wandelbots-nova

The Wandelbots NOVA extension for VS Code.

What this extension does

• CodeLens actions: Adds buttons above each @nova.program to quickly run NOVA programs: Run, Debug, and Tune path.
• Trajectory fine-tuning (Trajectory tuner): Interactively step through trajectories, jog the robot, and save adjusted poses.
• Instance selection: Configure which NOVA instance to connect to via extension settings.

Using the extension

Configure the NOVA instance

1. Open VS Code settings and search for Wandelbots NOVA.
2. In the Connection group at the top, set your NOVA instance address as the NOVA API host and paste your access token.

The extension checks the token on startup, whenever you change either setting, and each time you run a program. If the instance rejects the token, for example because it has expired, you get an error with an Update Access Token button that opens the setting. The sidebar's connection status shows the same message.

Run and debug from your code

The extension scans your Python files for @nova.program and displays CodeLens buttons above each decorated function:

• Run: Execute the program on the configured NOVA instance.
• Debug: Launch with debugger support.
• Tune Path: Start interactive path tuning.

Trajectory fine-tuning (Trajectory Tuner)

Use Trajectory Tuner to iteratively adjust trajectory waypoints and actions:

1. Click Tune Trajectory above a @nova.program.
   Execution will pause at each execution call.
2. In the Fine-Tuning panel, use the following controls:
   • Forward/Backward: Hold to step through the trajectory in either direction.
   • Snap to point: Toggle on to stop at every action/keyframe; toggle off to glide continuously.
3. Fine-tune points:
   • Use the built-in Jogging Panel to move a robot to the desired pose.
   • Save to create a new point, updating the path.
4. Continue stepping and saving until the trajectory is tuned to your needs, then exit the Trajectory Tuner.

Local development

Running Extension Development mode

1. Install the dependencies:

pnpm install

2. Run the Extension Development Environment

Inside the editor, open src/extension.ts and press F5 or run the command Debug: Start Debugging from the Command Palette. This will compile and run the extension in a new Extension Development Host window.

Any changes in the react app (app/) will trigger a rebuilt managed by vite. After the buid has been finished, refresh the Development Host and the changes take effect.

Build and install the extension from .vsix

1. Build & package the extension:

pnpm run package:vscode

2. Install the extension in VS Code via VSIX. Search for the command Extensions: Install from VSIX... and select the created file.

3. Reload the extension with the command Developer: Reload Window.

You should now see the extension in the Extensions view & the Wandelbots logo in the activity bar.

Update on dataset API schema changes

Dataset types come from the Nova SDK (@wandelbots/nova-js/v2), which mirrors the dataset service contract, so a schema change arrives by bumping that dependency rather than regenerating anything here.

The trajectory-cursor service has no SDK client yet, so its types in packages/teaching-core/src/types/trajectoryCursor.types.ts are still generated. Run pnpm run cursor:types in packages/teaching-core after apps/trajectory-cursor/api/openapi.yaml changes.