Hey everyone,
I wanted to share a complete Python example that showcases how to use Nova, our advanced motion planning framework, together with Python Re-run for visual feedback, to execute a realistic welding task.
This PYTHON SCRIPT demonstrates:
- Loading a welding part from an STL file and integrating it into the collision world using convex hulls.
- Building a full collision scene including floor, robot base, tool geometry, and link chain.
- Calculating and transforming seam positions based on the part’s pose.
- Planning both collision-free point-to-point (PTP) and linear welding trajectories across two seams.
- Logging geometry, actions, and trajectories to Re-run for intuitive 3D visualization and debugging.
All motions are carefully blended with MotionSettings, and fallback logging is included for error cases via PlanTrajectoryFailed.
This is a great example of how Nova’s abstractions help simplify complex robotic motion planning—from safe navigation to precise, continuous process tasks like welding.
Feel free to try it out, adapt it to your own scenarios, or comment below if you are curious about out python SDK.