Georg commited on
Commit ·
51b2fc6
1
Parent(s): eaf03f4
Update mujoco_server.py to replace jogging commands with homing commands and enhance action handling
Browse files- Removed `start_jog` and `stop_jog` commands, replacing them with `home` and `stop_home` for improved homing functionality.
- Updated WebSocket message handling to support continuous homing commands and refined the logic for sending action messages.
- Adjusted the `index` function to streamline the homing process, ensuring smoother joint movements and better user experience.
- Enhanced the .gitignore file to exclude server logs, maintaining a cleaner repository.
- .gitignore +1 -0
- mujoco_server.py +32 -225
- server.log +1045 -675
.gitignore
CHANGED
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@@ -57,3 +57,4 @@ mujoco_server.py.backup
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| 57 |
# Makefile development artifacts
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| 58 |
.pid-*
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| 59 |
.dev-*.log
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| 57 |
# Makefile development artifacts
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| 58 |
.pid-*
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| 59 |
.dev-*.log
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| 60 |
+
server.log
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mujoco_server.py
CHANGED
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@@ -223,8 +223,8 @@ AVAILABLE_ACTIONS = [
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| 223 |
"camera",
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| 224 |
"camera_follow",
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| 225 |
"teleop_action",
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| 226 |
-
"
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| 227 |
-
"
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| 228 |
"arm_target",
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| 229 |
"gripper",
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| 230 |
"control_mode",
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@@ -1396,97 +1396,6 @@ def handle_ws_message(ws, data):
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| 1396 |
env.set_nova_enabled(enabled)
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| 1397 |
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| 1398 |
# Nova jogging commands
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| 1399 |
-
elif msg_type == 'start_jog':
|
| 1400 |
-
payload = data.get('data', {})
|
| 1401 |
-
jog_type = payload.get('jog_type')
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| 1402 |
-
jog_params = payload.get('params', {})
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| 1403 |
-
print(f"[Server] Received start_jog: jog_type={jog_type}, params={jog_params}")
|
| 1404 |
-
with mujoco_lock:
|
| 1405 |
-
if env is not None and current_robot in ("ur5", "ur5_t_push"):
|
| 1406 |
-
success = env.start_jog(jog_type, **jog_params)
|
| 1407 |
-
if not success:
|
| 1408 |
-
print(f"[Server] Failed to start jog: {jog_type}, {jog_params}")
|
| 1409 |
-
|
| 1410 |
-
# Update teleop_action to reflect jogging state
|
| 1411 |
-
with teleop_lock:
|
| 1412 |
-
if jog_type == 'joint':
|
| 1413 |
-
# Joint jogging: {"j1": vel, "j2": vel, ...}
|
| 1414 |
-
joint = jog_params.get('joint', 1) # 1-6
|
| 1415 |
-
direction = jog_params.get('direction', '+')
|
| 1416 |
-
velocity = jog_params.get('velocity', 0.5)
|
| 1417 |
-
vel_value = velocity if direction == '+' else -velocity
|
| 1418 |
-
|
| 1419 |
-
print(f"[Server] Joint jog: j{joint}={vel_value}")
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| 1420 |
-
|
| 1421 |
-
# Reset all joint velocities to 0
|
| 1422 |
-
for j in range(1, 7):
|
| 1423 |
-
last_teleop_action[f"j{j}"] = 0.0
|
| 1424 |
-
# Set active joint velocity
|
| 1425 |
-
last_teleop_action[f"j{joint}"] = float(vel_value)
|
| 1426 |
-
# Clear Cartesian velocities
|
| 1427 |
-
last_teleop_action["vx"] = 0.0
|
| 1428 |
-
last_teleop_action["vy"] = 0.0
|
| 1429 |
-
last_teleop_action["vz"] = 0.0
|
| 1430 |
-
last_teleop_action["vrx"] = 0.0
|
| 1431 |
-
last_teleop_action["vry"] = 0.0
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| 1432 |
-
last_teleop_action["vrz"] = 0.0
|
| 1433 |
-
|
| 1434 |
-
elif jog_type == 'cartesian_translation':
|
| 1435 |
-
# Cartesian translation: {"vx": vel, "vy": vel, "vz": vel}
|
| 1436 |
-
axis = jog_params.get('axis', 'x') # x, y, or z
|
| 1437 |
-
direction = jog_params.get('direction', '+')
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| 1438 |
-
velocity = jog_params.get('velocity', 50.0) / 1000.0 # Convert mm/s to m/s
|
| 1439 |
-
vel_value = velocity if direction == '+' else -velocity
|
| 1440 |
-
|
| 1441 |
-
# Reset Cartesian velocities
|
| 1442 |
-
last_teleop_action["vx"] = 0.0
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| 1443 |
-
last_teleop_action["vy"] = 0.0
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| 1444 |
-
last_teleop_action["vz"] = 0.0
|
| 1445 |
-
last_teleop_action["vrx"] = 0.0
|
| 1446 |
-
last_teleop_action["vry"] = 0.0
|
| 1447 |
-
last_teleop_action["vrz"] = 0.0
|
| 1448 |
-
# Set active axis velocity
|
| 1449 |
-
last_teleop_action[f"v{axis}"] = float(vel_value)
|
| 1450 |
-
# Clear joint velocities
|
| 1451 |
-
for j in range(1, 7):
|
| 1452 |
-
last_teleop_action[f"j{j}"] = 0.0
|
| 1453 |
-
|
| 1454 |
-
elif jog_type == 'cartesian_rotation':
|
| 1455 |
-
# Cartesian rotation: {"vrx": vel, "vry": vel, "vrz": vel}
|
| 1456 |
-
axis = jog_params.get('axis', 'x') # x, y, or z
|
| 1457 |
-
direction = jog_params.get('direction', '+')
|
| 1458 |
-
velocity = jog_params.get('velocity', 0.3) # rad/s
|
| 1459 |
-
vel_value = velocity if direction == '+' else -velocity
|
| 1460 |
-
|
| 1461 |
-
# Reset Cartesian velocities
|
| 1462 |
-
last_teleop_action["vx"] = 0.0
|
| 1463 |
-
last_teleop_action["vy"] = 0.0
|
| 1464 |
-
last_teleop_action["vz"] = 0.0
|
| 1465 |
-
last_teleop_action["vrx"] = 0.0
|
| 1466 |
-
last_teleop_action["vry"] = 0.0
|
| 1467 |
-
last_teleop_action["vrz"] = 0.0
|
| 1468 |
-
# Set active rotation velocity
|
| 1469 |
-
last_teleop_action[f"vr{axis}"] = float(vel_value)
|
| 1470 |
-
# Clear joint velocities
|
| 1471 |
-
for j in range(1, 7):
|
| 1472 |
-
last_teleop_action[f"j{j}"] = 0.0
|
| 1473 |
-
|
| 1474 |
-
elif msg_type == 'stop_jog':
|
| 1475 |
-
with mujoco_lock:
|
| 1476 |
-
if env is not None and current_robot in ("ur5", "ur5_t_push"):
|
| 1477 |
-
env.stop_jog()
|
| 1478 |
-
|
| 1479 |
-
# Clear all jogging velocities in teleop_action
|
| 1480 |
-
with teleop_lock:
|
| 1481 |
-
last_teleop_action["vx"] = 0.0
|
| 1482 |
-
last_teleop_action["vy"] = 0.0
|
| 1483 |
-
last_teleop_action["vz"] = 0.0
|
| 1484 |
-
last_teleop_action["vrx"] = 0.0
|
| 1485 |
-
last_teleop_action["vry"] = 0.0
|
| 1486 |
-
last_teleop_action["vrz"] = 0.0
|
| 1487 |
-
for j in range(1, 7):
|
| 1488 |
-
last_teleop_action[f"j{j}"] = 0.0
|
| 1489 |
-
|
| 1490 |
elif msg_type == 'homing':
|
| 1491 |
with mujoco_lock:
|
| 1492 |
if env is not None:
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|
@@ -3229,7 +3138,6 @@ def index():
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|
| 3229 |
console.log('startHoming called:', {
|
| 3230 |
currentRobot,
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| 3231 |
hasHomePose: !!currentHomePose,
|
| 3232 |
-
novaStateStreaming,
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| 3233 |
wsState: ws ? ws.readyState : 'no ws'
|
| 3234 |
});
|
| 3235 |
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@@ -3244,112 +3152,26 @@ def index():
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|
| 3244 |
return;
|
| 3245 |
}
|
| 3246 |
|
| 3247 |
-
|
| 3248 |
-
|
| 3249 |
-
|
| 3250 |
-
startNovaJoggingHome();
|
| 3251 |
-
} else {
|
| 3252 |
-
// Local mode: send home messages continuously while button is pressed
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| 3253 |
-
console.log('Starting local homing...');
|
| 3254 |
-
send('home');
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| 3255 |
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| 3256 |
-
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| 3257 |
-
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| 3258 |
-
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| 3259 |
-
|
| 3260 |
-
|
| 3261 |
-
}
|
| 3262 |
}
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| 3263 |
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| 3264 |
function stopHoming() {
|
| 3265 |
-
|
| 3266 |
-
|
| 3267 |
-
|
| 3268 |
-
|
| 3269 |
-
}
|
| 3270 |
-
homingJoints = [];
|
| 3271 |
-
if (homingInterval) {
|
| 3272 |
-
clearInterval(homingInterval);
|
| 3273 |
-
homingInterval = null;
|
| 3274 |
-
}
|
| 3275 |
-
} else {
|
| 3276 |
-
// Stop the home message interval
|
| 3277 |
-
if (homingInterval) {
|
| 3278 |
-
clearInterval(homingInterval);
|
| 3279 |
-
homingInterval = null;
|
| 3280 |
-
}
|
| 3281 |
-
// Send stop_home message to backend
|
| 3282 |
-
send('stop_home');
|
| 3283 |
-
console.log('Sent stop_home message');
|
| 3284 |
}
|
| 3285 |
-
|
| 3286 |
-
|
| 3287 |
-
|
| 3288 |
-
if (!currentHomePose || !currentJointPositions) {
|
| 3289 |
-
console.warn('Cannot jog home: missing home_pose or joint_positions');
|
| 3290 |
-
return;
|
| 3291 |
-
}
|
| 3292 |
-
|
| 3293 |
-
const tolerance = 0.01; // 0.01 rad ~= 0.57 degrees
|
| 3294 |
-
|
| 3295 |
-
// Check each joint and start jogging for those not at home
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| 3296 |
-
homingJoints = [];
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| 3297 |
-
for (let i = 0; i < Math.min(currentHomePose.length, currentJointPositions.length); i++) {
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| 3298 |
-
const target = currentHomePose[i];
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| 3299 |
-
const current = currentJointPositions[i];
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| 3300 |
-
const error = target - current;
|
| 3301 |
-
|
| 3302 |
-
if (Math.abs(error) > tolerance) {
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| 3303 |
-
const joint = i + 1; // Nova uses 1-based indexing
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| 3304 |
-
const direction = error > 0 ? '+' : '-';
|
| 3305 |
-
const velocity = 0.5; // rad/s
|
| 3306 |
-
|
| 3307 |
-
console.log(`Jogging joint ${joint} ${direction} (error: ${error.toFixed(3)} rad)`);
|
| 3308 |
-
|
| 3309 |
-
send('start_jog', {
|
| 3310 |
-
jog_type: 'joint',
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| 3311 |
-
params: {
|
| 3312 |
-
joint: joint,
|
| 3313 |
-
direction: direction,
|
| 3314 |
-
velocity: velocity
|
| 3315 |
-
}
|
| 3316 |
-
});
|
| 3317 |
-
|
| 3318 |
-
homingJoints.push(joint);
|
| 3319 |
-
}
|
| 3320 |
-
}
|
| 3321 |
-
|
| 3322 |
-
if (homingJoints.length === 0) {
|
| 3323 |
-
console.log('Already at home position');
|
| 3324 |
-
return;
|
| 3325 |
-
}
|
| 3326 |
-
|
| 3327 |
-
// Monitor progress and stop when home is reached
|
| 3328 |
-
if (homingInterval) clearInterval(homingInterval);
|
| 3329 |
-
homingInterval = setInterval(() => {
|
| 3330 |
-
if (!currentHomePose || !currentJointPositions) {
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| 3331 |
-
stopHoming();
|
| 3332 |
-
return;
|
| 3333 |
-
}
|
| 3334 |
-
|
| 3335 |
-
// Check if we're at home
|
| 3336 |
-
let allAtHome = true;
|
| 3337 |
-
for (let i = 0; i < Math.min(currentHomePose.length, currentJointPositions.length); i++) {
|
| 3338 |
-
const target = currentHomePose[i];
|
| 3339 |
-
const current = currentJointPositions[i];
|
| 3340 |
-
const error = Math.abs(target - current);
|
| 3341 |
-
|
| 3342 |
-
if (error > tolerance) {
|
| 3343 |
-
allAtHome = false;
|
| 3344 |
-
break;
|
| 3345 |
-
}
|
| 3346 |
-
}
|
| 3347 |
-
|
| 3348 |
-
if (allAtHome) {
|
| 3349 |
-
console.log('Home position reached');
|
| 3350 |
-
stopHoming();
|
| 3351 |
-
}
|
| 3352 |
-
}, 100); // Check every 100ms
|
| 3353 |
}
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| 3354 |
|
| 3355 |
function setCmd(vx, vy, vyaw) {
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@@ -3397,43 +3219,28 @@ def index():
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| 3397 |
}
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| 3398 |
|
| 3399 |
function startJog(jogType, axisOrJoint, direction) {
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|
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|
| 3400 |
if (jogType === 'cartesian_translation') {
|
| 3401 |
-
|
| 3402 |
-
|
| 3403 |
-
|
| 3404 |
-
|
| 3405 |
-
direction: direction,
|
| 3406 |
-
velocity: transVelocity,
|
| 3407 |
-
tcp_id: 'Flange',
|
| 3408 |
-
coord_system_id: 'world'
|
| 3409 |
-
}
|
| 3410 |
-
});
|
| 3411 |
} else if (jogType === 'cartesian_rotation') {
|
| 3412 |
-
|
| 3413 |
-
|
| 3414 |
-
|
| 3415 |
-
|
| 3416 |
-
direction: direction,
|
| 3417 |
-
velocity: rotVelocity,
|
| 3418 |
-
tcp_id: 'Flange',
|
| 3419 |
-
coord_system_id: 'world'
|
| 3420 |
-
}
|
| 3421 |
-
});
|
| 3422 |
} else if (jogType === 'joint') {
|
| 3423 |
-
|
| 3424 |
-
|
| 3425 |
-
jog_type: 'joint',
|
| 3426 |
-
params: {
|
| 3427 |
-
joint: axisOrJoint, // 1-6
|
| 3428 |
-
direction: direction,
|
| 3429 |
-
velocity: jointVelocity
|
| 3430 |
-
}
|
| 3431 |
-
});
|
| 3432 |
}
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|
|
|
|
|
|
| 3433 |
}
|
| 3434 |
|
| 3435 |
function stopJog() {
|
| 3436 |
-
send('
|
| 3437 |
}
|
| 3438 |
|
| 3439 |
function setGripper(action) {
|
|
|
|
| 223 |
"camera",
|
| 224 |
"camera_follow",
|
| 225 |
"teleop_action",
|
| 226 |
+
"home",
|
| 227 |
+
"stop_home",
|
| 228 |
"arm_target",
|
| 229 |
"gripper",
|
| 230 |
"control_mode",
|
|
|
|
| 1396 |
env.set_nova_enabled(enabled)
|
| 1397 |
|
| 1398 |
# Nova jogging commands
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| 1399 |
elif msg_type == 'homing':
|
| 1400 |
with mujoco_lock:
|
| 1401 |
if env is not None:
|
|
|
|
| 3138 |
console.log('startHoming called:', {
|
| 3139 |
currentRobot,
|
| 3140 |
hasHomePose: !!currentHomePose,
|
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|
| 3141 |
wsState: ws ? ws.readyState : 'no ws'
|
| 3142 |
});
|
| 3143 |
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|
| 3152 |
return;
|
| 3153 |
}
|
| 3154 |
|
| 3155 |
+
// Send home messages continuously while button is pressed
|
| 3156 |
+
console.log('Starting homing...');
|
| 3157 |
+
send('home', {});
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|
| 3158 |
|
| 3159 |
+
// Send home message every 100ms while button is pressed
|
| 3160 |
+
if (homingInterval) clearInterval(homingInterval);
|
| 3161 |
+
homingInterval = setInterval(() => {
|
| 3162 |
+
send('home', {});
|
| 3163 |
+
}, 100);
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|
| 3164 |
}
|
| 3165 |
|
| 3166 |
function stopHoming() {
|
| 3167 |
+
// Stop the home message interval
|
| 3168 |
+
if (homingInterval) {
|
| 3169 |
+
clearInterval(homingInterval);
|
| 3170 |
+
homingInterval = null;
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|
| 3171 |
}
|
| 3172 |
+
// Send stop_home message to backend
|
| 3173 |
+
send('stop_home', {});
|
| 3174 |
+
console.log('Sent stop_home message');
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3175 |
}
|
| 3176 |
|
| 3177 |
function setCmd(vx, vy, vyaw) {
|
|
|
|
| 3219 |
}
|
| 3220 |
|
| 3221 |
function startJog(jogType, axisOrJoint, direction) {
|
| 3222 |
+
const actionData = {};
|
| 3223 |
+
|
| 3224 |
if (jogType === 'cartesian_translation') {
|
| 3225 |
+
const velocity = (direction === '+' ? 1 : -1) * (transVelocity / 1000.0); // Convert mm/s to m/s
|
| 3226 |
+
if (axisOrJoint === 'x') actionData.vx = velocity;
|
| 3227 |
+
else if (axisOrJoint === 'y') actionData.vy = velocity;
|
| 3228 |
+
else if (axisOrJoint === 'z') actionData.vz = velocity;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3229 |
} else if (jogType === 'cartesian_rotation') {
|
| 3230 |
+
const velocity = (direction === '+' ? 1 : -1) * rotVelocity;
|
| 3231 |
+
if (axisOrJoint === 'x') actionData.vrx = velocity;
|
| 3232 |
+
else if (axisOrJoint === 'y') actionData.vry = velocity;
|
| 3233 |
+
else if (axisOrJoint === 'z') actionData.vrz = velocity;
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3234 |
} else if (jogType === 'joint') {
|
| 3235 |
+
const velocity = (direction === '+' ? 1 : -1) * jointVelocity;
|
| 3236 |
+
actionData['j' + axisOrJoint] = velocity; // j1-j6
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 3237 |
}
|
| 3238 |
+
|
| 3239 |
+
send('action', actionData);
|
| 3240 |
}
|
| 3241 |
|
| 3242 |
function stopJog() {
|
| 3243 |
+
send('action', {}); // Send zero velocities
|
| 3244 |
}
|
| 3245 |
|
| 3246 |
function setGripper(action) {
|
server.log
CHANGED
|
@@ -7,40 +7,495 @@ Starting simulation loop...
|
|
| 7 |
* Running on http://127.0.0.1:3004
|
| 8 |
* Running on http://172.31.10.66:3004
|
| 9 |
[33mPress CTRL+C to quit[0m
|
| 10 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
| 11 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
| 12 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
| 13 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
| 14 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
| 15 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
| 16 |
-
127.0.0.1 - - [21/Jan/2026 12:
|
|
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|
|
| 17 |
WebSocket client connected
|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 18 |
[WS] Received message type: camera
|
| 19 |
-
[WS] Received message type: start_jog
|
| 20 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 21 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 22 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 23 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 24 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 25 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 26 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 27 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 28 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 29 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 30 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 31 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 32 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 33 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 34 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 35 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 36 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 37 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 38 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 39 |
[WS] Received message type: camera
|
| 40 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 41 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 42 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 43 |
-
[WS] Received message type: stop_jog
|
| 44 |
[WS] Received message type: camera
|
| 45 |
[WS] Received message type: camera
|
| 46 |
[WS] Received message type: camera
|
|
@@ -71,510 +526,162 @@ WebSocket client connected
|
|
| 71 |
[WS] Received message type: camera
|
| 72 |
[WS] Received message type: camera
|
| 73 |
[WS] Received message type: camera
|
| 74 |
-
[WS] Received message type:
|
| 75 |
-
[
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 76 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 77 |
-
[Broadcast] Sending to
|
| 78 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 79 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 80 |
-
[Broadcast] Sending to
|
| 81 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 82 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 83 |
-
[Broadcast] Sending to
|
| 84 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 85 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 86 |
-
[Broadcast] Sending to
|
| 87 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 88 |
-
[WS] Received message type: stop_jog
|
| 89 |
-
[WS] Received message type: start_jog
|
| 90 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 91 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 92 |
-
[Broadcast] Sending to
|
| 93 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 94 |
-
[
|
| 95 |
-
[
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 96 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 97 |
-
[Broadcast] Non-zero teleop values: {'
|
| 98 |
-
[Broadcast] Sending to
|
| 99 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 100 |
-
[Broadcast] Non-zero teleop values: {'
|
| 101 |
-
[Broadcast] Sending to
|
| 102 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 103 |
-
[Broadcast] Non-zero teleop values: {'
|
| 104 |
-
[Broadcast] Sending to
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 105 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 106 |
-
[
|
| 107 |
-
[
|
| 108 |
-
[
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
| 109 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 110 |
-
[Broadcast] Sending to
|
| 111 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 112 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 113 |
-
[Broadcast] Sending to
|
| 114 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 115 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 116 |
-
[Broadcast] Sending to
|
| 117 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 118 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 119 |
-
[Broadcast] Sending to
|
| 120 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 121 |
-
[
|
| 122 |
-
[
|
| 123 |
-
[
|
| 124 |
-
[
|
| 125 |
-
[
|
|
|
|
|
|
|
|
|
|
|
|
|
| 126 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 127 |
-
[WS] Received message type: stop_jog
|
| 128 |
-
[WS] Received message type: start_jog
|
| 129 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 130 |
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 131 |
-
[Broadcast] Sending to
|
| 132 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 133 |
-
[
|
| 134 |
-
[
|
| 135 |
-
Robot switch requested: ur5 / scene: scene_with_gripper
|
| 136 |
-
Switching to robot: ur5
|
| 137 |
-
Nova API credentials detected - attempting bidirectional control
|
| 138 |
-
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 139 |
-
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 140 |
-
[Nova] Attempting to load config from environment variables...
|
| 141 |
-
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 142 |
-
[Nova] Creating NovaApiClient...
|
| 143 |
-
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 144 |
-
[Nova] Starting state stream...
|
| 145 |
-
[Nova] Starting state stream thread...
|
| 146 |
-
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100
|
| 147 |
-
[Nova] State stream started successfully
|
| 148 |
-
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 149 |
-
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 150 |
-
[Nova] Creating NovaJogger...
|
| 151 |
-
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 152 |
-
[Nova] Jogger connected successfully
|
| 153 |
-
[Nova] Jogging enabled - UI can send directional jog commands
|
| 154 |
-
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 155 |
-
[Nova] State stream connected successfully
|
| 156 |
-
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 157 |
-
[Nova] Attempting to load config from environment variables...
|
| 158 |
-
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 159 |
-
[Nova] Creating NovaApiClient...
|
| 160 |
-
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 161 |
-
[Nova] Starting state stream...
|
| 162 |
-
[Nova] Starting state stream thread...
|
| 163 |
-
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100127.0.0.1 - - [21/Jan/2026 12:31:31] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 164 |
-
[Nova] State stream started successfully
|
| 165 |
-
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 166 |
-
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 167 |
-
[Nova] Creating NovaJogger...
|
| 168 |
-
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 169 |
-
[Nova] Jogger connected successfully
|
| 170 |
-
[Nova] Jogging enabled - UI can send directional jog commands
|
| 171 |
-
|
| 172 |
-
Switched to ur5
|
| 173 |
-
[Nova] State stream connected successfully
|
| 174 |
-
[Nova] State stream update (seq=20357380, 6 joints) payload={"seq": 20357380, "joint_position": [-3.7937827110290527, -1.5640392303466797, 1.8428640365600586, -1.4148643016815186, -1.725486397743225, -0.5821775794029236], "timestamp": "2026-01-21T11:31:31.701604829Z"}
|
| 175 |
-
[WS] Received message type: camera
|
| 176 |
-
[WS] Received message type: camera
|
| 177 |
-
[WS] Received message type: start_jog
|
| 178 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 179 |
-
[Nova Jogger] Connecting to cartesian endpoint: wss://vaxtlucd.instance.wandelbots.io/api/v1/cells/cell/motion-groups/move-tcp
|
| 180 |
-
[Nova Jogger] Connected to cartesian endpoint
|
| 181 |
-
[Nova Jogger] Cartesian X translation at 50 mm/s (dir: 1)
|
| 182 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 183 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.05}
|
| 184 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 185 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 186 |
-
[Broadcast] Sending to
|
| 187 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 188 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 189 |
-
[Broadcast] Sending to
|
| 190 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 191 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 192 |
-
[Broadcast] Sending to
|
| 193 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 194 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 195 |
-
[Broadcast] Sending to
|
| 196 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 197 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 198 |
-
[Broadcast] Sending to
|
| 199 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 200 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 201 |
-
[Broadcast] Sending to
|
| 202 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 203 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 204 |
-
[Broadcast] Sending to
|
| 205 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 206 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 207 |
-
[Broadcast] Sending to
|
| 208 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 209 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 210 |
-
[Broadcast] Sending to
|
| 211 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 212 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 213 |
-
[Broadcast] Sending to
|
| 214 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 215 |
-
[WS] Received message type:
|
| 216 |
[Nova Jogger] Stopped (zero velocities sent)
|
| 217 |
-
[WS] Received message type: switch_robot
|
| 218 |
-
Robot switch requested: spot / scene: scene
|
| 219 |
-
Switching to robot: spot
|
| 220 |
-
Quadruped-PyMPC components loaded from local standalone implementation
|
| 221 |
-
PyMPC gait generator initialized
|
| 222 |
-
Switched to spot
|
| 223 |
-
[WS] Received message type: command
|
| 224 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 225 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 226 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 227 |
-
[WS] Received message type: teleop_action
|
| 228 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 229 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 230 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 231 |
-
[WS] Received message type: teleop_action
|
| 232 |
-
[WS] Received message type: teleop_action
|
| 233 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 234 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 235 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 236 |
-
[WS] Received message type: teleop_action
|
| 237 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 238 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 239 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 240 |
-
[WS] Received message type: teleop_action
|
| 241 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 242 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 243 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 244 |
-
[WS] Received message type: teleop_action
|
| 245 |
-
[WS] Received message type: command
|
| 246 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 247 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 248 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 249 |
-
[WS] Received message type: teleop_action
|
| 250 |
-
[WS] Received message type: command
|
| 251 |
-
[WS] Received message type: teleop_action
|
| 252 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 253 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 254 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 255 |
-
[WS] Received message type: command
|
| 256 |
-
[WS] Received message type: teleop_action
|
| 257 |
-
[WS] Received message type: command
|
| 258 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 259 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 260 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 261 |
-
[WS] Received message type: teleop_action
|
| 262 |
-
[WS] Received message type: command
|
| 263 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 264 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 265 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 266 |
-
[WS] Received message type: teleop_action
|
| 267 |
-
[WS] Received message type: command
|
| 268 |
-
[WS] Received message type: teleop_action
|
| 269 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 270 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 271 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 272 |
-
[WS] Received message type: command
|
| 273 |
-
[WS] Received message type: teleop_action
|
| 274 |
-
[WS] Received message type: command
|
| 275 |
-
[WS] Received message type: command
|
| 276 |
-
[WS] Received message type: teleop_action
|
| 277 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.005}
|
| 278 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.005}
|
| 279 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 280 |
-
[WS] Received message type: teleop_action
|
| 281 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.005}
|
| 282 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.005}
|
| 283 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 284 |
-
[WS] Received message type: teleop_action
|
| 285 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.005}
|
| 286 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.005}
|
| 287 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 288 |
-
[WS] Received message type: teleop_action
|
| 289 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.005}
|
| 290 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.005}
|
| 291 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 292 |
-
[WS] Received message type: teleop_action
|
| 293 |
-
[WS] Received message type: teleop_action
|
| 294 |
-
[WS] Received message type: command
|
| 295 |
-
[Broadcast] Non-zero teleop values: {'vyaw': -1.2}
|
| 296 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vyaw': -1.2}
|
| 297 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 298 |
-
[WS] Received message type: teleop_action
|
| 299 |
-
[WS] Received message type: command
|
| 300 |
-
[Broadcast] Non-zero teleop values: {'vyaw': -1.2}
|
| 301 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vyaw': -1.2}
|
| 302 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 303 |
-
[WS] Received message type: teleop_action
|
| 304 |
-
[WS] Received message type: command
|
| 305 |
-
[Broadcast] Non-zero teleop values: {'vyaw': -1.2}
|
| 306 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vyaw': -1.2}
|
| 307 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 308 |
-
[WS] Received message type: teleop_action
|
| 309 |
-
[WS] Received message type: command
|
| 310 |
-
[WS] Received message type: teleop_action
|
| 311 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.005}
|
| 312 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.005}
|
| 313 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 314 |
-
[WS] Received message type: command
|
| 315 |
-
[WS] Received message type: teleop_action
|
| 316 |
-
[WS] Received message type: command
|
| 317 |
-
[WS] Received message type: command
|
| 318 |
-
[Broadcast] Non-zero teleop values: {'vyaw': 1.2}
|
| 319 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vyaw': 1.2}
|
| 320 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 321 |
-
[WS] Received message type: teleop_action
|
| 322 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.005}
|
| 323 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.005}
|
| 324 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 325 |
-
[WS] Received message type: teleop_action
|
| 326 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.005}
|
| 327 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.005}
|
| 328 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 329 |
-
[WS] Received message type: teleop_action
|
| 330 |
-
[Nova] State stream update (seq=20358760, 6 joints) payload={"seq": 20358760, "joint_position": [-3.7214279174804688, -1.4229689836502075, 1.6873574256896973, -1.3912395238876343, -1.6946996450424194, -0.5160554051399231], "timestamp": "2026-01-21T11:31:41.768234831Z"}
|
| 331 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.005}
|
| 332 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.005}
|
| 333 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 334 |
-
[WS] Received message type: teleop_action
|
| 335 |
-
[WS] Received message type: teleop_action
|
| 336 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.005}
|
| 337 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.005}
|
| 338 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 339 |
-
[WS] Received message type: teleop_action
|
| 340 |
-
[WS] Received message type: command
|
| 341 |
-
[Broadcast] Non-zero teleop values: {'vyaw': 1.2}
|
| 342 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vyaw': 1.2}
|
| 343 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 344 |
-
[WS] Received message type: teleop_action
|
| 345 |
-
[WS] Received message type: command
|
| 346 |
-
[Broadcast] Non-zero teleop values: {'vyaw': 1.2}
|
| 347 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vyaw': 1.2}
|
| 348 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 349 |
-
[WS] Received message type: teleop_action
|
| 350 |
-
[WS] Received message type: command
|
| 351 |
-
[WS] Received message type: teleop_action
|
| 352 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.005}
|
| 353 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.005}
|
| 354 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 355 |
-
[WS] Received message type: command
|
| 356 |
-
[WS] Received message type: teleop_action
|
| 357 |
-
[WS] Received message type: command
|
| 358 |
-
[WS] Received message type: switch_robot
|
| 359 |
-
Robot switch requested: g1 / scene: scene
|
| 360 |
-
Switching to robot: g1
|
| 361 |
-
Switched to g1
|
| 362 |
-
[WS] Received message type: camera
|
| 363 |
-
[WS] Received message type: command
|
| 364 |
-
[WS] Received message type: teleop_action
|
| 365 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 366 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 367 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 368 |
-
[WS] Received message type: teleop_action
|
| 369 |
-
[WS] Received message type: teleop_action
|
| 370 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 371 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 372 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 373 |
-
[WS] Received message type: teleop_action
|
| 374 |
-
[WS] Received message type: teleop_action
|
| 375 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 376 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 377 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 378 |
-
[WS] Received message type: teleop_action
|
| 379 |
-
[WS] Received message type: command
|
| 380 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 381 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 382 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 383 |
-
[WS] Received message type: teleop_action
|
| 384 |
-
[WS] Received message type: command
|
| 385 |
-
[WS] Received message type: teleop_action
|
| 386 |
-
[WS] Received message type: command
|
| 387 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 388 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 389 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 390 |
-
[WS] Received message type: teleop_action
|
| 391 |
-
[WS] Received message type: command
|
| 392 |
-
[WS] Received message type: teleop_action
|
| 393 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 394 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 395 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 396 |
-
[WS] Received message type: command
|
| 397 |
-
[WS] Received message type: teleop_action
|
| 398 |
-
[WS] Received message type: command
|
| 399 |
-
[WS] Received message type: teleop_action
|
| 400 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 401 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 402 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 403 |
-
[WS] Received message type: command
|
| 404 |
-
[WS] Received message type: teleop_action
|
| 405 |
-
[WS] Received message type: command
|
| 406 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 407 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 408 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 409 |
-
[WS] Received message type: teleop_action
|
| 410 |
-
[WS] Received message type: command
|
| 411 |
-
[WS] Received message type: teleop_action
|
| 412 |
-
[WS] Received message type: command
|
| 413 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 414 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 415 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 416 |
-
[WS] Received message type: teleop_action
|
| 417 |
-
[WS] Received message type: command
|
| 418 |
-
[WS] Received message type: teleop_action
|
| 419 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 420 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 421 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 422 |
-
[WS] Received message type: command
|
| 423 |
-
[WS] Received message type: teleop_action
|
| 424 |
-
[WS] Received message type: command
|
| 425 |
-
[WS] Received message type: teleop_action
|
| 426 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 427 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 428 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 429 |
-
[WS] Received message type: command
|
| 430 |
-
[WS] Received message type: teleop_action
|
| 431 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 432 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 433 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 434 |
-
[WS] Received message type: command
|
| 435 |
-
[WS] Received message type: teleop_action
|
| 436 |
-
[WS] Received message type: command
|
| 437 |
-
[WS] Received message type: command
|
| 438 |
-
[WS] Received message type: teleop_action
|
| 439 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 440 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 441 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 442 |
-
[WS] Received message type: teleop_action
|
| 443 |
-
[WS] Received message type: teleop_action
|
| 444 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 445 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 446 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 447 |
-
[WS] Received message type: teleop_action
|
| 448 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 449 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 450 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 451 |
-
[WS] Received message type: teleop_action
|
| 452 |
-
[WS] Received message type: teleop_action
|
| 453 |
-
[WS] Received message type: command
|
| 454 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 455 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 456 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 457 |
-
[WS] Received message type: teleop_action
|
| 458 |
-
[WS] Received message type: command
|
| 459 |
-
[WS] Received message type: teleop_action
|
| 460 |
-
[WS] Received message type: command
|
| 461 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 462 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 463 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 464 |
-
[WS] Received message type: teleop_action
|
| 465 |
-
[WS] Received message type: command
|
| 466 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 467 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 468 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 469 |
-
[WS] Received message type: teleop_action
|
| 470 |
-
[WS] Received message type: command
|
| 471 |
-
[WS] Received message type: teleop_action
|
| 472 |
-
[WS] Received message type: command
|
| 473 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 474 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 475 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 476 |
-
[WS] Received message type: teleop_action
|
| 477 |
-
[WS] Received message type: command
|
| 478 |
-
[WS] Received message type: teleop_action
|
| 479 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 480 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 481 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 482 |
-
[WS] Received message type: command
|
| 483 |
-
[WS] Received message type: teleop_action
|
| 484 |
-
[WS] Received message type: command
|
| 485 |
-
[WS] Received message type: teleop_action
|
| 486 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 487 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 488 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0127.0.0.1 - - [21/Jan/2026 12:31:51] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 489 |
-
|
| 490 |
-
[WS] Received message type: command
|
| 491 |
-
[WS] Received message type: teleop_action
|
| 492 |
-
[WS] Received message type: command
|
| 493 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.8}
|
| 494 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.8}
|
| 495 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 496 |
-
[WS] Received message type: teleop_action
|
| 497 |
-
[WS] Received message type: command
|
| 498 |
-
[WS] Received message type: teleop_action
|
| 499 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 500 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 501 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 502 |
-
[WS] Received message type: command
|
| 503 |
-
[WS] Received message type: teleop_action
|
| 504 |
-
[WS] Received message type: command
|
| 505 |
-
[WS] Received message type: teleop_action
|
| 506 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 507 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 508 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 509 |
-
[WS] Received message type: command
|
| 510 |
-
[WS] Received message type: teleop_action
|
| 511 |
-
[WS] Received message type: command
|
| 512 |
-
[WS] Received message type: teleop_action
|
| 513 |
-
[Broadcast] Non-zero teleop values: {'vx': 0.005}
|
| 514 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': 0.005}
|
| 515 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 516 |
-
[WS] Received message type: command
|
| 517 |
-
[WS] Received message type: switch_robot
|
| 518 |
-
Robot switch requested: ur5_t_push / scene: scene_t_push
|
| 519 |
-
[WS] Received message type: set_nova_mode
|
| 520 |
-
Switching to robot: ur5_t_push
|
| 521 |
-
Nova API credentials detected - attempting bidirectional control
|
| 522 |
-
[Nova] State stream update (seq=20360140, 6 joints) payload={"seq": 20360140, "joint_position": [-3.7214279174804688, -1.4229689836502075, 1.6873574256896973, -1.3912395238876343, -1.6946996450424194, -0.5160554051399231], "timestamp": "2026-01-21T11:31:51.841308365Z"}
|
| 523 |
-
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 524 |
-
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 525 |
-
[Nova] Attempting to load config from environment variables...
|
| 526 |
-
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 527 |
-
[Nova] Creating NovaApiClient...
|
| 528 |
-
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 529 |
-
[Nova] Starting state stream...
|
| 530 |
-
[Nova] Starting state stream thread...
|
| 531 |
-
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100
|
| 532 |
-
[Nova] State stream started successfully
|
| 533 |
-
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 534 |
-
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 535 |
-
[Nova] Creating NovaJogger...
|
| 536 |
-
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 537 |
-
[Nova] Jogger connected successfully
|
| 538 |
-
[Nova] Jogging enabled - UI can send directional jog commands
|
| 539 |
-
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 540 |
-
[Nova] State stream connected successfully
|
| 541 |
-
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 542 |
-
[Nova] Attempting to load config from environment variables...
|
| 543 |
-
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 544 |
-
[Nova] Creating NovaApiClient...
|
| 545 |
-
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 546 |
-
[Nova] Starting state stream...
|
| 547 |
-
[Nova] Starting state stream thread...
|
| 548 |
-
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100
|
| 549 |
-
[Nova] State stream started successfully
|
| 550 |
-
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 551 |
-
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 552 |
-
[Nova] Creating NovaJogger...
|
| 553 |
-
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 554 |
-
[Nova] Jogger connected successfully
|
| 555 |
-
[Nova] Jogging enabled - UI can send directional jog commands
|
| 556 |
-
Switched to ur5_t_push
|
| 557 |
-
[Nova] State stream connected successfully
|
| 558 |
-
[Nova] State stream update (seq=20360191, 6 joints) payload={"seq": 20360191, "joint_position": [-3.7214279174804688, -1.4229689836502075, 1.6873574256896973, -1.3912395238876343, -1.6946996450424194, -0.5160554051399231], "timestamp": "2026-01-21T11:31:52.214014194Z"}
|
| 559 |
-
[WS] Received message type: set_nova_mode
|
| 560 |
-
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 561 |
-
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 562 |
-
[Nova] Attempting to load config from environment variables...
|
| 563 |
-
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 564 |
-
[Nova] Creating NovaApiClient...
|
| 565 |
-
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 566 |
-
[Nova] Starting state stream...
|
| 567 |
-
[Nova] Starting state stream thread...
|
| 568 |
-
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100
|
| 569 |
-
[Nova] State stream started successfully
|
| 570 |
-
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 571 |
-
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 572 |
-
[Nova] Creating NovaJogger...
|
| 573 |
-
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 574 |
-
[Nova] Jogger connected successfully
|
| 575 |
-
[Nova] Jogging enabled - UI can send directional jog commands
|
| 576 |
-
[Nova] State stream connected successfully
|
| 577 |
-
[Nova] State stream update (seq=20360550, 6 joints) payload={"seq": 20360550, "joint_position": [-3.7214279174804688, -1.4229689836502075, 1.6873574256896973, -1.3912395238876343, -1.6946996450424194, -0.5160554051399231], "timestamp": "2026-01-21T11:31:54.840564316Z"}
|
| 578 |
[WS] Received message type: camera
|
| 579 |
[WS] Received message type: camera
|
| 580 |
[WS] Received message type: camera
|
|
@@ -656,45 +763,6 @@ Switched to ur5_t_push
|
|
| 656 |
[WS] Received message type: camera
|
| 657 |
[WS] Received message type: camera
|
| 658 |
[WS] Received message type: camera
|
| 659 |
-
[WS] Received message type: start_jog
|
| 660 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 661 |
-
[Nova Jogger] Connecting to cartesian endpoint: wss://vaxtlucd.instance.wandelbots.io/api/v1/cells/cell/motion-groups/move-tcp
|
| 662 |
-
[Nova Jogger] Connected to cartesian endpoint
|
| 663 |
-
[Nova Jogger] Cartesian Y translation at 50 mm/s (dir: -1)
|
| 664 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 665 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 666 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 667 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 668 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 669 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 670 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 671 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 672 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 673 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 674 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 675 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 676 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 677 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 678 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 679 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 680 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 681 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 682 |
-
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 683 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': -0.05}
|
| 684 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 685 |
-
[WS] Received message type: stop_jog
|
| 686 |
-
[Nova Jogger] Stopped (zero velocities sent)
|
| 687 |
-
[WS] Received message type: start_jog
|
| 688 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 689 |
-
[Nova Jogger] Cartesian X translation at 50 mm/s (dir: -1)
|
| 690 |
-
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 691 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': -0.05}
|
| 692 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 693 |
-
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 694 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': -0.05}
|
| 695 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 696 |
-
[WS] Received message type: stop_jog
|
| 697 |
-
[Nova Jogger] Stopped (zero velocities sent)
|
| 698 |
[WS] Received message type: camera
|
| 699 |
[WS] Received message type: camera
|
| 700 |
[WS] Received message type: camera
|
|
@@ -720,154 +788,456 @@ Switched to ur5_t_push
|
|
| 720 |
[WS] Received message type: camera
|
| 721 |
[WS] Received message type: camera
|
| 722 |
[WS] Received message type: camera
|
| 723 |
-
[WS] Received message type:
|
| 724 |
-
[
|
| 725 |
-
[
|
| 726 |
-
[
|
| 727 |
-
[
|
| 728 |
-
[
|
| 729 |
-
[
|
| 730 |
-
[
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 731 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 732 |
-
[
|
| 733 |
-
[Broadcast]
|
| 734 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': -0.05}
|
| 735 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 736 |
-
[Broadcast] Non-zero teleop values: {'vx':
|
| 737 |
-
[Broadcast] Sending to
|
| 738 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 739 |
-
[Broadcast] Non-zero teleop values: {'vx':
|
| 740 |
-
[Broadcast] Sending to
|
| 741 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 742 |
-
[Broadcast] Non-zero teleop values: {'vx':
|
| 743 |
-
[Broadcast] Sending to
|
| 744 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 745 |
-
[WS] Received message type:
|
| 746 |
[Nova Jogger] Stopped (zero velocities sent)
|
| 747 |
-
[WS] Received message type:
|
| 748 |
-
[
|
| 749 |
-
[Nova Jogger] Cartesian Y translation at 50 mm/s (dir: -1)
|
| 750 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 751 |
-
[Broadcast] Sending to
|
| 752 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 753 |
-
[Nova Jogger] Receive error: no close frame received or sent
|
| 754 |
-
[WS] Received message type: stop_jog
|
| 755 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 756 |
-
[WS] Received message type: start_jog
|
| 757 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 758 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 759 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 760 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 761 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.05}
|
| 762 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 763 |
-
[WS] Received message type: start_jog
|
| 764 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 765 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 766 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 767 |
-
[WS] Received message type: stop_jog
|
| 768 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 769 |
-
[WS] Received message type: start_jog
|
| 770 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 771 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 772 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 773 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 774 |
-
[Broadcast] Sending to
|
| 775 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 776 |
-
[WS] Received message type: start_jog
|
| 777 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 778 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 779 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 780 |
-
[WS] Received message type: start_jog
|
| 781 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 782 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 783 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 784 |
-
[WS] Received message type: stop_jog
|
| 785 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 786 |
-
[WS] Received message type: start_jog
|
| 787 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 788 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 789 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 790 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 791 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.05}
|
| 792 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 793 |
-
[WS] Received message type: stop_jog
|
| 794 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 795 |
-
[WS] Received message type: start_jog
|
| 796 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 797 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 798 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 799 |
-
[WS] Received message type: stop_jog
|
| 800 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 801 |
-
[WS] Received message type: start_jog
|
| 802 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 803 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 804 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 805 |
-
[WS] Received message type: start_jog
|
| 806 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 807 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 808 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 809 |
-
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 810 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vx': -0.05}
|
| 811 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 812 |
-
[WS] Received message type: start_jog
|
| 813 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 814 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 815 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 816 |
-
[WS] Received message type: stop_jog
|
| 817 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 818 |
-
[WS] Received message type: start_jog
|
| 819 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 820 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 821 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 822 |
-
[WS] Received message type: stop_jog
|
| 823 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 824 |
-
[WS] Received message type: start_jog
|
| 825 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 826 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 827 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 828 |
-
[WS] Received message type: start_jog
|
| 829 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 830 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 831 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 832 |
-
[WS] Received message type: stop_jog
|
| 833 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 834 |
-
[WS] Received message type: start_jog
|
| 835 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 836 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 837 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '+', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 838 |
-
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 839 |
-
[Broadcast] Sending to 1 clients, teleop non-zero values: {'vy': 0.05}
|
| 840 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 841 |
-
[WS] Received message type: start_jog
|
| 842 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 843 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 844 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'x', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 845 |
-
[WS] Received message type: start_jog
|
| 846 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 847 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 848 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 849 |
-
[WS] Received message type: stop_jog
|
| 850 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 851 |
-
[WS] Received message type: start_jog
|
| 852 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 853 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 854 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 855 |
-
[WS] Received message type: stop_jog
|
| 856 |
-
[Nova Jogger] Failed to stop: no close frame received or sent
|
| 857 |
-
[WS] Received message type: start_jog
|
| 858 |
-
[Server] Received start_jog: jog_type=cartesian_translation, params={'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 859 |
-
[Nova Jogger] Failed to start cartesian translation: no close frame received or sent
|
| 860 |
-
[Server] Failed to start jog: cartesian_translation, {'axis': 'y', 'direction': '-', 'velocity': 50, 'tcp_id': 'Flange', 'coord_system_id': 'world'}
|
| 861 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 862 |
-
[Broadcast] Sending to
|
| 863 |
-
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 864 |
-
[WS] Received message type:
|
| 865 |
-
[Nova Jogger]
|
| 866 |
-
[
|
| 867 |
-
[
|
| 868 |
-
|
| 869 |
-
|
| 870 |
-
[
|
| 871 |
-
[
|
| 872 |
-
[Nova Jogger]
|
| 873 |
-
[
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| 7 |
* Running on http://127.0.0.1:3004
|
| 8 |
* Running on http://172.31.10.66:3004
|
| 9 |
[33mPress CTRL+C to quit[0m
|
| 10 |
+
127.0.0.1 - - [21/Jan/2026 12:37:14] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 -
|
| 11 |
+
127.0.0.1 - - [21/Jan/2026 12:37:14] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 12 |
+
127.0.0.1 - - [21/Jan/2026 12:37:14] "GET /nova-sim/api/v1/video_feed?ts=1768995434741 HTTP/1.1" 200 -
|
| 13 |
+
127.0.0.1 - - [21/Jan/2026 12:37:14] "[33mGET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995434741 HTTP/1.1[0m" 404 -
|
| 14 |
+
127.0.0.1 - - [21/Jan/2026 12:37:14] "[33mGET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995434741 HTTP/1.1[0m" 404 -
|
| 15 |
+
127.0.0.1 - - [21/Jan/2026 12:37:14] "[33mGET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995434741 HTTP/1.1[0m" 404 -
|
| 16 |
+
127.0.0.1 - - [21/Jan/2026 12:37:15] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 17 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1 HTTP/1.1" 200 -
|
| 18 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/video_feed HTTP/1.1" 200 -
|
| 19 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 20 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 -
|
| 21 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/video_feed?ts=1768995450178 HTTP/1.1" 200 -
|
| 22 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 23 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995450179 HTTP/1.1" 200 -
|
| 24 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995450179 HTTP/1.1" 200 -
|
| 25 |
+
127.0.0.1 - - [21/Jan/2026 12:37:30] "GET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995450179 HTTP/1.1" 200 -
|
| 26 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1 HTTP/1.1" 200 -
|
| 27 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/ws HTTP/1.1" 200 -
|
| 28 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/video_feed HTTP/1.1" 200 -
|
| 29 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 -
|
| 30 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 31 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/video_feed?ts=1768995508174 HTTP/1.1" 200 -
|
| 32 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 33 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995508185 HTTP/1.1" 200 -
|
| 34 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995508185 HTTP/1.1" 200 -
|
| 35 |
+
127.0.0.1 - - [21/Jan/2026 12:38:28] "GET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995508185 HTTP/1.1" 200 -
|
| 36 |
WebSocket client connected
|
| 37 |
+
[WS] Received message type: switch_robot
|
| 38 |
+
Robot switch requested: ur5_t_push / scene: scene_t_push
|
| 39 |
+
Switching to robot: ur5_t_push
|
| 40 |
+
[WS] Received message type: switch_robot
|
| 41 |
+
Robot switch requested: ur5_t_push / scene: scene_t_push
|
| 42 |
+
Nova API credentials detected - attempting bidirectional control
|
| 43 |
+
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 44 |
+
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 45 |
+
[Nova] Attempting to load config from environment variables...
|
| 46 |
+
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 47 |
+
[Nova] Creating NovaApiClient...
|
| 48 |
+
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 49 |
+
[Nova] Starting state stream...
|
| 50 |
+
[Nova] Starting state stream thread...
|
| 51 |
+
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100
|
| 52 |
+
[Nova] State stream started successfully
|
| 53 |
+
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 54 |
+
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 55 |
+
[Nova] Creating NovaJogger...
|
| 56 |
+
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 57 |
+
[Nova] Jogger connected successfully
|
| 58 |
+
[Nova] Jogging enabled - UI can send directional jog commands
|
| 59 |
+
[Nova] Configuring Nova API with config: {'use_state_stream': True, 'use_ik': False, 'use_jogging': True}
|
| 60 |
+
[Nova] State stream connected successfully
|
| 61 |
+
[Nova] use_state_stream=True, use_ik=False, use_jogging=True
|
| 62 |
+
[Nova] Attempting to load config from environment variables...
|
| 63 |
+
[Nova] Config loaded from env: https://vaxtlucd.instance.wandelbots.io, controller=ur5e, motion_group=0@ur5e
|
| 64 |
+
[Nova] Creating NovaApiClient...
|
| 65 |
+
[Nova] Client created successfully. State streaming: True, IK: False, Jogging: True
|
| 66 |
+
[Nova] Starting state stream...
|
| 67 |
+
[Nova] Starting state stream thread...
|
| 68 |
+
[Nova] Connecting to state stream: wss://vaxtlucd.instance.wandelbots.io/api/v2/cells/cell/controllers/ur5e/motion-groups/0@ur5e/state-stream?response_rate=100
|
| 69 |
+
[Nova] State stream started successfully
|
| 70 |
+
[Nova] WARNING: State streaming enabled - simulation is now a digital twin.
|
| 71 |
+
[Nova] Robot state comes from Nova API, local targets/IK are ignored.
|
| 72 |
+
[Nova] Creating NovaJogger...
|
| 73 |
+
[Nova Jogger] Ready to connect (will connect on first jog command)
|
| 74 |
+
[Nova] Jogger connected successfully
|
| 75 |
+
[Nova] Jogging enabled - UI can send directional jog commands
|
| 76 |
+
Switched to ur5_t_push
|
| 77 |
+
[Nova] State stream connected successfully
|
| 78 |
+
[Nova] State stream update (seq=20404336, 6 joints) payload={"seq": 20404336, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:15.457548842Z"}
|
| 79 |
+
[Nova] State stream update (seq=20405716, 6 joints) payload={"seq": 20405716, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:25.536884448Z"}
|
| 80 |
+
WebSocket client connected
|
| 81 |
+
[Nova] State stream update (seq=20407084, 6 joints) payload={"seq": 20407084, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:35.588231228Z"}
|
| 82 |
+
[Nova] State stream update (seq=20408452, 6 joints) payload={"seq": 20408452, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:45.606961688Z"}
|
| 83 |
+
[Nova] State stream update (seq=20409832, 6 joints) payload={"seq": 20409832, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:37:55.677707551Z"}
|
| 84 |
+
[Nova] State stream update (seq=20411200, 6 joints) payload={"seq": 20411200, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:38:05.685475853Z"}
|
| 85 |
+
[Nova] State stream update (seq=20412568, 6 joints) payload={"seq": 20412568, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:38:15.705913152Z"}
|
| 86 |
+
[Nova] State stream update (seq=20413948, 6 joints) payload={"seq": 20413948, "joint_position": [-3.7195518016815186, -1.3023245334625244, 1.538793683052063, -1.36310613155365, -1.693894624710083, -0.5143474340438843], "timestamp": "2026-01-21T11:38:25.785773953Z"}
|
| 87 |
+
WebSocket client disconnected
|
| 88 |
+
WebSocket client connected
|
| 89 |
+
[WS] Received message type: camera
|
| 90 |
+
[WS] Received message type: camera
|
| 91 |
+
[WS] Received message type: camera
|
| 92 |
+
[WS] Received message type: camera
|
| 93 |
+
[WS] Received message type: camera
|
| 94 |
+
[WS] Received message type: camera
|
| 95 |
+
[WS] Received message type: camera
|
| 96 |
+
[WS] Received message type: camera
|
| 97 |
+
[WS] Received message type: camera
|
| 98 |
+
[WS] Received message type: camera
|
| 99 |
+
[WS] Received message type: camera
|
| 100 |
+
[WS] Received message type: camera
|
| 101 |
+
[WS] Received message type: camera
|
| 102 |
+
[WS] Received message type: camera
|
| 103 |
+
[WS] Received message type: camera
|
| 104 |
+
[WS] Received message type: camera
|
| 105 |
+
[WS] Received message type: camera
|
| 106 |
+
[WS] Received message type: camera
|
| 107 |
+
[WS] Received message type: camera
|
| 108 |
+
[WS] Received message type: camera
|
| 109 |
+
[WS] Received message type: camera
|
| 110 |
+
[WS] Received message type: camera
|
| 111 |
+
[WS] Received message type: camera
|
| 112 |
+
[WS] Received message type: camera
|
| 113 |
+
[WS] Received message type: camera
|
| 114 |
+
[WS] Received message type: camera
|
| 115 |
+
[WS] Received message type: camera
|
| 116 |
+
[WS] Received message type: camera
|
| 117 |
+
[WS] Received message type: camera
|
| 118 |
+
[WS] Received message type: camera
|
| 119 |
+
[WS] Received message type: camera
|
| 120 |
+
[WS] Received message type: camera
|
| 121 |
+
[WS] Received message type: camera
|
| 122 |
+
[WS] Received message type: camera
|
| 123 |
+
[WS] Received message type: camera
|
| 124 |
+
[WS] Received message type: camera
|
| 125 |
+
[WS] Received message type: camera
|
| 126 |
+
[WS] Received message type: camera
|
| 127 |
+
[WS] Received message type: camera
|
| 128 |
+
[WS] Received message type: camera
|
| 129 |
+
[WS] Received message type: camera
|
| 130 |
+
[WS] Received message type: camera
|
| 131 |
+
[WS] Received message type: camera
|
| 132 |
+
[WS] Received message type: camera
|
| 133 |
+
[WS] Received message type: camera
|
| 134 |
+
[WS] Received message type: camera
|
| 135 |
+
[WS] Received message type: camera
|
| 136 |
+
[WS] Received message type: camera
|
| 137 |
+
[WS] Received message type: camera
|
| 138 |
+
[WS] Received message type: camera
|
| 139 |
+
[WS] Received message type: camera
|
| 140 |
+
[WS] Received message type: camera
|
| 141 |
+
[WS] Received message type: camera
|
| 142 |
+
[WS] Received message type: camera
|
| 143 |
+
[WS] Received message type: camera
|
| 144 |
+
[WS] Received message type: camera
|
| 145 |
+
[WS] Received message type: camera
|
| 146 |
+
[WS] Received message type: camera
|
| 147 |
+
[WS] Received message type: camera
|
| 148 |
+
[WS] Received message type: camera
|
| 149 |
+
[WS] Received message type: camera
|
| 150 |
+
[WS] Received message type: camera
|
| 151 |
+
[WS] Received message type: camera
|
| 152 |
+
[WS] Received message type: camera
|
| 153 |
+
[WS] Received message type: camera
|
| 154 |
+
[WS] Received message type: camera
|
| 155 |
+
[WS] Received message type: camera
|
| 156 |
+
[WS] Received message type: camera
|
| 157 |
+
[WS] Received message type: camera
|
| 158 |
+
[WS] Received message type: camera
|
| 159 |
+
[WS] Received message type: camera
|
| 160 |
+
[WS] Received message type: camera
|
| 161 |
+
[WS] Received message type: camera
|
| 162 |
+
[WS] Received message type: camera
|
| 163 |
+
[WS] Received message type: camera
|
| 164 |
+
[WS] Received message type: camera
|
| 165 |
+
[WS] Received message type: camera
|
| 166 |
+
[WS] Received message type: camera
|
| 167 |
+
[WS] Received message type: camera
|
| 168 |
+
[WS] Received message type: camera
|
| 169 |
+
[WS] Received message type: camera
|
| 170 |
+
[WS] Received message type: camera
|
| 171 |
+
[WS] Received message type: camera
|
| 172 |
+
[WS] Received message type: camera
|
| 173 |
+
[WS] Received message type: camera
|
| 174 |
+
[WS] Received message type: camera
|
| 175 |
+
[WS] Received message type: camera
|
| 176 |
+
[WS] Received message type: camera
|
| 177 |
+
[WS] Received message type: camera
|
| 178 |
+
[WS] Received message type: camera
|
| 179 |
+
[WS] Received message type: camera
|
| 180 |
+
[WS] Received message type: camera
|
| 181 |
+
[WS] Received message type: camera
|
| 182 |
+
[WS] Received message type: camera
|
| 183 |
+
[WS] Received message type: camera
|
| 184 |
+
[WS] Received message type: camera
|
| 185 |
+
[WS] Received message type: camera
|
| 186 |
+
[WS] Received message type: camera
|
| 187 |
+
[WS] Received message type: camera
|
| 188 |
+
[WS] Received message type: camera
|
| 189 |
+
[WS] Received message type: camera
|
| 190 |
+
[WS] Received message type: camera
|
| 191 |
+
[WS] Received message type: camera
|
| 192 |
+
[WS] Received message type: camera
|
| 193 |
+
[WS] Received message type: camera
|
| 194 |
+
[WS] Received message type: camera
|
| 195 |
+
[WS] Received message type: camera
|
| 196 |
+
[WS] Received message type: camera
|
| 197 |
+
[WS] Received message type: camera
|
| 198 |
+
[WS] Received message type: camera
|
| 199 |
+
[WS] Received message type: camera
|
| 200 |
+
[WS] Received message type: camera
|
| 201 |
+
[WS] Received message type: camera
|
| 202 |
+
[WS] Received message type: camera
|
| 203 |
+
[WS] Received message type: camera
|
| 204 |
+
[WS] Received message type: camera
|
| 205 |
+
[WS] Received message type: camera
|
| 206 |
+
[WS] Received message type: camera
|
| 207 |
+
[WS] Received message type: camera
|
| 208 |
+
[WS] Received message type: camera
|
| 209 |
+
[WS] Received message type: camera
|
| 210 |
+
[WS] Received message type: camera
|
| 211 |
+
[WS] Received message type: camera
|
| 212 |
+
[WS] Received message type: camera
|
| 213 |
+
[WS] Received message type: camera
|
| 214 |
+
[WS] Received message type: camera
|
| 215 |
+
[WS] Received message type: camera
|
| 216 |
+
[WS] Received message type: camera
|
| 217 |
+
[WS] Received message type: camera
|
| 218 |
+
[WS] Received message type: camera
|
| 219 |
+
[WS] Received message type: camera
|
| 220 |
+
[WS] Received message type: camera
|
| 221 |
+
[WS] Received message type: camera
|
| 222 |
+
[WS] Received message type: camera
|
| 223 |
+
[WS] Received message type: camera
|
| 224 |
+
[WS] Received message type: camera
|
| 225 |
+
[WS] Received message type: camera
|
| 226 |
+
[WS] Received message type: camera
|
| 227 |
+
[WS] Received message type: camera
|
| 228 |
+
[WS] Received message type: camera
|
| 229 |
+
[WS] Received message type: camera
|
| 230 |
+
[WS] Received message type: camera
|
| 231 |
+
[WS] Received message type: camera
|
| 232 |
+
[WS] Received message type: camera
|
| 233 |
+
[WS] Received message type: camera
|
| 234 |
+
[WS] Received message type: camera
|
| 235 |
+
[WS] Received message type: camera
|
| 236 |
+
[WS] Received message type: camera
|
| 237 |
+
[WS] Received message type: camera
|
| 238 |
+
[WS] Received message type: camera
|
| 239 |
+
[WS] Received message type: camera
|
| 240 |
+
[WS] Received message type: camera
|
| 241 |
+
[WS] Received message type: camera
|
| 242 |
+
[WS] Received message type: camera
|
| 243 |
+
[WS] Received message type: camera
|
| 244 |
+
[WS] Received message type: camera
|
| 245 |
+
[WS] Received message type: camera
|
| 246 |
+
[WS] Received message type: camera
|
| 247 |
+
[WS] Received message type: camera
|
| 248 |
+
[WS] Received message type: camera
|
| 249 |
+
[WS] Received message type: camera
|
| 250 |
+
[WS] Received message type: camera
|
| 251 |
+
[WS] Received message type: camera
|
| 252 |
+
[WS] Received message type: camera
|
| 253 |
+
[WS] Received message type: camera
|
| 254 |
+
[WS] Received message type: camera
|
| 255 |
+
[WS] Received message type: camera
|
| 256 |
+
[WS] Received message type: camera
|
| 257 |
+
[WS] Received message type: camera
|
| 258 |
+
[WS] Received message type: camera
|
| 259 |
+
[WS] Received message type: camera
|
| 260 |
+
[WS] Received message type: camera
|
| 261 |
+
[WS] Received message type: camera
|
| 262 |
+
[WS] Received message type: camera
|
| 263 |
+
[WS] Received message type: camera
|
| 264 |
+
[WS] Received message type: camera
|
| 265 |
+
[WS] Received message type: camera
|
| 266 |
+
[WS] Received message type: camera
|
| 267 |
+
[WS] Received message type: camera
|
| 268 |
+
[WS] Received message type: camera
|
| 269 |
+
[WS] Received message type: camera
|
| 270 |
+
[WS] Received message type: camera
|
| 271 |
+
[WS] Received message type: camera
|
| 272 |
+
[WS] Received message type: camera
|
| 273 |
+
[WS] Received message type: camera
|
| 274 |
+
[WS] Received message type: camera
|
| 275 |
+
[WS] Received message type: camera
|
| 276 |
+
[WS] Received message type: camera
|
| 277 |
+
[WS] Received message type: camera
|
| 278 |
+
[WS] Received message type: camera
|
| 279 |
+
[WS] Received message type: camera
|
| 280 |
+
[WS] Received message type: camera
|
| 281 |
+
[WS] Received message type: camera
|
| 282 |
+
[WS] Received message type: camera
|
| 283 |
+
[WS] Received message type: camera
|
| 284 |
+
[WS] Received message type: camera
|
| 285 |
+
[WS] Received message type: camera
|
| 286 |
+
[WS] Received message type: camera
|
| 287 |
+
[WS] Received message type: camera
|
| 288 |
+
[WS] Received message type: camera
|
| 289 |
+
[WS] Received message type: camera
|
| 290 |
+
[WS] Received message type: camera
|
| 291 |
+
[WS] Received message type: camera
|
| 292 |
+
[WS] Received message type: camera
|
| 293 |
+
[WS] Received message type: camera
|
| 294 |
+
[WS] Received message type: camera
|
| 295 |
+
[WS] Received message type: camera
|
| 296 |
+
[WS] Received message type: camera
|
| 297 |
+
[WS] Received message type: camera
|
| 298 |
+
[WS] Received message type: camera
|
| 299 |
+
[WS] Received message type: camera
|
| 300 |
+
[WS] Received message type: camera
|
| 301 |
+
[WS] Received message type: camera
|
| 302 |
+
[WS] Received message type: camera
|
| 303 |
+
[WS] Received message type: camera
|
| 304 |
+
[WS] Received message type: camera
|
| 305 |
+
[WS] Received message type: camera
|
| 306 |
+
[WS] Received message type: camera
|
| 307 |
+
[WS] Received message type: camera
|
| 308 |
+
[WS] Received message type: camera
|
| 309 |
+
[WS] Received message type: camera
|
| 310 |
+
[WS] Received message type: camera
|
| 311 |
+
[WS] Received message type: camera
|
| 312 |
+
[WS] Received message type: camera
|
| 313 |
+
[WS] Received message type: camera
|
| 314 |
+
[WS] Received message type: camera
|
| 315 |
+
[WS] Received message type: camera
|
| 316 |
+
[WS] Received message type: camera
|
| 317 |
+
[WS] Received message type: camera
|
| 318 |
+
[WS] Received message type: camera
|
| 319 |
+
[WS] Received message type: camera
|
| 320 |
+
[WS] Received message type: camera
|
| 321 |
+
[WS] Received message type: camera
|
| 322 |
+
[WS] Received message type: camera
|
| 323 |
+
[WS] Received message type: camera
|
| 324 |
+
[WS] Received message type: camera
|
| 325 |
+
[WS] Received message type: camera
|
| 326 |
+
[WS] Received message type: camera
|
| 327 |
+
[WS] Received message type: camera
|
| 328 |
+
[WS] Received message type: camera
|
| 329 |
+
[WS] Received message type: camera
|
| 330 |
+
[WS] Received message type: camera
|
| 331 |
+
[WS] Received message type: camera
|
| 332 |
+
[WS] Received message type: camera
|
| 333 |
+
[WS] Received message type: camera
|
| 334 |
+
[WS] Received message type: camera
|
| 335 |
+
[WS] Received message type: camera
|
| 336 |
+
[WS] Received message type: camera
|
| 337 |
+
[WS] Received message type: camera
|
| 338 |
+
[WS] Received message type: camera
|
| 339 |
+
[WS] Received message type: camera
|
| 340 |
+
[WS] Received message type: camera
|
| 341 |
+
[WS] Received message type: camera
|
| 342 |
+
[WS] Received message type: camera
|
| 343 |
+
[WS] Received message type: camera
|
| 344 |
+
[WS] Received message type: camera
|
| 345 |
+
[WS] Received message type: camera
|
| 346 |
+
[WS] Received message type: camera
|
| 347 |
+
[WS] Received message type: camera
|
| 348 |
+
[WS] Received message type: camera
|
| 349 |
+
[WS] Received message type: camera
|
| 350 |
+
[WS] Received message type: camera
|
| 351 |
+
[WS] Received message type: camera
|
| 352 |
+
[WS] Received message type: camera
|
| 353 |
+
[WS] Received message type: camera
|
| 354 |
+
[WS] Received message type: camera
|
| 355 |
+
[WS] Received message type: camera
|
| 356 |
+
[WS] Received message type: camera
|
| 357 |
+
[WS] Received message type: camera
|
| 358 |
+
[WS] Received message type: camera
|
| 359 |
+
[WS] Received message type: camera
|
| 360 |
+
[WS] Received message type: camera
|
| 361 |
+
[WS] Received message type: camera
|
| 362 |
+
[WS] Received message type: camera
|
| 363 |
+
[WS] Received message type: camera
|
| 364 |
+
[WS] Received message type: camera
|
| 365 |
+
[WS] Received message type: camera
|
| 366 |
+
[WS] Received message type: camera
|
| 367 |
+
[WS] Received message type: camera
|
| 368 |
+
[WS] Received message type: camera
|
| 369 |
+
[WS] Received message type: camera
|
| 370 |
+
[WS] Received message type: camera
|
| 371 |
+
[WS] Received message type: camera
|
| 372 |
+
[WS] Received message type: camera
|
| 373 |
+
[WS] Received message type: camera
|
| 374 |
+
[WS] Received message type: camera
|
| 375 |
+
[WS] Received message type: camera
|
| 376 |
+
[WS] Received message type: camera
|
| 377 |
+
[WS] Received message type: camera
|
| 378 |
+
[WS] Received message type: camera
|
| 379 |
+
[WS] Received message type: camera
|
| 380 |
+
[WS] Received message type: camera
|
| 381 |
+
[WS] Received message type: camera
|
| 382 |
+
[WS] Received message type: camera
|
| 383 |
+
[WS] Received message type: camera
|
| 384 |
+
[WS] Received message type: camera
|
| 385 |
+
[WS] Received message type: camera
|
| 386 |
+
[WS] Received message type: camera
|
| 387 |
+
[WS] Received message type: camera
|
| 388 |
+
[WS] Received message type: camera
|
| 389 |
+
[WS] Received message type: camera
|
| 390 |
+
[WS] Received message type: camera
|
| 391 |
+
[WS] Received message type: camera
|
| 392 |
+
[WS] Received message type: camera
|
| 393 |
+
[WS] Received message type: camera
|
| 394 |
+
[WS] Received message type: camera
|
| 395 |
+
[WS] Received message type: camera
|
| 396 |
+
[WS] Received message type: camera
|
| 397 |
+
[WS] Received message type: camera
|
| 398 |
+
[WS] Received message type: camera
|
| 399 |
+
[WS] Received message type: camera
|
| 400 |
+
[WS] Received message type: camera
|
| 401 |
+
[WS] Received message type: camera
|
| 402 |
+
[WS] Received message type: camera
|
| 403 |
+
[WS] Received message type: camera
|
| 404 |
+
[WS] Received message type: camera
|
| 405 |
+
[WS] Received message type: camera
|
| 406 |
+
[WS] Received message type: camera
|
| 407 |
+
[WS] Received message type: camera
|
| 408 |
+
[WS] Received message type: camera
|
| 409 |
+
[WS] Received message type: camera
|
| 410 |
+
[WS] Received message type: camera
|
| 411 |
+
[WS] Received message type: camera
|
| 412 |
+
[WS] Received message type: camera
|
| 413 |
+
[WS] Received message type: camera
|
| 414 |
+
[WS] Received message type: camera
|
| 415 |
+
[WS] Received message type: camera
|
| 416 |
+
[WS] Received message type: camera
|
| 417 |
+
[WS] Received message type: camera
|
| 418 |
+
[WS] Received message type: camera
|
| 419 |
+
[WS] Received message type: camera
|
| 420 |
+
[WS] Received message type: camera
|
| 421 |
+
[WS] Received message type: camera
|
| 422 |
+
[WS] Received message type: camera
|
| 423 |
+
[WS] Received message type: camera
|
| 424 |
+
[WS] Received message type: camera
|
| 425 |
+
[WS] Received message type: camera
|
| 426 |
+
[WS] Received message type: camera
|
| 427 |
+
[WS] Received message type: camera
|
| 428 |
+
[WS] Received message type: camera
|
| 429 |
+
[WS] Received message type: camera
|
| 430 |
+
[WS] Received message type: camera
|
| 431 |
+
[WS] Received message type: camera
|
| 432 |
+
[WS] Received message type: camera
|
| 433 |
+
[WS] Received message type: camera
|
| 434 |
+
[WS] Received message type: camera
|
| 435 |
+
[WS] Received message type: camera
|
| 436 |
+
[WS] Received message type: camera
|
| 437 |
+
[WS] Received message type: camera
|
| 438 |
+
[WS] Received message type: camera
|
| 439 |
+
[WS] Received message type: camera
|
| 440 |
+
[WS] Received message type: camera
|
| 441 |
+
[WS] Received message type: camera
|
| 442 |
+
[WS] Received message type: camera
|
| 443 |
+
[WS] Received message type: camera
|
| 444 |
+
[WS] Received message type: camera
|
| 445 |
+
[WS] Received message type: camera
|
| 446 |
+
[WS] Received message type: camera
|
| 447 |
+
[WS] Received message type: camera
|
| 448 |
+
[WS] Received message type: camera
|
| 449 |
+
[WS] Received message type: camera
|
| 450 |
+
[WS] Received message type: camera
|
| 451 |
+
[WS] Received message type: camera
|
| 452 |
+
[WS] Received message type: camera
|
| 453 |
+
[WS] Received message type: camera
|
| 454 |
+
[WS] Received message type: camera
|
| 455 |
+
[WS] Received message type: camera
|
| 456 |
+
[WS] Received message type: camera
|
| 457 |
+
[WS] Received message type: camera
|
| 458 |
+
[WS] Received message type: camera
|
| 459 |
+
[WS] Received message type: camera
|
| 460 |
+
[WS] Received message type: camera
|
| 461 |
+
[WS] Received message type: camera
|
| 462 |
+
[WS] Received message type: camera
|
| 463 |
+
[WS] Received message type: camera
|
| 464 |
+
[WS] Received message type: camera
|
| 465 |
+
[WS] Received message type: camera
|
| 466 |
+
[WS] Received message type: camera
|
| 467 |
+
[WS] Received message type: camera
|
| 468 |
+
[WS] Received message type: camera
|
| 469 |
+
[WS] Received message type: camera
|
| 470 |
+
[WS] Received message type: camera
|
| 471 |
+
[WS] Received message type: camera
|
| 472 |
+
[WS] Received message type: camera
|
| 473 |
+
[WS] Received message type: camera
|
| 474 |
+
[WS] Received message type: camera
|
| 475 |
+
[WS] Received message type: camera
|
| 476 |
+
[WS] Received message type: camera
|
| 477 |
+
[WS] Received message type: camera
|
| 478 |
+
[WS] Received message type: camera
|
| 479 |
+
[WS] Received message type: camera
|
| 480 |
+
[WS] Received message type: camera
|
| 481 |
+
[WS] Received message type: camera
|
| 482 |
+
[WS] Received message type: camera
|
| 483 |
+
[WS] Received message type: camera
|
| 484 |
+
[WS] Received message type: camera
|
| 485 |
+
[WS] Received message type: camera
|
| 486 |
+
[WS] Received message type: camera
|
| 487 |
+
[WS] Received message type: camera
|
| 488 |
+
[WS] Received message type: camera
|
| 489 |
+
[WS] Received message type: camera
|
| 490 |
+
[WS] Received message type: camera
|
| 491 |
+
[WS] Received message type: camera
|
| 492 |
+
[WS] Received message type: camera
|
| 493 |
+
[WS] Received message type: camera
|
| 494 |
+
[WS] Received message type: camera
|
| 495 |
+
[WS] Received message type: camera
|
| 496 |
+
[WS] Received message type: camera
|
| 497 |
[WS] Received message type: camera
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 498 |
[WS] Received message type: camera
|
|
|
|
|
|
|
|
|
|
|
|
|
| 499 |
[WS] Received message type: camera
|
| 500 |
[WS] Received message type: camera
|
| 501 |
[WS] Received message type: camera
|
|
|
|
| 526 |
[WS] Received message type: camera
|
| 527 |
[WS] Received message type: camera
|
| 528 |
[WS] Received message type: camera
|
| 529 |
+
[WS] Received message type: camera
|
| 530 |
+
[WS] Received message type: camera
|
| 531 |
+
[WS] Received message type: camera
|
| 532 |
+
[WS] Received message type: camera
|
| 533 |
+
[WS] Received message type: camera
|
| 534 |
+
[WS] Received message type: camera
|
| 535 |
+
[WS] Received message type: camera
|
| 536 |
+
[WS] Received message type: camera
|
| 537 |
+
[WS] Received message type: camera
|
| 538 |
+
[WS] Received message type: camera
|
| 539 |
+
[WS] Received message type: camera
|
| 540 |
+
[WS] Received message type: camera
|
| 541 |
+
[WS] Received message type: action
|
| 542 |
+
[Nova Jogger] Connecting to cartesian endpoint: wss://vaxtlucd.instance.wandelbots.io/api/v1/cells/cell/motion-groups/move-tcp
|
| 543 |
+
[Nova Jogger] Connected to cartesian endpoint
|
| 544 |
+
[Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: 1)
|
| 545 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 546 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 547 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 548 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 549 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 550 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 551 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 552 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 553 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 554 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 555 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 556 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
|
|
|
|
|
|
|
|
|
| 557 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 558 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 559 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 560 |
+
[Nova] State stream update (seq=20415316, 6 joints) payload={"seq": 20415316, "joint_position": [-3.68723464012146, -1.2210352420806885, 1.4292374849319458, -1.3314365148544312, -1.679957628250122, -0.4849919080734253], "timestamp": "2026-01-21T11:38:35.851162205Z"}
|
| 561 |
+
[WS] Received message type: action
|
| 562 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 563 |
+
[WS] Received message type: action
|
| 564 |
+
[Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: -1)
|
| 565 |
+
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 566 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 567 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 568 |
+
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 569 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 570 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 571 |
+
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 572 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 573 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 574 |
+
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 575 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 576 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 577 |
+
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 578 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 579 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 580 |
+
[WS] Received message type: action
|
| 581 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 582 |
+
[WS] Received message type: action
|
| 583 |
+
[Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: 1)
|
| 584 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 585 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 586 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 587 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 588 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 589 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 590 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 591 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 592 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 593 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 594 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 595 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 596 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 597 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 598 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 599 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 600 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 601 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 602 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 603 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 604 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 605 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 606 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 607 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 608 |
+
[Broadcast] Non-zero teleop values: {'vy': 0.05}
|
| 609 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': 0.05}
|
| 610 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 611 |
+
[WS] Received message type: action
|
| 612 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 613 |
+
[WS] Received message type: action
|
| 614 |
+
[Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: -1)
|
| 615 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 616 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 617 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 618 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 619 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 620 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 621 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 622 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 623 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 624 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 625 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 626 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 627 |
+
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 628 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 629 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 630 |
+
[WS] Received message type: action
|
| 631 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 632 |
+
[WS] Received message type: action
|
| 633 |
+
[Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: -1)
|
| 634 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 635 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 636 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
|
|
|
|
|
|
|
|
|
| 637 |
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 638 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 639 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 640 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 641 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
|
|
|
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|
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|
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|
|
|
|
|
|
| 642 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 643 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 644 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 645 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 646 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 647 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 648 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 649 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 650 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 651 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 652 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 653 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 654 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 655 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 656 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 657 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 658 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 659 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 660 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 661 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 662 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 663 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 664 |
+
[Broadcast] Non-zero teleop values: {'vx': -0.05}
|
| 665 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': -0.05}
|
| 666 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 667 |
+
[WS] Received message type: action
|
| 668 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 669 |
+
[WS] Received message type: action
|
| 670 |
+
[Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: 1)
|
| 671 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 672 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 673 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 674 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 675 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 676 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 677 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 678 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 679 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 680 |
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 681 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 682 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 683 |
+
[WS] Received message type: action
|
| 684 |
[Nova Jogger] Stopped (zero velocities sent)
|
|
|
|
|
|
|
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|
| 685 |
[WS] Received message type: camera
|
| 686 |
[WS] Received message type: camera
|
| 687 |
[WS] Received message type: camera
|
|
|
|
| 763 |
[WS] Received message type: camera
|
| 764 |
[WS] Received message type: camera
|
| 765 |
[WS] Received message type: camera
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
| 766 |
[WS] Received message type: camera
|
| 767 |
[WS] Received message type: camera
|
| 768 |
[WS] Received message type: camera
|
|
|
|
| 788 |
[WS] Received message type: camera
|
| 789 |
[WS] Received message type: camera
|
| 790 |
[WS] Received message type: camera
|
| 791 |
+
[WS] Received message type: camera
|
| 792 |
+
[WS] Received message type: camera
|
| 793 |
+
[WS] Received message type: camera
|
| 794 |
+
[WS] Received message type: camera
|
| 795 |
+
[WS] Received message type: camera
|
| 796 |
+
[WS] Received message type: camera
|
| 797 |
+
[WS] Received message type: camera
|
| 798 |
+
[WS] Received message type: camera
|
| 799 |
+
[WS] Received message type: camera
|
| 800 |
+
[Nova] State stream update (seq=20416684, 6 joints) payload={"seq": 20416684, "joint_position": [-3.7549033164978027, -1.3193519115447998, 1.5616960525512695, -1.373165249824524, -1.7090238332748413, -0.5465713143348694], "timestamp": "2026-01-21T11:38:45.888551092Z"}127.0.0.1 - - [21/Jan/2026 12:38:49] "[33mGET /.well-known/appspecific/com.chrome.devtools.json HTTP/1.1[0m" 404 -
|
| 801 |
+
127.0.0.1 - - [21/Jan/2026 12:38:50] "GET /nova-sim/api/v1 HTTP/1.1" 200 -
|
| 802 |
+
127.0.0.1 - - [21/Jan/2026 12:38:50] "GET /nova-sim/api/v1/ws HTTP/1.1" 200 -
|
| 803 |
+
127.0.0.1 - - [21/Jan/2026 12:38:50] "GET /nova-sim/api/v1/video_feed HTTP/1.1" 200 -
|
| 804 |
+
127.0.0.1 - - [21/Jan/2026 12:38:50] "[33mGET /.well-known/appspecific/com.chrome.devtools.json HTTP/1.1[0m" 404 -
|
| 805 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/metadata HTTP/1.1" 200 -
|
| 806 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 807 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/video_feed?ts=1768995531118 HTTP/1.1" 200 -
|
| 808 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/env HTTP/1.1" 200 -
|
| 809 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/camera/aux_top/video_feed?ts=1768995531128 HTTP/1.1" 200 -
|
| 810 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/camera/aux_side/video_feed?ts=1768995531128 HTTP/1.1" 200 -
|
| 811 |
+
127.0.0.1 - - [21/Jan/2026 12:38:51] "GET /nova-sim/api/v1/camera/aux_flange/video_feed?ts=1768995531128 HTTP/1.1" 200 -
|
| 812 |
+
|
| 813 |
+
WebSocket client disconnected
|
| 814 |
+
WebSocket client connected
|
| 815 |
+
[WS] Received message type: camera
|
| 816 |
+
[WS] Received message type: action
|
| 817 |
+
[Nova Jogger] Cartesian X translation at 50.0 mm/s (dir: 1)
|
| 818 |
+
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 819 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 820 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 821 |
+
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 822 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
|
|
|
| 823 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 824 |
+
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 825 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 826 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 827 |
+
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 828 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 829 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 830 |
+
[Broadcast] Non-zero teleop values: {'vx': 0.05}
|
| 831 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vx': 0.05}
|
| 832 |
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 833 |
+
[WS] Received message type: action
|
| 834 |
[Nova Jogger] Stopped (zero velocities sent)
|
| 835 |
+
[WS] Received message type: action
|
| 836 |
+
[Nova Jogger] Cartesian Y translation at 50.0 mm/s (dir: -1)
|
|
|
|
| 837 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 838 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 839 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 840 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 841 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 842 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
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|
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|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 843 |
[Broadcast] Non-zero teleop values: {'vy': -0.05}
|
| 844 |
+
[Broadcast] Sending to 2 clients, teleop non-zero values: {'vy': -0.05}
|
| 845 |
+
[Broadcast] Actual JSON teleop_action j3 = 0.0
|
| 846 |
+
[WS] Received message type: action
|
| 847 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 848 |
+
[Nova] State stream update (seq=20418064, 6 joints) payload={"seq": 20418064, "joint_position": [-3.7563540935516357, -1.2321059703826904, 1.4462759494781494, -1.3451716899871826, -1.7096422910690308, -0.5478959083557129], "timestamp": "2026-01-21T11:38:55.967287738Z"}
|
| 849 |
+
[WS] Received message type: home
|
| 850 |
+
🏠 Starting homing sequence for 6 joints
|
| 851 |
+
→ Homing joint 1...
|
| 852 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 853 |
+
[Nova Jogger] Receive error: sent 1000 (OK); then received 1000 (OK)
|
| 854 |
+
[Nova Jogger] Connecting to joint endpoint: wss://vaxtlucd.instance.wandelbots.io/api/v1/cells/cell/motion-groups/move-joint
|
| 855 |
+
[Nova Jogger] Connected to joint endpoint
|
| 856 |
+
[Nova Jogger] Joint 0 jogging at 0.15 rad/s
|
| 857 |
+
J1: err=2.1856, dir=+, vel=0.150
|
| 858 |
+
[WS] Received message type: home
|
| 859 |
+
[WS] Received message type: home
|
| 860 |
+
[WS] Received message type: home
|
| 861 |
+
[WS] Received message type: home
|
| 862 |
+
[WS] Received message type: home
|
| 863 |
+
[WS] Received message type: home
|
| 864 |
+
[WS] Received message type: home
|
| 865 |
+
[WS] Received message type: home
|
| 866 |
+
[WS] Received message type: home
|
| 867 |
+
[WS] Received message type: home
|
| 868 |
+
[WS] Received message type: stop_home
|
| 869 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 870 |
+
⏸ Homing stopped by user
|
| 871 |
+
[WS] Received message type: stop_home
|
| 872 |
+
[WS] Received message type: home
|
| 873 |
+
🏠 Starting homing sequence for 6 joints
|
| 874 |
+
→ Homing joint 1...
|
| 875 |
+
[Nova Jogger] Joint 0 jogging at 0.15 rad/s
|
| 876 |
+
J1: err=2.0384, dir=+, vel=0.150
|
| 877 |
+
[WS] Received message type: home
|
| 878 |
+
[WS] Received message type: home
|
| 879 |
+
[WS] Received message type: home
|
| 880 |
+
[WS] Received message type: stop_home
|
| 881 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 882 |
+
⏸ Homing stopped by user
|
| 883 |
+
[WS] Received message type: stop_home
|
| 884 |
+
[WS] Received message type: home
|
| 885 |
+
🏠 Starting homing sequence for 6 joints
|
| 886 |
+
→ Homing joint 1...
|
| 887 |
+
[Nova Jogger] Joint 0 jogging at 0.15 rad/s
|
| 888 |
+
J1: err=1.9932, dir=+, vel=0.150
|
| 889 |
+
[WS] Received message type: home
|
| 890 |
+
[WS] Received message type: home
|
| 891 |
+
[WS] Received message type: home
|
| 892 |
+
[WS] Received message type: home
|
| 893 |
+
[WS] Received message type: home
|
| 894 |
+
[WS] Received message type: home
|
| 895 |
+
[WS] Received message type: home
|
| 896 |
+
[WS] Received message type: home
|
| 897 |
+
[WS] Received message type: home
|
| 898 |
+
[WS] Received message type: home
|
| 899 |
+
[WS] Received message type: home
|
| 900 |
+
[WS] Received message type: home
|
| 901 |
+
[WS] Received message type: home
|
| 902 |
+
[WS] Received message type: home
|
| 903 |
+
[WS] Received message type: home
|
| 904 |
+
[WS] Received message type: home
|
| 905 |
+
[WS] Received message type: home
|
| 906 |
+
[WS] Received message type: home
|
| 907 |
+
[WS] Received message type: home
|
| 908 |
+
[WS] Received message type: home
|
| 909 |
+
[WS] Received message type: home
|
| 910 |
+
[WS] Received message type: home
|
| 911 |
+
[Nova] State stream update (seq=20419432, 6 joints) payload={"seq": 20419432, "joint_position": [-3.212111473083496, -1.2321059703826904, 1.4462759494781494, -1.3451716899871826, -1.7096422910690308, -0.5478959083557129], "timestamp": "2026-01-21T11:39:05.973094016Z"}
|
| 912 |
+
[WS] Received message type: home
|
| 913 |
+
[WS] Received message type: home
|
| 914 |
+
[WS] Received message type: home
|
| 915 |
+
[WS] Received message type: home
|
| 916 |
+
[WS] Received message type: home
|
| 917 |
+
[WS] Received message type: home
|
| 918 |
+
[WS] Received message type: home
|
| 919 |
+
[WS] Received message type: home
|
| 920 |
+
[WS] Received message type: home
|
| 921 |
+
[WS] Received message type: home
|
| 922 |
+
[WS] Received message type: home
|
| 923 |
+
[WS] Received message type: home
|
| 924 |
+
[WS] Received message type: home
|
| 925 |
+
[WS] Received message type: home
|
| 926 |
+
[WS] Received message type: home
|
| 927 |
+
[WS] Received message type: home
|
| 928 |
+
[WS] Received message type: home
|
| 929 |
+
[WS] Received message type: home
|
| 930 |
+
[WS] Received message type: home
|
| 931 |
+
[WS] Received message type: home
|
| 932 |
+
[WS] Received message type: home
|
| 933 |
+
[WS] Received message type: home
|
| 934 |
+
[WS] Received message type: home
|
| 935 |
+
[WS] Received message type: home
|
| 936 |
+
[WS] Received message type: home
|
| 937 |
+
[WS] Received message type: home
|
| 938 |
+
[WS] Received message type: home
|
| 939 |
+
[WS] Received message type: home
|
| 940 |
+
[WS] Received message type: home
|
| 941 |
+
[WS] Received message type: home
|
| 942 |
+
[WS] Received message type: home
|
| 943 |
+
[WS] Received message type: home
|
| 944 |
+
[WS] Received message type: home
|
| 945 |
+
[WS] Received message type: home
|
| 946 |
+
[WS] Received message type: home
|
| 947 |
+
[WS] Received message type: home
|
| 948 |
+
[WS] Received message type: home
|
| 949 |
+
[WS] Received message type: home
|
| 950 |
+
[WS] Received message type: home
|
| 951 |
+
[WS] Received message type: home
|
| 952 |
+
[WS] Received message type: home
|
| 953 |
+
[WS] Received message type: home
|
| 954 |
+
[WS] Received message type: home
|
| 955 |
+
[WS] Received message type: home
|
| 956 |
+
[WS] Received message type: home
|
| 957 |
+
[WS] Received message type: home
|
| 958 |
+
[WS] Received message type: home
|
| 959 |
+
[WS] Received message type: home
|
| 960 |
+
[WS] Received message type: home
|
| 961 |
+
[WS] Received message type: home
|
| 962 |
+
[WS] Received message type: stop_home
|
| 963 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 964 |
+
⏸ Homing stopped by user
|
| 965 |
+
[WS] Received message type: home
|
| 966 |
+
🏠 Starting homing sequence for 6 joints
|
| 967 |
+
→ Homing joint 1...
|
| 968 |
+
[Nova Jogger] Joint 0 jogging at 0.15 rad/s
|
| 969 |
+
J1: err=0.8212, dir=+, vel=0.150
|
| 970 |
+
[WS] Received message type: home
|
| 971 |
+
[WS] Received message type: home
|
| 972 |
+
[WS] Received message type: home
|
| 973 |
+
[WS] Received message type: home
|
| 974 |
+
[WS] Received message type: home
|
| 975 |
+
[WS] Received message type: home
|
| 976 |
+
[WS] Received message type: stop_home
|
| 977 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 978 |
+
⏸ Homing stopped by user
|
| 979 |
+
[WS] Received message type: stop_home
|
| 980 |
+
[WS] Received message type: control_mode
|
| 981 |
+
[WS] Received message type: control_mode
|
| 982 |
+
[WS] Received message type: home
|
| 983 |
+
🏠 Starting homing sequence for 6 joints
|
| 984 |
+
→ Homing joint 1...
|
| 985 |
+
[Nova Jogger] Joint 0 jogging at 0.15 rad/s
|
| 986 |
+
J1: err=0.7257, dir=+, vel=0.150
|
| 987 |
+
[WS] Received message type: home
|
| 988 |
+
[WS] Received message type: home
|
| 989 |
+
[WS] Received message type: home
|
| 990 |
+
[WS] Received message type: home
|
| 991 |
+
[WS] Received message type: home
|
| 992 |
+
[WS] Received message type: home
|
| 993 |
+
[WS] Received message type: home
|
| 994 |
+
[WS] Received message type: home
|
| 995 |
+
[WS] Received message type: home
|
| 996 |
+
[WS] Received message type: home
|
| 997 |
+
[WS] Received message type: home
|
| 998 |
+
[WS] Received message type: home
|
| 999 |
+
[Nova] State stream update (seq=20420800, 6 joints) payload={"seq": 20420800, "joint_position": [-2.1125688552856445, -1.2321059703826904, 1.4462759494781494, -1.3451716899871826, -1.7096422910690308, -0.5478959083557129], "timestamp": "2026-01-21T11:39:16.006326479Z"}
|
| 1000 |
+
[WS] Received message type: home
|
| 1001 |
+
[WS] Received message type: home
|
| 1002 |
+
[WS] Received message type: home
|
| 1003 |
+
[WS] Received message type: stop_home
|
| 1004 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1005 |
+
⏸ Homing stopped by user
|
| 1006 |
+
[WS] Received message type: home
|
| 1007 |
+
🏠 Starting homing sequence for 6 joints
|
| 1008 |
+
→ Homing joint 6...
|
| 1009 |
+
[Nova Jogger] Joint 5 jogging at 0.15 rad/s
|
| 1010 |
+
J6: err=0.5479, dir=+, vel=0.150
|
| 1011 |
+
[WS] Received message type: home
|
| 1012 |
+
[WS] Received message type: home
|
| 1013 |
+
[WS] Received message type: home
|
| 1014 |
+
[WS] Received message type: home
|
| 1015 |
+
[WS] Received message type: home
|
| 1016 |
+
[WS] Received message type: home
|
| 1017 |
+
[WS] Received message type: home
|
| 1018 |
+
[WS] Received message type: stop_home
|
| 1019 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1020 |
+
⏸ Homing stopped by user
|
| 1021 |
+
[WS] Received message type: home
|
| 1022 |
+
🏠 Starting homing sequence for 6 joints
|
| 1023 |
+
→ Homing joint 1...
|
| 1024 |
+
[Nova Jogger] Joint 0 jogging at 0.15 rad/s
|
| 1025 |
+
J1: err=0.4753, dir=+, vel=0.150
|
| 1026 |
+
[WS] Received message type: home
|
| 1027 |
+
[WS] Received message type: home
|
| 1028 |
+
[WS] Received message type: home
|
| 1029 |
+
[WS] Received message type: home
|
| 1030 |
+
[WS] Received message type: home
|
| 1031 |
+
[WS] Received message type: home
|
| 1032 |
+
[WS] Received message type: home
|
| 1033 |
+
[WS] Received message type: home
|
| 1034 |
+
[WS] Received message type: home
|
| 1035 |
+
[WS] Received message type: home
|
| 1036 |
+
[WS] Received message type: home
|
| 1037 |
+
[WS] Received message type: home
|
| 1038 |
+
[WS] Received message type: home
|
| 1039 |
+
[WS] Received message type: home
|
| 1040 |
+
[WS] Received message type: home
|
| 1041 |
+
[WS] Received message type: home
|
| 1042 |
+
[WS] Received message type: home
|
| 1043 |
+
[WS] Received message type: home
|
| 1044 |
+
[WS] Received message type: home
|
| 1045 |
+
[WS] Received message type: home
|
| 1046 |
+
[WS] Received message type: home
|
| 1047 |
+
[WS] Received message type: home
|
| 1048 |
+
[WS] Received message type: home
|
| 1049 |
+
[WS] Received message type: home
|
| 1050 |
+
[WS] Received message type: home
|
| 1051 |
+
[WS] Received message type: home
|
| 1052 |
+
[WS] Received message type: home
|
| 1053 |
+
[WS] Received message type: home
|
| 1054 |
+
[WS] Received message type: home
|
| 1055 |
+
[WS] Received message type: home
|
| 1056 |
+
[WS] Received message type: home
|
| 1057 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1058 |
+
✓ Joint 1 reached target (error: 0.0002 rad)
|
| 1059 |
+
→ Homing joint 6...
|
| 1060 |
+
[WS] Received message type: home
|
| 1061 |
+
[Nova Jogger] Joint 5 jogging at 0.15 rad/s
|
| 1062 |
+
J6: err=0.4283, dir=+, vel=0.150
|
| 1063 |
+
[WS] Received message type: home
|
| 1064 |
+
[WS] Received message type: home
|
| 1065 |
+
[WS] Received message type: home
|
| 1066 |
+
[WS] Received message type: home
|
| 1067 |
+
[WS] Received message type: home
|
| 1068 |
+
[WS] Received message type: home
|
| 1069 |
+
[WS] Received message type: home
|
| 1070 |
+
[WS] Received message type: home
|
| 1071 |
+
[WS] Received message type: home
|
| 1072 |
+
[WS] Received message type: home
|
| 1073 |
+
[WS] Received message type: home
|
| 1074 |
+
[WS] Received message type: home
|
| 1075 |
+
[WS] Received message type: home
|
| 1076 |
+
[WS] Received message type: home
|
| 1077 |
+
[WS] Received message type: home
|
| 1078 |
+
[WS] Received message type: home
|
| 1079 |
+
[WS] Received message type: stop_home
|
| 1080 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1081 |
+
⏸ Homing stopped by user
|
| 1082 |
+
[WS] Received message type: home
|
| 1083 |
+
🏠 Starting homing sequence for 6 joints
|
| 1084 |
+
→ Homing joint 2...
|
| 1085 |
+
[Nova Jogger] Joint 1 jogging at -0.15 rad/s
|
| 1086 |
+
J2: err=-0.3388, dir=-, vel=0.150
|
| 1087 |
+
[WS] Received message type: home
|
| 1088 |
+
[WS] Received message type: home
|
| 1089 |
+
[WS] Received message type: home
|
| 1090 |
+
[WS] Received message type: home
|
| 1091 |
+
[WS] Received message type: home
|
| 1092 |
+
[WS] Received message type: home
|
| 1093 |
+
[WS] Received message type: home
|
| 1094 |
+
[WS] Received message type: home
|
| 1095 |
+
[WS] Received message type: home
|
| 1096 |
+
[WS] Received message type: home
|
| 1097 |
+
[WS] Received message type: home
|
| 1098 |
+
[WS] Received message type: home
|
| 1099 |
+
[WS] Received message type: home
|
| 1100 |
+
[WS] Received message type: home
|
| 1101 |
+
[WS] Received message type: home
|
| 1102 |
+
[WS] Received message type: home
|
| 1103 |
+
[WS] Received message type: home
|
| 1104 |
+
[WS] Received message type: home
|
| 1105 |
+
[WS] Received message type: home
|
| 1106 |
+
[WS] Received message type: home
|
| 1107 |
+
[WS] Received message type: home
|
| 1108 |
+
[WS] Received message type: home
|
| 1109 |
+
[WS] Received message type: home
|
| 1110 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1111 |
+
✓ Joint 2 reached target (error: 0.0022 rad)
|
| 1112 |
+
→ Homing joint 4...
|
| 1113 |
+
[WS] Received message type: home
|
| 1114 |
+
[Nova Jogger] Joint 3 jogging at -0.15 rad/s
|
| 1115 |
+
J4: err=-0.2256, dir=-, vel=0.150
|
| 1116 |
+
[WS] Received message type: home
|
| 1117 |
+
[WS] Received message type: home
|
| 1118 |
+
[WS] Received message type: home
|
| 1119 |
+
[WS] Received message type: home
|
| 1120 |
+
[WS] Received message type: home
|
| 1121 |
+
[WS] Received message type: home
|
| 1122 |
+
[WS] Received message type: home
|
| 1123 |
+
[Nova] State stream update (seq=20422168, 6 joints) payload={"seq": 20422168, "joint_position": [-1.5449260473251343, -1.5976773500442505, 1.4462759494781494, -1.4450716972351074, -1.7096422910690308, -0.1647532433271408], "timestamp": "2026-01-21T11:39:26.010412039Z"}
|
| 1124 |
+
[WS] Received message type: home
|
| 1125 |
+
[WS] Received message type: home
|
| 1126 |
+
[WS] Received message type: home
|
| 1127 |
+
[WS] Received message type: home
|
| 1128 |
+
[WS] Received message type: home
|
| 1129 |
+
[WS] Received message type: home
|
| 1130 |
+
[WS] Received message type: home
|
| 1131 |
+
[WS] Received message type: home
|
| 1132 |
+
[WS] Received message type: home
|
| 1133 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1134 |
+
✓ Joint 4 reached target (error: 0.0039 rad)
|
| 1135 |
+
→ Homing joint 6...
|
| 1136 |
+
[WS] Received message type: home
|
| 1137 |
+
[Nova Jogger] Joint 5 jogging at 0.15 rad/s
|
| 1138 |
+
J6: err=0.1648, dir=+, vel=0.150
|
| 1139 |
+
[WS] Received message type: home
|
| 1140 |
+
[WS] Received message type: home
|
| 1141 |
+
[WS] Received message type: home
|
| 1142 |
+
[WS] Received message type: home
|
| 1143 |
+
[WS] Received message type: home
|
| 1144 |
+
[WS] Received message type: home
|
| 1145 |
+
[WS] Received message type: home
|
| 1146 |
+
[WS] Received message type: home
|
| 1147 |
+
[WS] Received message type: home
|
| 1148 |
+
[WS] Received message type: home
|
| 1149 |
+
[WS] Received message type: home
|
| 1150 |
+
[WS] Received message type: home
|
| 1151 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1152 |
+
✓ Joint 6 reached target (error: 0.0051 rad)
|
| 1153 |
+
→ Homing joint 5...
|
| 1154 |
+
[WS] Received message type: home
|
| 1155 |
+
[Nova Jogger] Joint 4 jogging at 0.14 rad/s
|
| 1156 |
+
J5: err=0.1388, dir=+, vel=0.139
|
| 1157 |
+
[WS] Received message type: home
|
| 1158 |
+
[WS] Received message type: home
|
| 1159 |
+
[WS] Received message type: home
|
| 1160 |
+
[WS] Received message type: home
|
| 1161 |
+
[WS] Received message type: home
|
| 1162 |
+
[WS] Received message type: home
|
| 1163 |
+
[WS] Received message type: home
|
| 1164 |
+
[WS] Received message type: home
|
| 1165 |
+
[WS] Received message type: home
|
| 1166 |
+
[WS] Received message type: home
|
| 1167 |
+
[WS] Received message type: home
|
| 1168 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1169 |
+
✓ Joint 5 reached target (error: 0.0022 rad)
|
| 1170 |
+
→ Homing joint 3...
|
| 1171 |
+
[WS] Received message type: home
|
| 1172 |
+
[Nova Jogger] Joint 2 jogging at 0.12 rad/s
|
| 1173 |
+
J3: err=0.1245, dir=+, vel=0.125
|
| 1174 |
+
[WS] Received message type: home
|
| 1175 |
+
[WS] Received message type: home
|
| 1176 |
+
[WS] Received message type: home
|
| 1177 |
+
[WS] Received message type: home
|
| 1178 |
+
[WS] Received message type: home
|
| 1179 |
+
[WS] Received message type: home
|
| 1180 |
+
[WS] Received message type: home
|
| 1181 |
+
[WS] Received message type: home
|
| 1182 |
+
[WS] Received message type: home
|
| 1183 |
+
[WS] Received message type: home
|
| 1184 |
+
[WS] Received message type: home
|
| 1185 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1186 |
+
✓ Joint 3 reached target (error: 0.0040 rad)
|
| 1187 |
+
→ Homing joint 1...
|
| 1188 |
+
[WS] Received message type: home
|
| 1189 |
+
[Nova Jogger] Joint 0 jogging at -0.03 rad/s
|
| 1190 |
+
J1: err=-0.0259, dir=-, vel=0.026
|
| 1191 |
+
[WS] Received message type: home
|
| 1192 |
+
[WS] Received message type: home
|
| 1193 |
+
[WS] Received message type: home
|
| 1194 |
+
[WS] Received message type: home
|
| 1195 |
+
[WS] Received message type: home
|
| 1196 |
+
[WS] Received message type: home
|
| 1197 |
+
[WS] Received message type: home
|
| 1198 |
+
[WS] Received message type: home
|
| 1199 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1200 |
+
✓ Joint 1 reached target (error: 0.0088 rad)
|
| 1201 |
+
✓ Homing sequence complete!
|
| 1202 |
+
[WS] Received message type: home
|
| 1203 |
+
🏠 Starting homing sequence for 5 joints
|
| 1204 |
+
→ Homing joint 2...
|
| 1205 |
+
[Nova Jogger] Joint 1 jogging at 0.03 rad/s
|
| 1206 |
+
J2: err=0.0269, dir=+, vel=0.027
|
| 1207 |
+
[WS] Received message type: home
|
| 1208 |
+
[WS] Received message type: home
|
| 1209 |
+
[WS] Received message type: home
|
| 1210 |
+
[WS] Received message type: home
|
| 1211 |
+
[WS] Received message type: home
|
| 1212 |
+
[WS] Received message type: home
|
| 1213 |
+
[WS] Received message type: home
|
| 1214 |
+
[WS] Received message type: home
|
| 1215 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1216 |
+
✓ Joint 2 reached target (error: 0.0093 rad)
|
| 1217 |
+
→ Homing joint 4...
|
| 1218 |
+
[WS] Received message type: home
|
| 1219 |
+
[Nova Jogger] Joint 3 jogging at 0.02 rad/s
|
| 1220 |
+
J4: err=0.0247, dir=+, vel=0.025
|
| 1221 |
+
[WS] Received message type: home
|
| 1222 |
+
[WS] Received message type: home
|
| 1223 |
+
[WS] Received message type: home
|
| 1224 |
+
[WS] Received message type: home
|
| 1225 |
+
[WS] Received message type: home
|
| 1226 |
+
[WS] Received message type: home
|
| 1227 |
+
[WS] Received message type: home
|
| 1228 |
+
[WS] Received message type: home
|
| 1229 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1230 |
+
✓ Joint 4 reached target (error: 0.0089 rad)
|
| 1231 |
+
→ Homing joint 5...
|
| 1232 |
+
[WS] Received message type: home
|
| 1233 |
+
[Nova Jogger] Joint 4 jogging at -0.02 rad/s
|
| 1234 |
+
J5: err=-0.0196, dir=-, vel=0.020
|
| 1235 |
+
[WS] Received message type: home
|
| 1236 |
+
[WS] Received message type: home
|
| 1237 |
+
[WS] Received message type: home
|
| 1238 |
+
[WS] Received message type: home
|
| 1239 |
+
[WS] Received message type: home
|
| 1240 |
+
[WS] Received message type: home
|
| 1241 |
+
[WS] Received message type: home
|
| 1242 |
+
[Nova Jogger] Stopped (zero velocities sent)
|
| 1243 |
+
✓ Joint 5 reached target (error: 0.0091 rad)
|