File size: 3,380 Bytes
dcf1b21 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 | #!/usr/bin/env python3
"""Test Nova API connection and configuration."""
import os
import sys
from pathlib import Path
# Add parent directory to path
sys.path.insert(0, str(Path(__file__).parent.parent))
# Simple .env loader
def load_env_file(filepath):
"""Simple .env file loader."""
if not filepath.exists():
return {}
env_vars = {}
with open(filepath, 'r') as f:
for line in f:
line = line.strip()
if line and not line.startswith('#') and '=' in line:
key, value = line.split('=', 1)
env_vars[key.strip()] = value.strip()
os.environ[key.strip()] = value.strip()
return env_vars
def main():
# Load .env.local
env_path = Path(__file__).parent.parent / ".env.local"
if not env_path.exists():
print(f"Error: {env_path} not found")
return 1
print(f"Loading environment from {env_path}")
env_vars = load_env_file(env_path)
# Import after loading env vars
try:
from robots.ur5 import nova_api
except ImportError:
print("Error: Could not import nova_api module")
print("Make sure you're in the nova-sim directory")
return 1
# Try to create config
print("\nTesting Nova API configuration...")
try:
config = nova_api.NovaApiConfig.from_env()
print("✓ Configuration created successfully!")
print(f"\n Instance URL: {config.instance_url}")
print(f" Cell ID: {config.cell_id}")
print(f" Controller ID: {config.controller_id}")
print(f" Motion Group ID: {config.motion_group_id}")
print(f" Motion Group Model: {config.motion_group_model}")
print(f" TCP Name: {config.tcp_name}")
print(f" Response Rate: {config.response_rate_ms}ms")
except ValueError as e:
print(f"✗ Configuration error: {e}")
return 1
# Try to create client
print("\nCreating Nova API client...")
try:
client = nova_api.NovaApiClient(config)
print("✓ Client created successfully!")
except Exception as e:
print(f"✗ Client creation error: {e}")
return 1
# Try to fetch motion group description
print("\nFetching motion group description...")
try:
description = client._ensure_motion_group_description()
if description:
print("✓ Successfully fetched motion group description!")
print(f"\n Motion Group Model: {description.get('motion_group_model', 'N/A')}")
tcps = description.get('tcps', {})
if tcps:
print(f" Available TCPs: {', '.join(tcps.keys())}")
else:
print("✗ No description returned")
return 1
except Exception as e:
print(f"✗ Error fetching description: {e}")
return 1
print("\n" + "=" * 60)
print("SUCCESS! Your Nova API configuration is working correctly.")
print("=" * 60)
print("\nYou can now use Nova API integration with the UR5 environment:")
print("""
from robots.ur5.ur5_env import UR5Env
# Enable both state streaming and Nova IK
env = UR5Env(
render_mode="human",
nova_api_config={
"use_state_stream": True,
"use_ik": True
}
)
""")
return 0
if __name__ == "__main__":
sys.exit(main())
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