wandelbots-nova (Python SDK)

This library provides an SDK for the Wandelbots NOVA API.

The SDK will help you to build your own apps and services using Python on top of Wandelbots NOVA and makes programming a robot as easy as possible.

robot_agnostic.mp4

About

Wandelbots NOVA is a robot-agnostic operating system that enables developers to plan, program, control, and operate fleets of six-axis industrial robots through a unified API, across all major robot brands. It integrates modern development tools like Python and JavaScript APIs with AI-based control and motion planning, allowing developers to build automation tasks such as gluing, grinding, welding, and palletizing without needing to account for hardware differences. The software offers a powerful set of tools that support the creation of custom automation solutions throughout the entire automation lifecycle.

Prerequisites

• A running NOVA instance (Get a Wandelbots NOVA account on wandelbots.com)
• Valid NOVA API credentials
• Python >=3.10

Installation

Install the library using pip:

pip install wandelbots-nova

Recommended: uv project and Rerun Visualization

Install uv on your system.

Initialize a new uv project with the following command.

uv init

Install the library with the nova-rerun-bridge extra to use the visualization tool rerun. See extension README.md for further details.

uv add wandelbots-nova --extra nova-rerun-bridge

Download the robot models to visualize them in the rerun viewer.

uv run download-models

Wandelscript

Wandelscript is a domain-specific language for programming robots. It is a declarative language that allows you to describe the robot's behavior in a high-level way. Wandelscript is suited to get yourself familiar with robot programming.

uv add wandelbots-nova --extra wandelscript

Here is a simple example of a Wandelscript program:

robot = get_controller("controller")[0]
tcp("Flange")
home = read(robot, "pose")
sync

# Set the velocity of the robot to 200 mm/s
velocity(200)

for i = 0..3:
    move via ptp() to home
    # Move to a pose concatenating the home pose
    move via line() to (50, 20, 30, 0, 0, 0) :: home
    move via line() to (100, 20, 30, 0, 0, 0) :: home
    move via line() to (50, 20, 30, 0, 0, 0) :: home
    move via ptp() to home

To get started, use the Quickstart. implementation details or contributing to Wandelscript, refer to the Wandelscript readme.

NOVAx

NOVAx is an app framework for building server applications on top of Wandelbots NOVA. It provides common core concepts like the handling of programs and their execution.

uv add wandelbots-nova --extra novax

To use NOVAx in your application, you need to create a new Novax instance as an entrypoint.

from pathlib import Path
import uvicorn
from novax import Novax


@nova.program()
def simple_program():
    print("Hello World!")


def main(host: str = "0.0.0.0", port: int = 8000):
    # Create a new Novax instance
    novax = Novax()
    # Create a new FastAPI app
    app = novax.create_app()
    # Include the programs router
    novax.include_programs_router(app)

    # Register Python programs (existing functionality)
    novax.register_program(simple_program)
    # You can also register Wandelscript files
    novax.register_program(Path(__file__).parent / "programs" / "program2.ws")

    # Serve the FastAPI app
    uvicorn.run(
        app,
        host=host,
        port=port,
        reload=False,
        log_level=log_level,
        proxy_headers=True,
        forwarded_allow_ips="*",
    )

Inspect the API at http://localhost:8000/docs.

🚀 Quickstart

See the examples for usage of this library including 3D visualization.

For more details check out the technical wiki (powered by deepwiki), the official documentation or the code documentation.

Usage

Import the library in your code to get started.

from nova import Nova

You can access the automatically generated NOVA API client using the api module.

from nova import api

Check out the basic and plan_and_execute examples to learn how to use the library.

Examples

You can find different categories of examples in the repository:

• Advanced SDK usage
• 3D visualization
• Advanced Rerun integration

Basic usage

import nova
from nova import Nova
from nova.program import ProgramPreconditions
from nova.cell import virtual_controller

@nova.program(
  preconditions=ProgramPreconditions(
    controllers=[
      virtual_controller(
        name="ur10",
        manufacturer=api.models.Manufacturer.UNIVERSALROBOTS,
        type=api.models.VirtualControllerTypes.UNIVERSALROBOTS_MINUS_UR10E,
      ),
      virtual_controller(
        name="kuka",
        manufacturer=api.models.Manufacturer.KUKA,
        type=api.models.VirtualControllerTypes.KUKA_MINUS_KR16_R1610_2,
      ),
    ],
  )
)
async def main():
    async with Nova() as nova:
        cell = nova.cell()
        ur10 = await cell.controller("ur10")
        kuka = await cell.controller("kuka")

        async with ur10[0] as motion_group:
            tcp = "Flange"
            home_joints = await motion_group.joints()
            current_pose = await motion_group.tcp_pose(tcp)

Robot motion examples

1. Basic Point-to-Point movement

import nova
from nova import Nova
from nova.actions import cartesian_ptp, joint_ptp
from nova.types import Pose

@nova.program()
async def main():
    async with Nova() as nova:
        actions = [
            joint_ptp(home_joints),
            cartesian_ptp(current_pose @ Pose((100, 0, 0, 0, 0, 0))),  # Move 100mm in X
            joint_ptp(home_joints)
        ]
        trajectory = await motion_group.plan(actions, tcp)

2. Collision-free movement

from nova.actions import collision_free
from nova.types import Pose, MotionSettings
from math import pi

actions = [
    collision_free(
        target=Pose((-500, -400, 200, pi, 0, 0)),
        collision_scene=collision_scene,
        settings=MotionSettings(tcp_velocity_limit=30)
    )
]

wandelbots-nova_simple_welding.mp4

3. Multiple robot coordination

import asyncio

async def move_robots():
    async with ur10[0] as ur_mg, kuka[0] as kuka_mg:
        await asyncio.gather(
            move_robot(ur_mg, "Flange"),
            move_robot(kuka_mg, "Flange")
        )

More information in move_multiple_robots.

Advanced features

1. Input/Output control

from nova.actions import io_write, joint_ptp, cartesian_ptp

actions = [
    joint_ptp(home_joints),
    io_write(key="digital_out[0]", value=False),  # Set digital output
    cartesian_ptp(target_pose),
    joint_ptp(home_joints)
]

2. 3D visualization with rerun

# Basic 3D visualization (default)
@nova.program(
    viewer=nova.viewers.Rerun()
)
async def main():
    async with Nova() as nova:
        cell = nova.cell()
        controller = await cell.controller("robot1")

        async with controller[0] as motion_group:
            actions = [cartesian_ptp(target_pose)]
            trajectory = await motion_group.plan(actions, tcp)
            # Trajectory is automatically visualized in Rerun

# Advanced visualization with detailed panels and tool models
@nova.program(
    viewer=nova.viewers.Rerun(
        show_details=True,  # Show detailed analysis panels
        show_safety_zones=True,  # Show robot safety zones
        show_collision_link_chain=True,  # Show collision geometry
        tcp_tools={
            "vacuum": "assets/vacuum_cup.stl",
            "gripper": "assets/parallel_gripper.stl"
        }
    )
)

Note: Install rerun extras to enable visualization

3. Custom TCPs (Tool Center Points)

import json

import nova
from nova import Nova
from nova.api import models
from nova.actions import cartesian_ptp
from nova.types import Pose

# Define TCP configuration
tcp_config = {
    "id": "vacuum_gripper",
    "readable_name": "Vacuum Gripper",
    "position": {"x": 0, "y": 0, "z": 100},  # 100mm in Z direction
    "rotation": {"angles": [0, 0, 0], "type": "EULER_ANGLES_EXTRINSIC_XYZ"}
}

@nova.program(
    name="Add TCP",
    preconditions=ProgramPreconditions(
        controllers=[
            virtual_controller(
                name="robot1",
                manufacturer=api.models.Manufacturer.UNIVERSALROBOTS,
                type=api.models.VirtualControllerTypes.UNIVERSALROBOTS_MINUS_UR10E,
            ),
        ],
        cleanup_controllers=False,
    ),
)
async def setup_tcp():
    async with Nova() as nova:
        cell = nova.cell()
        controller = await cell.controller("robot1")

        # Add TCP to virtual robot
        tcp_config_obj = models.RobotTcp.from_json(json.dumps(tcp_config))
        await nova._api_client.virtual_robot_setup_api.add_virtual_robot_tcp(
            cell.cell_id,
            controller.controller_id,
            motion_group_idx=0,
            tcp_config_obj
        )

        # Use the new TCP
        async with controller[0] as motion_group:
            current_pose = await motion_group.tcp_pose("vacuum_gripper")
            # Plan motions using the new TCP
            actions = [cartesian_ptp(current_pose @ Pose((100, 0, 0, 0, 0, 0)))]
            trajectory = await motion_group.plan(actions, "vacuum_gripper")

4. Common coordinate systems for multiple robots

from math import pi
import asyncio

import nova
from nova.api.models import CoordinateSystem, Vector3d, RotationAngles, RotationAngleTypes
from nova.actions import cartesian_ptp
from nova.types import Pose

@nova.program(
    preconditions=ProgramPreconditions(
        controllers=[
            virtual_controller(
                name="ur10",
                manufacturer=api.models.Manufacturer.UNIVERSALROBOTS,
                type=api.models.VirtualControllerTypes.UNIVERSALROBOTS_MINUS_UR10E,
            ),
            virtual_controller(
                name="kuka",
                manufacturer=api.models.Manufacturer.KUKA,
                type=api.models.VirtualControllerTypes.KUKA_MINUS_KR16_R1610_2,
            ),
        ],
        cleanup_controllers=False,
    ),
)
async def setup_coordinated_robots():
    async with Nova() as nova:
        cell = nova.cell()

        # Setup robots
        robot1 = await cell.controller("ur10")
        robot2 = await cell.controller("kuka")

        # Define common world coordinate system
        world_mounting = CoordinateSystem(
            coordinate_system="world",
            name="mounting",
            reference_uid="",
            position=Vector3d(x=0, y=0, z=0),
            rotation=RotationAngles(
                angles=[0, 0, 0],
                type=RotationAngleTypes.EULER_ANGLES_EXTRINSIC_XYZ
            )
        )

        # Position robots relative to world coordinates
        await nova._api_client.virtual_robot_setup_api.set_virtual_robot_mounting(
            cell="cell",
            controller=robot1.controller_id,
            id=0,  # motion_group_id
            coordinate_system=CoordinateSystem(
                coordinate_system="world",
                name="robot1_mount",
                reference_uid="",
                position=Vector3d(x=500, y=0, z=0),  # Robot 1 at x=500mm
                rotation=RotationAngles(
                    angles=[0, 0, 0],
                    type=RotationAngleTypes.EULER_ANGLES_EXTRINSIC_XYZ
                )
            )
        )

        await nova._api_client.virtual_robot_setup_api.set_virtual_robot_mounting(
            cell="cell",
            controller=robot2.controller_id,
            id=0,  # motion_group_id
            coordinate_system=CoordinateSystem(
                coordinate_system="world",
                name="robot2_mount",
                reference_uid="",
                position=Vector3d(x=-500, y=0, z=0),  # Robot 2 at x=-500mm
                rotation=RotationAngles(
                    angles=[0, 0, pi],  # Rotated 180° around Z
                    type=RotationAngleTypes.EULER_ANGLES_EXTRINSIC_XYZ
                )
            )
        )

        # Now both robots can work in the same coordinate system
        async with robot1[0] as mg1, robot2[0] as mg2:
            # Movements will be relative to world coordinates
            await asyncio.gather(
                mg1.plan([cartesian_ptp(Pose((0, 100, 0, 0, 0, 0)))], "tcp1"),
                mg2.plan([cartesian_ptp(Pose((0, -100, 0, 0, 0, 0)))], "tcp2")
            )

Development

To install development dependencies, run

uv sync --extra "nova-rerun-bridge"

Formatting

uv run ruff format
uv run ruff check --select I --fix

Yaml linting

docker run --rm -it -v $(pwd):/data cytopia/yamllint -d .yamllint .

Branch versions for testing

When working with feature branches or forks, it can be helpful to test the library as a dependency in other projects before merging. You can specify custom sources in your pyproject.toml to pull the library from a specific branch:

Using PEP 621-style table syntax:

wandelbots-nova = { git = "https://github.com/wandelbotsgmbh/wandelbots-nova.git", branch = "fix/http-prefix" }

Using PEP 508 direct URL syntax:

wandelbots-nova @ git+https://github.com/wandelbotsgmbh/wandelbots-nova.git@fix/http-prefix

Environment variables for NOVA configuration

Copy the provided .env.template file and rename it to .env:

cp .env.template .env

Open the .env file in a text editor and fill in the values. Here's what each variable does:

Variable	Description	Required	Default	Example
NOVA_API	Base URL or hostname of the Wandelbots NOVA server instance	Yes	None	https://nova.example.com or http://172.0.0.1
NOVA_USERNAME	Username credential used for authentication with the NOVA service	Yes*	None	my_username
NOVA_PASSWORD	Password credential used in conjunction with NOVA_USERNAME	Yes*	None	my_password
NOVA_ACCESS_TOKEN	Pre-obtained access token for Wandelbots NOVA (if using token-based authentication)	Yes*	None	eyJhbGciOi...

Note: You can authenticate with Wandelbots NOVA using either username/password credentials or a pre-obtained access token, depending on your setup and security model:

• Username/password authentication: Ensure both NOVA_USERNAME and NOVA_PASSWORD are set, and leave NOVA_ACCESS_TOKEN unset.
• Token-based authentication: Ensure NOVA_ACCESS_TOKEN is set, and leave NOVA_USERNAME and NOVA_PASSWORD unset.

Use only one method at a time. If both are set, token-based authentication takes precedence.

Release process

Branch behaviour overview

Branch	Purpose	Published to	Example version
main	Stable releases (semantic versioning vX.Y.Z)	PyPI (pip install wandelbots-nova)	v1.13.0
release/*	LTS-releases, pre-releases or hotfixes for older lines	PyPI (labeled with release suffix)	v1.8.7-release-1.x
any other	Development builds	GitHub actions (not published to PyPI)	e4c8af0647839...

Stable releases from main

Merging into main triggers the release workflow:

1. semantic-release analyzes commit messages and bumps the version automatically.
2. A source distribution and wheel are built and uploaded to PyPI.
3. A GitHub release is created (or updated) with the release assets.

LTS releases from release/\*

If you're on older major versions or under a special LTS contract:

1. Use (or create) a branch like release/1.x, release/customer-foo, etc.
2. Every commit to these branches triggers the same workflow as on main.
3. Versions include the branch name to prevent collisions, e.g. v1.8.7-release-1.x

Create a dev build (manual)

Need a temporary test build? Use GitHub actions:

1. Go to the actions tab.

2. Find Nova SDK: Build dev wheel and click Run workflow.

3. Select a branch and trigger the job.

4. After completion, open the Installation step to copy the ready-to-use pip install command:

       pip install "wandelbots-nova @ git+https://github.com/wandelbotsgmbh/wandelbots-nova.git@<commit>"