Add environment loading utility and integrate into Nova API and Jogger
Georg
07bb707
- Introduced a new utility module for loading environment variables from `.env.local` to streamline configuration management.
- Integrated the environment loading functionality into the Nova API and Jogger modules to ensure proper configuration during runtime.
- Updated the UR5 environment to utilize the loaded home pose for joint initialization, enhancing simulation consistency.
Implement Nova API jogging support and enhance UI controls
Georg
a75f112
- Added support for bidirectional jogging control via the Nova API, allowing users to send jogging commands for joint and cartesian movements.
- Enhanced mujoco_server.py to handle new jogging commands and integrate with the Nova API for real-time control.
- Updated the UR5 environment to initialize and manage the NovaJogger for handling jogging operations.
- Improved the UI to include jogging controls for translation and rotation, providing users with intuitive interaction options.
- Enhanced README.md to document the new jogging features and usage modes, including Digital Twin, Nova IK, and Hybrid modes.
- Introduced test scripts for validating Nova API connections and jogging functionality, improving overall reliability and user experience.
Add environment configuration and Nova API integration support
Georg
dcf1b21
- Introduced .env.example and .env.local files for Nova API configuration, allowing users to set up their instance details easily.
- Enhanced mujoco_server.py to load environment variables for Nova API integration, enabling state streaming and inverse kinematics.
- Updated UR5 environment to conditionally handle gripper presence and control based on configuration.
- Added example scripts for discovering Nova API configuration and testing connections, improving user onboarding.
- Enhanced README.md to document the new Nova API integration features and setup instructions, including troubleshooting tips.
Add Nova API integration to UR5 environment
Georg
4edf6f7
- Introduced a new Nova API client for enhanced control and state streaming in the UR5 environment.
- Updated UR5 environment to support optional integration with Nova API for inverse kinematics and state synchronization.
- Enhanced environment initialization to configure Nova API settings from environment variables or a provided dictionary.
- Modified joint target computation to utilize Nova's inverse kinematics when enabled, with fallback to local IK.
- Implemented state synchronization with Nova API to update joint positions and control states based on external inputs.
- Improved gripper control logic to conditionally apply settings based on the presence of a gripper.
