wandelbots-nova 3.0.2__tar.gz → 3.2.0__tar.gz

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots-nova
-Version: 3.0.2
+Version: 3.2.0
 Summary: Official Python SDK for the Wandelbots Nova
 Author: Wandelbots GmbH
 Author-email: Christoph Biering <christoph.biering@wandelbots.com>, Mahsum Demir <mahsum.demir@wandelbots.com>, Dirk Sonnemann <dirk.sonnemann@wandelbots.com>, Andreas Langenhagen <andreas.langenhagen@wandelbots.com>, Stefan Wagner <stefan.wagner@wandelbots.com>, André Kühnert <andre.kuhnert@wandelbots.com>
@@ -328,6 +328,9 @@ async def move_robots():
 
 More information in [move_multiple_robots](https://github.com/wandelbotsgmbh/wandelbots-nova/tree/main/examples/move_multiple_robots.py).
 
+4. **Synchronous execution start of multiple motion groups**  
+   Explore coordinated execution with [multi_motion_group](https://github.com/wandelbotsgmbh/wandelbots-nova/tree/main/examples/multi_motion_group.py).
+
 ### Advanced features
 
 1. **Input/Output control**

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/README.md

@@ -279,6 +279,9 @@ async def move_robots():
 
 More information in [move_multiple_robots](https://github.com/wandelbotsgmbh/wandelbots-nova/tree/main/examples/move_multiple_robots.py).
 
+4. **Synchronous execution start of multiple motion groups**  
+   Explore coordinated execution with [multi_motion_group](https://github.com/wandelbotsgmbh/wandelbots-nova/tree/main/examples/multi_motion_group.py).
+
 ### Advanced features
 
 1. **Input/Output control**

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/nova/actions/container.py

@@ -161,6 +161,7 @@ class CombinedActions(pydantic.BaseModel):
 class MovementControllerContext(pydantic.BaseModel):
     combined_actions: CombinedActions
     motion_id: str
+    start_on_io: api.models.StartOnIO | None = None
 
 
 MovementController = Callable[[MovementControllerContext], MovementControllerFunction]

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/nova/cell/robot_cell.py

@@ -300,6 +300,7 @@ class AbstractRobot(Device):
         tcp: str,
         actions: list[Action],
         movement_controller: MovementController | None,
+        start_on_io: api.models.start_on_io.StartOnIO | None = None,
     ) -> AsyncIterable[MovementResponse]:
         """Execute a planned motion
 
@@ -308,6 +309,7 @@ class AbstractRobot(Device):
             tcp (str): The id of the tool center point (TCP)
             actions (list[Action] | Action | None): The actions to be executed. Defaults to None.
             movement_controller (MovementController): The movement controller to be used. Defaults to move_forward
+            start_on_io (StartOnIO | None): The start on IO. If none, does not wait for IO. Defaults to None.
         """
 
     async def stream_execute(
@@ -316,6 +318,7 @@ class AbstractRobot(Device):
         tcp: str,
         actions: list[Action] | Action,
         movement_controller: MovementController | None = None,
+        start_on_io: api.models.StartOnIO | None = None,
     ) -> AsyncIterable[MotionState]:
         """Execute a planned motion
 
@@ -324,6 +327,7 @@ class AbstractRobot(Device):
             tcp (str): The id of the tool center point (TCP)
             actions (list[Action] | Action | None): The actions to be executed. Defaults to None.
             movement_controller (MovementController): The movement controller to be used. Defaults to move_forward
+            start_on_io (StartOnIO | None): The start on IO. If none, does not wait for IO. Defaults to None.
         """
         if not isinstance(actions, list):
             actions = [actions]
@@ -347,7 +351,11 @@ class AbstractRobot(Device):
             assert False, f"Unexpected movement response: {movement_response}"
 
         execute_response_stream = self._execute(
-            joint_trajectory, tcp, actions, movement_controller=movement_controller
+            joint_trajectory,
+            tcp,
+            actions,
+            movement_controller=movement_controller,
+            start_on_io=start_on_io,
         )
         motion_states = (
             stream.iterate(execute_response_stream)
@@ -365,6 +373,7 @@ class AbstractRobot(Device):
         tcp: str,
         actions: list[Action] | Action,
         movement_controller: MovementController | None = None,
+        start_on_io: api.models.StartOnIO | None = None,
     ) -> None:
         """Execute a planned motion
 
@@ -373,9 +382,14 @@ class AbstractRobot(Device):
             tcp (str): The id of the tool center point (TCP)
             actions (list[Action] | Action): The actions to be executed.
             movement_controller (MovementController): The movement controller to be used. Defaults to move_forward
+            start_on_io (StartOnIO | None): The start on IO. If none, does not wait for IO. Defaults to None.
         """
         async for _ in self.stream_execute(
-            joint_trajectory, tcp, actions, movement_controller=movement_controller
+            joint_trajectory,
+            tcp,
+            actions,
+            movement_controller=movement_controller,
+            start_on_io=start_on_io,
         ):
             pass
 

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/nova/cell/simulation.py

@@ -276,6 +276,7 @@ class SimulatedRobot(ConfigurablePeriphery, AbstractRobot):
         tcp: str,
         actions: list[Action],
         movement_controller: MovementController | None,
+        start_on_io: models.StartOnIO | None = None,
     ) -> AsyncIterable[MovementResponse]:
         """
         Executes the given joint_trajectory by simulating the robot's motion.

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/nova/core/motion_group.py

@@ -371,6 +371,7 @@ class MotionGroup(AbstractRobot):
         tcp: str,
         actions: list[Action],
         movement_controller: MovementController | None,
+        start_on_io: wb.models.StartOnIO | None = None,
     ) -> AsyncIterable[MovementResponse]:
         # This is the entrypoint for the trajectory tuning mode
         if config("ENABLE_TRAJECTORY_TUNING", cast=bool, default=False):
@@ -410,6 +411,7 @@ class MotionGroup(AbstractRobot):
             MovementControllerContext(
                 combined_actions=CombinedActions(items=tuple(actions)),  # type: ignore
                 motion_id=load_plan_response.motion,
+                start_on_io=start_on_io,
             )
         )
 

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/nova/core/movement_controller.py

@@ -103,7 +103,7 @@ def move_forward(context: MovementControllerContext) -> MovementControllerFuncti
         # The second request is to start the movement
         set_io_list = context.combined_actions.to_set_io()
         yield wb.models.StartMovementRequest(  # type: ignore
-            set_ios=set_io_list, start_on_io=None, pause_on_io=None
+            set_ios=set_io_list, start_on_io=context.start_on_io, pause_on_io=None
         )
 
         # then we wait until the movement is finished

{wandelbots_nova-3.0.2 → wandelbots_nova-3.2.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots-nova"
-version = "3.0.2"
+version = "3.2.0"
 description = "Official Python SDK for the Wandelbots Nova"
 authors = [
     { name = "Wandelbots GmbH" },