wandelbots-nova

The Wandelbots NOVA extension for VS Code.

What this extension does

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• 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. Set your NOVA instance address as the NOVA API host.

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

1. Install the dependencies:

pnpm install

2. Build & package the extension:

pnpm run package

3. Install the extension in VS Code 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.