From e24dbb154a7b1bb8271ebfbb5641a62ec69a84b8 Mon Sep 17 00:00:00 2001 From: Stefan Wagner Date: Tue, 21 Jan 2025 20:40:16 +0100 Subject: [PATCH] add minimal example --- minimal_example/README.md | 24 + minimal_example/poetry.lock | 1640 ++++++++++++++++++++++++++++++++ minimal_example/pyproject.toml | 24 + minimal_example/ruff.toml | 61 ++ minimal_example/test.py | 56 ++ 5 files changed, 1805 insertions(+) create mode 100644 minimal_example/README.md create mode 100644 minimal_example/poetry.lock create mode 100644 minimal_example/pyproject.toml create mode 100644 minimal_example/ruff.toml create mode 100644 minimal_example/test.py diff --git a/minimal_example/README.md b/minimal_example/README.md new file mode 100644 index 0000000..e900903 --- /dev/null +++ b/minimal_example/README.md @@ -0,0 +1,24 @@ +## Example + +This example demonstrates how to use the Nova Rerun Bridge library together with Wandelbots-Nova. The `test.py` file contains the necessary code to get started. + +## Files + +``` +test_rerun/ +├── README.md +├── test.py +``` + +## Running the Example + +1. Ensure you have the required dependencies installed with `poetry install` +2. Add an .env file with the necessary environment variables: + ```sh + NOVA_API= + NOVA_ACCESS_TOKEN= + ``` +3. Run the `test.py` script: + ```sh + python test.py + ``` diff --git a/minimal_example/poetry.lock b/minimal_example/poetry.lock new file mode 100644 index 0000000..8d5e8d0 --- /dev/null +++ b/minimal_example/poetry.lock @@ -0,0 +1,1640 @@ +# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. + +[[package]] +name = "aiohappyeyeballs" +version = "2.4.4" +description = "Happy Eyeballs for asyncio" +optional = false +python-versions = ">=3.8" +files = [ + {file = "aiohappyeyeballs-2.4.4-py3-none-any.whl", hash = "sha256:a980909d50efcd44795c4afeca523296716d50cd756ddca6af8c65b996e27de8"}, + {file = "aiohappyeyeballs-2.4.4.tar.gz", hash = "sha256:5fdd7d87889c63183afc18ce9271f9b0a7d32c2303e394468dd45d514a757745"}, +] + +[[package]] +name = "aiohttp" +version = "3.11.11" +description = "Async http client/server framework (asyncio)" +optional = false +python-versions = ">=3.9" +files = [ + {file = "aiohttp-3.11.11-cp310-cp310-macosx_10_9_universal2.whl", 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+python-versions = "^3.10" +content-hash = "04846dafa973856e348f1ae78c6cf11810bbf8941ea3156efbcecd9edc38a9fe" diff --git a/minimal_example/pyproject.toml b/minimal_example/pyproject.toml new file mode 100644 index 0000000..3f2da1d --- /dev/null +++ b/minimal_example/pyproject.toml @@ -0,0 +1,24 @@ +[tool.poetry] +name = "test" +version = "0.8.0" +description = "Visualizes the state of your nova instance inside of [rerun.io](https://rerun.io). This is intended to be used alongside the [nova python lib](https://github.com/wandelbotsgmbh/wandelbots-nova)." +authors = [ + "Wandelbots GmbH", + "Stefan Wagner ", + "André Kühnert " +] +readme = "README.md" + +[tool.poetry.dependencies] +python = "^3.10" +rerun-sdk = "^0.21.0" +wandelbots-nova = ">=0.12" +nova_rerun_bridge = ">=0.1" +python-decouple = "^3.8" +requests = "^2.32.3" +APScheduler = "^3.11.0" +scipy = "^1.14.1" +trimesh = "^4.5.3" + +[tool.poetry.group.dev.dependencies] +ruff = "^0.9.2" diff --git a/minimal_example/ruff.toml b/minimal_example/ruff.toml new file mode 100644 index 0000000..e41eb23 --- /dev/null +++ b/minimal_example/ruff.toml @@ -0,0 +1,61 @@ +# Exclude a variety of commonly ignored directories. +exclude = [ + ".bzr", + ".direnv", + ".eggs", + ".git", + ".git-rewrite", + ".hg", + ".ipynb_checkpoints", + ".mypy_cache", + ".nox", + ".pants.d", + ".pyenv", + ".pytest_cache", + ".pytype", + ".ruff_cache", + ".svn", + ".tox", + ".venv", + ".vscode", + "__pypackages__", + "_build", + "buck-out", + "build", + "dist", + "node_modules", + "site-packages", + "venv", +] + +# Same as Black. +line-length = 100 +indent-width = 4 + +# Assume Python 3.10 +target-version = "py310" + +[lint] +# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. +select = ["E4", "E7", "E9", "F"] +ignore = [] + +# Allow fix for all enabled rules (when `--fix`) is provided. +fixable = ["ALL"] +unfixable = [] + +# Allow unused variables when underscore-prefixed. +dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$" + +[format] +# Like Black, use double quotes for strings. +quote-style = "double" + +# Like Black, indent with spaces, rather than tabs. +indent-style = "space" + +# Like Black, respect magic trailing commas. +skip-magic-trailing-comma = true + +# Like Black, automatically detect the appropriate line ending. +line-ending = "auto" diff --git a/minimal_example/test.py b/minimal_example/test.py new file mode 100644 index 0000000..6b2dd97 --- /dev/null +++ b/minimal_example/test.py @@ -0,0 +1,56 @@ +import asyncio + +from nova import MotionSettings +from nova.actions import jnt, ptp +from nova.core.nova import Nova +from nova.types import Pose + +from nova_rerun_bridge import NovaRerunBridge + + +async def test(): + async with Nova() as nova, NovaRerunBridge(nova) as nova_bridge: + await nova_bridge.setup_blueprint() + + cell = nova.cell() + controllers = await cell.controllers() + controller = controllers[0] + + # Connect to the controller and activate motion groups + async with controller[0] as motion_group: + home_joints = await motion_group.joints() + tcp_names = await motion_group.tcp_names() + tcp = tcp_names[0] + + # Get current TCP pose and offset it slightly along the x-axis + current_pose = await motion_group.tcp_pose(tcp) + target_pose = current_pose @ Pose((1, 0, 0, 0, 0, 0)) + + actions = [ + jnt(home_joints), + ptp(target_pose), + jnt(home_joints), + ptp(target_pose @ [100, 0, 0, 0, 0, 0]), + jnt(home_joints), + ptp(target_pose @ (100, 100, 0, 0, 0, 0)), + jnt(home_joints), + ptp(target_pose @ Pose((0, 100, 0, 0, 0, 0))), + jnt(home_joints), + ] + + # you can update the settings of the action + for action in actions: + action.settings = MotionSettings(tcp_velocity_limit=200) + + joint_trajectory = await motion_group.plan(actions, tcp) + + await nova_bridge.log_trajectory(joint_trajectory, tcp, motion_group) + await nova_bridge.log_trajectory(joint_trajectory, tcp, motion_group) + + await motion_group.execute(joint_trajectory, tcp, actions=actions) + + await nova.close() + + +if __name__ == "__main__": + asyncio.run(test())