# Welding with Intelligence: Nova + Re-run for Seam Planning & Collision-Free Execution

**URL:** <https://wandelbots.discourse.group/t/welding-with-intelligence-nova-re-run-for-seam-planning-collision-free-execution/83>\
**Category:** Share your Projects\
**Created:** [May 27, 2025, 9:32am UTC](https://wandelbots.discourse.group/t/welding-with-intelligence-nova-re-run-for-seam-planning-collision-free-execution/83 "2025-05-27T09:32:30Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![NaveedBhuiyan](https://yyz1.discourse-cdn.com/flex029/user_avatar/wandelbots.discourse.group/naveedbhuiyan/32/80_2.png) [@NaveedBhuiyan](https://wandelbots.discourse.group/u/NaveedBhuiyan)\
**Post date:** [May 27, 2025, 9:32am UTC](https://wandelbots.discourse.group/t/welding-with-intelligence-nova-re-run-for-seam-planning-collision-free-execution/83/1 "2025-05-27T09:32:30Z")

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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](https://github.com/wandelbotsgmbh/wandelbots-nova/blob/main/nova_rerun_bridge/examples/14_welding_example.py) 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.