wandelbots-nova

The Wandelbots NOVA extension for VSCode.

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 VSCode Settings → search for "Wandelbots NOVA".
2. Set NOVA Instance Host to the host of your NOVA instance.

Run and debug from your code

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

• Run: Execute the program against the configured NOVA instance.
• Debug: Launch with debugger support.
• Tune Path: Start interactive path tuning (see below).

Trajectory fine-tuning (Trajectory Tuner)

Use Trajectory Tuner to iteratively adjust trajectory waypoints and actions:

1. Click Tune Trajectory above a @nova.program to start in Trajectory Tuner.
2. Execution will pause at each execution call.
3. Use the on-screen controls under the panel Fine-Tuning:
   • 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.
4. Fine-tune points:
   • Use the built-in Jogging Panel to move the robot to the desired pose.
   • Save to create a new point, updating the path.
5. Continue stepping and saving until the trajectory is tuned to your needs, then exit the Trajectory Tuner.

Local Development

1. Install the dependencies:

pnpm install

2. Build & package the extension:

pnpm run package

3. Install the extension in VSCode via VSIX. Search for the command Extensions: Install from VSIX... and select the created file.

4. 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.