1",
     ):
         if host is None:
-            host = config("NOVA_HOST")
+            host = config("NOVA_API", default=INTERNAL_CLUSTER_NOVA_API)
 
         if username is None:
             username = config("NOVA_USERNAME", default=None)
@@ -76,15 +78,25 @@ class ApiGateway:
         if access_token is None:
             access_token = config("NOVA_ACCESS_TOKEN", default=None)
 
+        if (username is None or password is None) and access_token is None:
+            raise ValueError("Please provide either username and password or an access token")
+
+        # Access token has more prio than username and password if both are provided at the same time, set username and
+        # password to None
+        if access_token is not None:
+            username = None
+            password = None
+
+        stripped_host = host.rstrip("/")
         api_client_config = wb.Configuration(
-            host=f"http://{host}/api/{version}",
+            host=f"{stripped_host}/api/{version}",
             username=username,
             password=password,
             access_token=access_token,
-            ssl_ca_cert=False,
         )
 
         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))

{wandelbots_nova-0.2.2 → wandelbots_nova-0.3.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "wandelbots-nova"
-version = "0.2.2"
+version = "0.3.0"
 description = "Official Python SDK for the Wandelbots"
 authors = [
     "Wandelbots GmbH",