fix

.github/workflows/integration-test.yaml

@@ -54,6 +54,7 @@ jobs:
           echo "CELL_NAME=cell" >> ./.env
           echo | cat ./.env
           PYTHONPATH=. poetry run python examples/01_basic.py
+          PYTHONPATH=. poetry run python examples/02_plan_and_execute.py
 
       # Always run cleanup, whether success or failure
       - name: Cleanup - Delete instance

examples/03_move_and_set_ios.py

@@ -1,6 +1,7 @@
 import asyncio
 
 from nova import Nova
+from nova.api import models
 
 # TODO: update I/O interaction interface
 from nova.actions import WriteAction, jnt, ptp
@@ -16,31 +17,32 @@
 
 
 async def main():
-    nova = Nova()
-    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((100, 0, 0, 0, 0, 0))
-        actions = [
-            jnt(home_joints),
-            WriteAction(device_id="ur", key="digital_out[0]", value=False),
-            ptp(target_pose),
-            jnt(home_joints),
-        ]
-
-        # io_value = await controller.read_io("digital_out[0]")
-        await motion_group.plan_and_execute(actions, tcp)
-
-    await nova.close()
+    with Nova() as nova:
+        cell = nova.cell()
+        controller = await cell.ensure_virtual_robot_controller(
+            "ur",
+            models.VirtualControllerTypes.UNIVERSALROBOTS_MINUS_UR10E,
+            models.Manufacturer.UNIVERSALROBOTS,
+        )
+
+        # 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((100, 0, 0, 0, 0, 0))
+            actions = [
+                jnt(home_joints),
+                WriteAction(device_id="ur", key="digital_out[0]", value=False),
+                ptp(target_pose),
+                jnt(home_joints),
+            ]
+
+            # io_value = await controller.read_io("digital_out[0]")
+            await motion_group.plan_and_execute(actions, tcp)
 
 
 if __name__ == "__main__":