Add environment configuration and Nova API integration support

- Introduced .env.example and .env.local files for Nova API configuration, allowing users to set up their instance details easily.
- Enhanced mujoco_server.py to load environment variables for Nova API integration, enabling state streaming and inverse kinematics.
- Updated UR5 environment to conditionally handle gripper presence and control based on configuration.
- Added example scripts for discovering Nova API configuration and testing connections, improving user onboarding.
- Enhanced README.md to document the new Nova API integration features and setup instructions, including troubleshooting tips.

.env.example

@@ -0,0 +1,27 @@
+# Nova API Configuration
+# Copy this file to .env and fill in your Nova instance details
+
+# Required: Nova instance URL
+NOVA_INSTANCE_URL=https://your-instance.wandelbots.io
+
+# Required: Nova API access token
+NOVA_ACCESS_TOKEN=your_access_token_here
+
+# Required: Cell ID
+NOVA_CELL_ID=your_cell_id
+
+# Required: Controller ID
+NOVA_CONTROLLER_ID=your_controller_id
+
+# Required: Motion Group ID
+NOVA_MOTION_GROUP_ID=your_motion_group_id
+
+# Optional: Motion group model (e.g., ur5e, ur10e)
+# If not set, will be fetched from the API
+NOVA_MOTION_GROUP_MODEL=ur5e
+
+# Optional: TCP name (default: Flange)
+NOVA_TCP_NAME=Flange
+
+# Optional: Response rate in milliseconds (default: 200)
+NOVA_RESPONSE_RATE_MS=200

README.md

@@ -2,6 +2,8 @@
 
 A unified MuJoCo-based robot simulation platform with web interface for multiple robot types.
 
+![image](screenshot.png)
+
 ## Supported Robots
 
 ### Unitree G1 (Humanoid)
@@ -18,12 +20,13 @@ A unified MuJoCo-based robot simulation platform with web interface for multiple
 
 ### Universal Robots UR5e (Robot Arm)
 - 6 degrees of freedom (6-axis industrial arm)
-- Robotiq 2F-85 gripper
+- Robotiq 2F-85 gripper (in regular scene only; T-push scene uses a push stick tool)
 - Two control modes:
   - **IK Mode**: Set target XYZ position and orientation (Roll/Pitch/Yaw), inverse kinematics computes joint angles using damped least squares with 6-DOF Jacobian
   - **Joint Mode**: Direct control of individual joint positions
 - End-effector position and orientation tracking
 - Full 6-DOF IK with orientation control (can be toggled on/off)
+- **Optional [Wandelbots Nova API](#wandelbots-nova-api-integration) integration** for real robot state streaming and cloud-based IK
 
 ## Features
 
@@ -500,13 +503,22 @@ For robot arm (UR5):
     "joint_positions": [-1.57, -1.57, 1.57, -1.57, -1.57, 0.0],
     "control_mode": "ik",
     "use_orientation": true,
-    "steps": 1234
+    "steps": 1234,
+    "nova_api": {
+      "connected": true,
+      "state_streaming": true,
+      "ik": false
+    }
   }
 }
 ```
 - `ee_orientation`: Current end-effector orientation as quaternion [w, x, y, z]
 - `target_orientation`: Target orientation as Euler angles (radians)
 - `use_orientation`: Whether 6-DOF orientation control is enabled
+- `nova_api`: Nova API integration status (displays which controllers are active)
+  - `connected`: Whether Nova API client is connected
+  - `state_streaming`: Whether using Nova API for robot state streaming (vs. internal)
+  - `ik`: Whether using Nova API for inverse kinematics (vs. internal)
 
 ### HTTP Endpoints
 
@@ -520,6 +532,214 @@ For robot arm (UR5):
 <img src="http://localhost:3004/nova-sim/api/v1/video_feed" />
 ```
 
+## Wandelbots Nova API Integration
+
+The UR5 environment supports optional integration with the Wandelbots Nova API for real-time robot state streaming and cloud-based inverse kinematics.
+
+### Overview
+
+Nova API integration provides two key features:
+- **Robot State Streaming**: Real-time synchronization of joint positions from physical robots via WebSocket
+- **Inverse Kinematics**: Cloud-based IK computation using Nova's kinematic solver
+
+### Quick Setup
+
+1. **Copy the environment template:**
+   ```bash
+   cp .env.example .env.local
+   ```
+
+2. **Configure your Nova credentials in `.env.local`:**
+   ```bash
+   NOVA_INSTANCE_URL=https://your-instance.wandelbots.io
+   NOVA_ACCESS_TOKEN=your_access_token
+   NOVA_CELL_ID=cell
+   NOVA_CONTROLLER_ID=your_controller_id
+   NOVA_MOTION_GROUP_ID=your_motion_group_id
+   NOVA_MOTION_GROUP_MODEL=ur5e  # or your robot model
+   NOVA_TCP_NAME=Flange
+   NOVA_RESPONSE_RATE_MS=200
+   ```
+
+3. **Discover available robots in your Nova instance:**
+   ```bash
+   python3 scripts/discover_nova_simple.py
+   ```
+
+4. **Test your connection:**
+   ```bash
+   cd nova-sim
+   python3 scripts/test_nova_connection.py
+   ```
+
+### Usage Examples
+
+#### Enable State Streaming Only
+Sync robot state from Nova API (joint positions from real robot):
+
+```python
+import os
+from pathlib import Path
+from nova_sim.robots.ur5.ur5_env import UR5Env
+
+# Load environment variables
+def load_env(filepath):
+    with open(filepath) as f:
+        for line in f:
+            if line.strip() and not line.startswith('#') and '=' in line:
+                key, val = line.split('=', 1)
+                os.environ[key.strip()] = val.strip()
+
+load_env(Path("nova-sim/.env.local"))
+
+# Create environment with state streaming enabled
+env = UR5Env(
+    render_mode="human",
+    scene_name="scene",
+    nova_api_config={
+        "use_state_stream": True,  # Enable state streaming
+        "use_ik": False  # Use local IK
+    }
+)
+
+obs, info = env.reset()
+for _ in range(1000):
+    obs = env.step_with_controller(dt=0.002)
+    env.render()
+env.close()
+```
+
+#### Enable Nova IK Only
+Use Nova's IK solver while keeping local state:
+
+```python
+env = UR5Env(
+    render_mode="human",
+    nova_api_config={
+        "use_state_stream": False,
+        "use_ik": True  # Use Nova IK
+    }
+)
+
+# IK will be computed by Nova API
+env.set_target(x=0.4, y=0.2, z=0.6)
+```
+
+#### Full Integration (Both Features)
+Enable both state streaming and Nova IK:
+
+```python
+env = UR5Env(
+    render_mode="human",
+    nova_api_config={
+        "use_state_stream": True,  # Sync robot state from Nova
+        "use_ik": True  # Use Nova IK
+    }
+)
+```
+
+### Environment Variables Reference
+
+| Variable | Required | Default | Description |
+|----------|----------|---------|-------------|
+| `NOVA_INSTANCE_URL` | Yes | - | Nova instance URL (e.g., `https://nova.wandelbots.io`) |
+| `NOVA_ACCESS_TOKEN` | Yes | - | Nova API access token |
+| `NOVA_CELL_ID` | No | `cell` | Cell ID |
+| `NOVA_CONTROLLER_ID` | Yes | - | Controller ID |
+| `NOVA_MOTION_GROUP_ID` | Yes | - | Motion group ID |
+| `NOVA_MOTION_GROUP_MODEL` | No | Auto-detected | Motion group model (e.g., `ur5e`, `KUKA_KR16_R2010_2`) |
+| `NOVA_TCP_NAME` | No | `Flange` | Tool Center Point name |
+| `NOVA_RESPONSE_RATE_MS` | No | `200` | State stream response rate in milliseconds |
+
+**Note:** `NOVA_API` is also supported as an alias for `NOVA_INSTANCE_URL` for backward compatibility.
+
+### How It Works
+
+#### State Streaming
+When `use_state_stream` is enabled:
+1. A background thread connects to Nova's WebSocket state stream
+2. Robot state (joint positions) is continuously received at the configured rate
+3. Each time the environment queries robot state, the latest data from Nova is synced
+4. The simulation updates its joint positions to match the real robot
+5. MuJoCo forward kinematics computes the end-effector pose
+
+**Note:** When state streaming is active, the simulation becomes a digital twin of the real robot.
+
+#### Inverse Kinematics
+When `use_ik` is enabled:
+1. Target poses are sent to Nova's IK API endpoint: `POST /api/v2/cells/{cell_id}/kinematic/inverse`
+2. Nova computes joint angles using the robot's kinematic model
+3. Joint targets are returned and applied to the simulation
+4. If Nova IK fails, the system automatically falls back to local IK computation
+
+### Getting Nova Credentials
+
+To obtain your Nova instance credentials:
+
+1. Log in to the [Wandelbots Portal](https://portal.wandelbots.io/)
+2. Navigate to your Nova instance
+3. Generate an API access token in the settings
+4. Note your controller ID and motion group ID from the API documentation
+5. Use the discovery script to find available robots:
+   ```bash
+   python3 scripts/discover_nova_simple.py
+   ```
+
+For more details, see the [Nova API Documentation](https://portal.wandelbots.io/docs/api/v2/ui/).
+
+### Troubleshooting
+
+#### "Missing required environment variables"
+Ensure all required variables are set in `.env.local`. Verify loading with:
+```python
+import os
+print("NOVA_INSTANCE_URL:", os.getenv("NOVA_INSTANCE_URL"))
+```
+
+#### "websockets is required for Nova state streaming"
+Install the websockets package:
+```bash
+pip install websockets
+```
+
+#### "Nova API error 401"
+Your access token may be invalid or expired. Generate a new token from the Wandelbots Portal.
+
+#### State Stream Errors
+- Verify your instance URL is correct
+- Check that controller and motion group IDs are valid
+- Ensure your network can reach the Nova instance
+- Confirm your access token has not expired
+
+#### IK Falls Back to Local Solver
+If you see "Nova IK failed, falling back to local IK":
+- Check that the motion group model matches your robot
+- Verify the TCP name matches a TCP defined in your Nova instance
+- Ensure the target pose is reachable by the robot
+
+### Performance Considerations
+
+- **State Stream Rate**: Default is 200ms (5Hz). Lower values provide more responsive streaming but increase bandwidth usage
+- **IK Latency**: Nova IK requires a network round-trip (~50-200ms depending on connection quality)
+- **Simulation Rate**: When using state streaming, simulation rate matches the Nova stream rate
+
+### Dependencies
+
+- `websockets` (for state streaming): `pip install websockets`
+- `python-dotenv` (optional, for easier `.env` loading): `pip install python-dotenv`
+
+### Helpful Scripts
+
+Located in `scripts/`:
+- **`discover_nova_simple.py`**: Discover available controllers and motion groups in your Nova instance
+- **`test_nova_connection.py`**: Verify your Nova API configuration is working correctly
+
+### Implementation Details
+
+The Nova API integration is implemented in:
+- [robots/ur5/nova_api.py](robots/ur5/nova_api.py) - API client and configuration
+- [robots/ur5/ur5_env.py](robots/ur5/ur5_env.py) - Environment integration (lines 123-203, 499-520)
+
 ## License
 
 This project uses models from:

examples/ur5_nova_api_example.py

@@ -0,0 +1,155 @@
+#!/usr/bin/env python3
+"""Example script demonstrating Nova API integration with UR5 environment.
+
+This script shows how to use the Wandelbots Nova API for robot state streaming
+and inverse kinematics with the UR5 simulation environment.
+
+Requirements:
+    - Nova instance credentials in .env file
+    - websockets: pip install websockets
+    - python-dotenv: pip install python-dotenv
+
+Usage:
+    python examples/ur5_nova_api_example.py [--mode MODE]
+
+Modes:
+    state_only: Enable state streaming only
+    ik_only: Enable Nova IK only
+    both: Enable both state streaming and Nova IK (default)
+    none: Disable Nova API (local simulation only)
+"""
+
+import argparse
+import sys
+from pathlib import Path
+
+# Add parent directory to path
+sys.path.insert(0, str(Path(__file__).parent.parent.parent))
+
+try:
+    from dotenv import load_dotenv
+except ImportError:
+    print("Warning: python-dotenv not installed. Install with: pip install python-dotenv")
+    print("Continuing without .env file support...")
+    load_dotenv = None
+
+from nova_sim.robots.ur5.ur5_env import UR5Env
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="UR5 Nova API Integration Example",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog=__doc__
+    )
+    parser.add_argument(
+        "--mode",
+        choices=["state_only", "ik_only", "both", "none"],
+        default="both",
+        help="Nova API integration mode"
+    )
+    parser.add_argument(
+        "--steps",
+        type=int,
+        default=1000,
+        help="Number of simulation steps to run"
+    )
+    parser.add_argument(
+        "--no-render",
+        action="store_true",
+        help="Disable rendering"
+    )
+    args = parser.parse_args()
+
+    # Load environment variables
+    if load_dotenv is not None:
+        env_path = Path(__file__).parent.parent / ".env"
+        if env_path.exists():
+            load_dotenv(env_path)
+            print(f"Loaded environment variables from {env_path}")
+        else:
+            print(f"Warning: .env file not found at {env_path}")
+            print("Copy .env.example to .env and fill in your Nova credentials")
+
+    # Configure Nova API based on mode
+    nova_config = None
+    if args.mode != "none":
+        use_state = args.mode in ("state_only", "both")
+        use_ik = args.mode in ("ik_only", "both")
+
+        nova_config = {
+            "use_state_stream": use_state,
+            "use_ik": use_ik
+        }
+
+        print(f"\nNova API Integration Mode: {args.mode}")
+        print(f"  State Streaming: {'enabled' if use_state else 'disabled'}")
+        print(f"  Nova IK: {'enabled' if use_ik else 'disabled'}")
+    else:
+        print("\nNova API Integration: disabled (local simulation only)")
+
+    # Create environment
+    print("\nCreating UR5 environment...")
+    try:
+        env = UR5Env(
+            render_mode="human" if not args.no_render else None,
+            scene_name="scene",
+            nova_api_config=nova_config
+        )
+    except Exception as e:
+        print(f"Error creating environment: {e}")
+        print("\nMake sure your .env file is configured correctly with Nova credentials.")
+        return 1
+
+    print("Environment created successfully!")
+
+    # Reset environment
+    print("\nResetting environment...")
+    obs, info = env.reset()
+    print(f"Initial observation shape: {obs.shape}")
+
+    # Get initial state
+    joint_pos = env.get_joint_positions()
+    ee_pos = env.get_end_effector_pos()
+    print(f"Initial joint positions: {joint_pos}")
+    print(f"Initial end-effector position: {ee_pos}")
+
+    # Set a target position
+    print("\nSetting target position...")
+    target_pos = [0.4, 0.2, 0.6]
+    env.set_target(*target_pos)
+    print(f"Target position: {target_pos}")
+
+    # Run simulation
+    print(f"\nRunning simulation for {args.steps} steps...")
+    print("Press Ctrl+C to stop early")
+
+    try:
+        for step in range(args.steps):
+            # Step with controller (uses IK to reach target)
+            obs = env.step_with_controller(dt=0.002)
+
+            # Render
+            if not args.no_render:
+                env.render()
+
+            # Print progress every 100 steps
+            if (step + 1) % 100 == 0:
+                ee_pos = env.get_end_effector_pos()
+                distance = ((ee_pos - target_pos) ** 2).sum() ** 0.5
+                print(f"Step {step + 1}/{args.steps} - Distance to target: {distance:.4f}m")
+
+    except KeyboardInterrupt:
+        print("\nSimulation interrupted by user")
+
+    finally:
+        # Clean up
+        print("\nClosing environment...")
+        env.close()
+        print("Done!")
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

mujoco_server.py

@@ -7,6 +7,7 @@ import base64
 import cv2
 import numpy as np
 import mujoco
+from pathlib import Path
 from flask import Flask, Response, render_template_string, request, jsonify
 from flask_sock import Sock
 
@@ -16,6 +17,21 @@ sys.path.insert(0, os.path.join(_nova_sim_dir, 'robots', 'g1'))
 from g1_env import G1Env
 sys.path.pop(0)
 
+# Load .env.local for Nova API configuration
+def load_env_file(filepath):
+    """Load environment variables from .env file."""
+    if not filepath.exists():
+        return
+    with open(filepath, 'r') as f:
+        for line in f:
+            line = line.strip()
+            if line and not line.startswith('#') and '=' in line:
+                key, value = line.split('=', 1)
+                os.environ[key.strip()] = value.strip()
+
+env_local_path = Path(_nova_sim_dir) / '.env.local'
+load_env_file(env_local_path)
+
 # API prefix for all endpoints
 API_PREFIX = '/nova-sim/api/v1'
 
@@ -76,6 +92,48 @@ cam.lookat = np.array([0, 0, 0.8])
 camera_follow = True
 
 
+def _parse_bool(value):
+    if value is None:
+        return False
+    return str(value).strip().lower() in ("1", "true", "yes", "on")
+
+
+def _load_nova_ur5_config_from_env():
+    use_state = _parse_bool(os.environ.get("NOVA_UR5_USE_STATE_STREAM") or os.environ.get("NOVA_USE_STATE_STREAM"))
+    use_ik = _parse_bool(os.environ.get("NOVA_UR5_USE_IK") or os.environ.get("NOVA_USE_IK"))
+    if not (use_state or use_ik):
+        return None
+
+    instance_url = os.environ.get("NOVA_INSTANCE_URL")
+    access_token = os.environ.get("NOVA_ACCESS_TOKEN")
+    cell_id = os.environ.get("NOVA_CELL_ID")
+    controller_id = os.environ.get("NOVA_CONTROLLER_ID")
+    motion_group_id = os.environ.get("NOVA_MOTION_GROUP_ID")
+    missing = [key for key, value in {
+        "NOVA_INSTANCE_URL": instance_url,
+        "NOVA_ACCESS_TOKEN": access_token,
+        "NOVA_CELL_ID": cell_id,
+        "NOVA_CONTROLLER_ID": controller_id,
+        "NOVA_MOTION_GROUP_ID": motion_group_id,
+    }.items() if not value]
+    if missing:
+        print(f"Nova API integration disabled; missing env vars: {', '.join(missing)}")
+        return None
+
+    return {
+        "instance_url": instance_url,
+        "access_token": access_token,
+        "cell_id": cell_id,
+        "controller_id": controller_id,
+        "motion_group_id": motion_group_id,
+        "motion_group_model": os.environ.get("NOVA_MOTION_GROUP_MODEL"),
+        "tcp_name": os.environ.get("NOVA_TCP_NAME"),
+        "response_rate_ms": int(os.environ.get("NOVA_RESPONSE_RATE_MS", "200")),
+        "use_state_stream": use_state,
+        "use_ik": use_ik,
+    }
+
+
 def init_g1():
     """Initialize G1 environment."""
     global env_g1
@@ -109,6 +167,15 @@ def init_ur5(scene_name="scene"):
     from ur5_env import UR5Env
     sys.path.pop(0)
 
+    # Check if Nova API is configured via environment variables
+    nova_config = None
+    if os.getenv('NOVA_INSTANCE_URL') and os.getenv('NOVA_ACCESS_TOKEN'):
+        print("Nova API configuration detected, enabling state streaming and IK")
+        nova_config = {
+            "use_state_stream": True,
+            "use_ik": True
+        }
+
     if scene_name == "scene_t_push":
         if env_ur5_t_push is None:
             env_ur5_t_push = UR5Env(
@@ -116,12 +183,18 @@ def init_ur5(scene_name="scene"):
                 width=RENDER_WIDTH,
                 height=RENDER_HEIGHT,
                 scene_name="scene_t_push",
+                nova_api_config=nova_config
             )
             env_ur5_t_push.reset()
         return env_ur5_t_push
 
     if env_ur5 is None:
-        env_ur5 = UR5Env(render_mode="rgb_array", width=RENDER_WIDTH, height=RENDER_HEIGHT)
+        env_ur5 = UR5Env(
+            render_mode="rgb_array",
+            width=RENDER_WIDTH,
+            height=RENDER_HEIGHT,
+            nova_api_config=nova_config
+        )
         env_ur5.reset()
     return env_ur5
 
@@ -192,11 +265,17 @@ def broadcast_state():
             target = env.get_target()
             target_euler = env.get_target_orientation()
             gripper = env.get_gripper()
+            has_gripper = env.has_gripper
             joint_pos = env.get_joint_positions()
             joint_targets = env.get_joint_targets()
             control_mode = env.get_control_mode()
             use_orientation = env.get_use_orientation()
 
+            # Check Nova API status
+            nova_state_streaming = getattr(env, '_use_nova_state_stream', False)
+            nova_ik = getattr(env, '_use_nova_ik', False)
+            nova_connected = getattr(env, '_nova_client', None) is not None
+
             state_msg = json.dumps({
                 'type': 'state',
                 'data': {
@@ -206,12 +285,18 @@ def broadcast_state():
                     'target': {'x': float(target[0]), 'y': float(target[1]), 'z': float(target[2])},
                     'target_orientation': {'roll': float(target_euler[0]), 'pitch': float(target_euler[1]), 'yaw': float(target_euler[2])},
                     'gripper': float(gripper),
+                    'has_gripper': has_gripper,
                     'joint_positions': [float(j) for j in joint_pos],
                     'joint_targets': [float(j) for j in joint_targets],
                     'control_mode': control_mode,
                     'use_orientation': use_orientation,
                     'steps': int(steps),
-                    'reward': env.get_task_reward()
+                    'reward': env.get_task_reward(),
+                    'nova_api': {
+                        'connected': nova_connected,
+                        'state_streaming': nova_state_streaming,
+                        'ik': nova_ik
+                    }
                 }
             })
         else:
@@ -864,9 +949,16 @@ def index():
                 <strong>Arm State</strong><br>
                 EE Pos: <span id="ee_pos">0.00, 0.00, 0.00</span><br>
                 EE Ori: <span id="ee_ori">0.00, 0.00, 0.00</span><br>
-                Gripper: <span id="gripper_val">50%</span><br>
+                <span id="gripper_state_display">Gripper: <span id="gripper_val">50%</span><br></span>
                 Reward: <span id="arm_reward">-</span><br>
-                Mode: <span id="control_mode_display">IK</span> | Steps: <span id="arm_step_val">0</span>
+                Mode: <span id="control_mode_display">IK</span> | Steps: <span id="arm_step_val">0</span><br>
+                <div style="margin-top: 8px; padding-top: 8px; border-top: 1px solid rgba(188, 190, 236, 0.2);">
+                    <strong style="font-size: 0.9em;">Controllers:</strong><br>
+                    <span style="font-size: 0.85em;">
+                        State: <span id="nova_state_controller" style="color: var(--wb-highlight);">Internal</span><br>
+                        IK: <span id="nova_ik_controller" style="color: var(--wb-highlight);">Internal</span>
+                    </span>
+                </div>
             </div>
         </div>
 
@@ -944,17 +1036,17 @@ def index():
                         <div class="target-sliders">
                             <div class="slider-row">
                                 <label>X</label>
-                                <input type="range" id="target_x" min="0.1" max="0.7" step="0.01" value="0.4" oninput="updateTarget()">
+                                <input type="range" id="target_x" min="-0.4" max="1.0" step="0.01" value="0.4" oninput="updateTarget()">
                                 <span class="val-display" id="target_x_val">0.40</span>
                             </div>
                             <div class="slider-row">
                                 <label>Y</label>
-                                <input type="range" id="target_y" min="-0.5" max="0.5" step="0.01" value="0.0" oninput="updateTarget()">
+                                <input type="range" id="target_y" min="-0.8" max="0.8" step="0.01" value="0.0" oninput="updateTarget()">
                                 <span class="val-display" id="target_y_val">0.00</span>
                             </div>
                             <div class="slider-row">
                                 <label>Z</label>
-                                <input type="range" id="target_z" min="0.1" max="1.0" step="0.01" value="0.4" oninput="updateTarget()">
+                                <input type="range" id="target_z" min="0.0" max="1.2" step="0.01" value="0.4" oninput="updateTarget()">
                                 <span class="val-display" id="target_z_val">0.40</span>
                             </div>
                         </div>
@@ -1025,7 +1117,7 @@ def index():
                     </div>
                 </div>
 
-                <div class="control-group">
+                <div class="control-group" id="gripper_controls">
                     <label>Gripper</label>
                     <div class="gripper-btns">
                         <button class="rl-btn" onclick="setGripper('open')">Open</button>
@@ -1059,7 +1151,7 @@ def index():
                 'g1': '29 DOF humanoid with RL walking policy',
                 'spot': '12 DOF quadruped with trot gait controller',
                 'ur5': '6 DOF robot arm with Robotiq gripper',
-                'ur5_t_push': 'UR5e T-push task with stick tool'
+                'ur5_t_push': 'UR5e T-push task with stick tool (no gripper)'
             };
 
             const robotTitles = {
@@ -1128,9 +1220,20 @@ def index():
                                         euler[0].toFixed(2) + ', ' + euler[1].toFixed(2) + ', ' + euler[2].toFixed(2);
                                 }
 
-                                // Gripper: 0=open, 255=closed (Robotiq 2F-85)
-                                document.getElementById('gripper_val').innerText =
-                                    ((255 - data.gripper) / 255 * 100).toFixed(0) + '% open';
+                                // Show/hide gripper UI based on has_gripper
+                                const gripperStateDisplay = document.getElementById('gripper_state_display');
+                                const gripperControls = document.getElementById('gripper_controls');
+                                if (data.has_gripper) {
+                                    gripperStateDisplay.style.display = '';
+                                    gripperControls.style.display = '';
+                                    // Gripper: 0=open, 255=closed (Robotiq 2F-85)
+                                    document.getElementById('gripper_val').innerText =
+                                        ((255 - data.gripper) / 255 * 100).toFixed(0) + '% open';
+                                } else {
+                                    gripperStateDisplay.style.display = 'none';
+                                    gripperControls.style.display = 'none';
+                                }
+
                                 document.getElementById('arm_step_val').innerText = data.steps;
                                 const rewardEl = document.getElementById('arm_reward');
                                 if (data.reward === null || data.reward === undefined) {
@@ -1195,6 +1298,37 @@ def index():
                                         document.getElementById('orientation_sliders').style.opacity = data.use_orientation ? '1' : '0.4';
                                     }
                                 }
+
+                                // Update Nova API controller status
+                                if (data.nova_api) {
+                                    const stateController = document.getElementById('nova_state_controller');
+                                    const ikController = document.getElementById('nova_ik_controller');
+
+                                    if (data.nova_api.connected) {
+                                        // Nova API is connected
+                                        if (data.nova_api.state_streaming) {
+                                            stateController.innerText = 'Nova API';
+                                            stateController.style.color = 'var(--wb-success)';
+                                        } else {
+                                            stateController.innerText = 'Internal';
+                                            stateController.style.color = 'var(--wb-highlight)';
+                                        }
+
+                                        if (data.nova_api.ik) {
+                                            ikController.innerText = 'Nova API';
+                                            ikController.style.color = 'var(--wb-success)';
+                                        } else {
+                                            ikController.innerText = 'Internal';
+                                            ikController.style.color = 'var(--wb-highlight)';
+                                        }
+                                    } else {
+                                        // Nova API not connected - using internal
+                                        stateController.innerText = 'Internal';
+                                        stateController.style.color = 'var(--wb-highlight)';
+                                        ikController.innerText = 'Internal';
+                                        ikController.style.color = 'var(--wb-highlight)';
+                                    }
+                                }
                             } else {
                                 // Locomotion state
                                 heightVal.innerText = data.base_height.toFixed(2);

robots/ur5/model/scene_t_push.xml

@@ -39,10 +39,6 @@
     <!-- Wandelbots purple accent instead of UR blue -->
     <material name="urblue" rgba="0.55 0.5 0.94 1" specular="0.6" shininess="0.35"/>
 
-    <!-- Gripper materials -->
-    <material name="metal" rgba="0.58 0.58 0.58 1"/>
-    <material name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
-    <material name="gray" rgba="0.4627 0.4627 0.4627 1"/>
 
     <!-- UR5e meshes -->
     <mesh file="base_0.obj"/>
@@ -66,15 +62,6 @@
     <mesh file="wrist2_2.obj"/>
     <mesh file="wrist3.obj"/>
 
-    <!-- Gripper meshes -->
-    <mesh name="base_mount" file="base_mount.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="base_g" file="base.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="driver" file="driver.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="coupler" file="coupler.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="follower" file="follower.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="pad" file="pad.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="silicone_pad" file="silicone_pad.stl" scale="0.001 0.001 0.001"/>
-    <mesh name="spring_link" file="spring_link.stl" scale="0.001 0.001 0.001"/>
   </asset>
 
   <default>
@@ -102,36 +89,6 @@
       <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
     </default>
 
-    <default class="gripper">
-      <general biastype="affine"/>
-      <joint axis="1 0 0"/>
-      <default class="driver_j">
-        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
-      </default>
-      <default class="follower_j">
-        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
-      </default>
-      <default class="spring_link_j">
-        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/>
-      </default>
-      <default class="coupler_j">
-        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
-      </default>
-      <default class="visual_g">
-        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
-      </default>
-      <default class="collision_g">
-        <geom type="mesh" group="3"/>
-        <default class="pad_box1">
-          <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7"
-            solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1"/>
-        </default>
-        <default class="pad_box2">
-          <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6"
-            solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1"/>
-        </default>
-      </default>
-    </default>
   </default>
 
   <worldbody>
@@ -204,105 +161,16 @@
                   <geom material="linkgray" mesh="wrist3" class="visual"/>
                   <geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02"/>
                   <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0"/>
-                  <!-- Stick tool for T-push task (cylindrical, pointing -z from flange) -->
-                  <geom name="push_stick" type="cylinder" pos="0 0.1 -0.09" size="0.008 0.09"
-                        material="stick_mat" mass="0.02" friction="1 0.01 0.01"/>
 
-                  <!-- Gripper attached to wrist -->
-                  <body name="gripper_base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="gripper">
-                    <body name="gripper_base_mount_inner" pos="0 0 0.007">
-                      <geom class="visual_g" mesh="base_mount" material="black"/>
-                      <geom class="collision_g" mesh="base_mount"/>
-                      <body name="gripper_base" pos="0 0 0.0038" quat="1 0 0 -1">
-                        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0"
-                          diaginertia="0.000260285 0.000225381 0.000152708"/>
-                        <geom class="visual_g" mesh="base_g" material="black"/>
-                        <geom class="collision_g" mesh="base_g"/>
-                        <site name="pinch" pos="0 0 0.145" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005"/>
-                        <!-- End-effector site for IK -->
-                        <site name="ee_site" pos="0 0 0.16" type="sphere" size="0.01" rgba="1 0 0 0.5"/>
-
-                        <!-- Right-hand side 4-bar linkage -->
-                        <body name="right_driver" pos="0 0.0306011 0.054904">
-                          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
-                            diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
-                          <joint name="right_driver_joint" class="driver_j"/>
-                          <geom class="visual_g" mesh="driver" material="gray"/>
-                          <geom class="collision_g" mesh="driver"/>
-                          <body name="right_coupler" pos="0 0.0315 -0.0041">
-                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
-                              diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
-                            <joint name="right_coupler_joint" class="coupler_j"/>
-                            <geom class="visual_g" mesh="coupler" material="black"/>
-                            <geom class="collision_g" mesh="coupler"/>
-                          </body>
-                        </body>
-                        <body name="right_spring_link" pos="0 0.0132 0.0609">
-                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
-                            diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
-                          <joint name="right_spring_link_joint" class="spring_link_j"/>
-                          <geom class="visual_g" mesh="spring_link" material="black"/>
-                          <geom class="collision_g" mesh="spring_link"/>
-                          <body name="right_follower" pos="0 0.055 0.0375">
-                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
-                              diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
-                            <joint name="right_follower_joint" class="follower_j"/>
-                            <geom class="visual_g" mesh="follower" material="black"/>
-                            <geom class="collision_g" mesh="follower"/>
-                            <body name="right_pad" pos="0 -0.0189 0.01352">
-                              <geom class="pad_box1" name="right_pad1"/>
-                              <geom class="pad_box2" name="right_pad2"/>
-                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107"
-                                diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
-                              <geom class="visual_g" mesh="pad"/>
-                              <body name="right_silicone_pad">
-                                <geom class="visual_g" mesh="silicone_pad" material="black"/>
-                              </body>
-                            </body>
-                          </body>
-                        </body>
-                        <!-- Left-hand side 4-bar linkage -->
-                        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
-                          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
-                            diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
-                          <joint name="left_driver_joint" class="driver_j"/>
-                          <geom class="visual_g" mesh="driver" material="gray"/>
-                          <geom class="collision_g" mesh="driver"/>
-                          <body name="left_coupler" pos="0 0.0315 -0.0041">
-                            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
-                              diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
-                            <joint name="left_coupler_joint" class="coupler_j"/>
-                            <geom class="visual_g" mesh="coupler" material="black"/>
-                            <geom class="collision_g" mesh="coupler"/>
-                          </body>
-                        </body>
-                        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
-                          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
-                            diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
-                          <joint name="left_spring_link_joint" class="spring_link_j"/>
-                          <geom class="visual_g" mesh="spring_link" material="black"/>
-                          <geom class="collision_g" mesh="spring_link"/>
-                          <body name="left_follower" pos="0 0.055 0.0375">
-                            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
-                              diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
-                            <joint name="left_follower_joint" class="follower_j"/>
-                            <geom class="visual_g" mesh="follower" material="black"/>
-                            <geom class="collision_g" mesh="follower"/>
-                            <body name="left_pad" pos="0 -0.0189 0.01352">
-                              <geom class="pad_box1" name="left_pad1"/>
-                              <geom class="pad_box2" name="left_pad2"/>
-                              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1"
-                                diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
-                              <geom class="visual_g" mesh="pad"/>
-                              <body name="left_silicone_pad">
-                                <geom class="visual_g" mesh="silicone_pad" material="black"/>
-                              </body>
-                            </body>
-                          </body>
-                        </body>
-                      </body>
-                    </body>
+                  <!-- Stick tool: attach as child body with flange orientation, stick extends along +Z in flange frame -->
+                  <body name="push_stick_body" pos="0 0.1 0" quat="-1 1 0 0">
+                    <!-- In flange frame: +Z points away from robot (downward when wrist is horizontal) -->
+                    <geom name="push_stick" type="cylinder" fromto="0 0 0 0 0 0.18" size="0.008"
+                          material="stick_mat" mass="0.02" friction="1 0.01 0.01"/>
                   </body>
+
+                  <!-- End-effector site for IK (at flange) -->
+                  <site name="ee_site" pos="0 0.1 0" quat="-1 1 0 0" type="sphere" size="0.01" rgba="1 0 0 0.5"/>
                 </body>
               </body>
             </body>
@@ -325,28 +193,6 @@
     </body>
   </worldbody>
 
-  <contact>
-    <exclude body1="gripper_base" body2="left_driver"/>
-    <exclude body1="gripper_base" body2="right_driver"/>
-    <exclude body1="gripper_base" body2="left_spring_link"/>
-    <exclude body1="gripper_base" body2="right_spring_link"/>
-    <exclude body1="right_coupler" body2="right_follower"/>
-    <exclude body1="left_coupler" body2="left_follower"/>
-  </contact>
-
-  <tendon>
-    <fixed name="split">
-      <joint joint="right_driver_joint" coef="0.5"/>
-      <joint joint="left_driver_joint" coef="0.5"/>
-    </fixed>
-  </tendon>
-
-  <equality>
-    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
-    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
-    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1"/>
-  </equality>
-
   <actuator>
     <!-- UR5e joint actuators -->
     <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint"/>
@@ -355,13 +201,11 @@
     <general class="size1" name="wrist_1" joint="wrist_1_joint"/>
     <general class="size1" name="wrist_2" joint="wrist_2_joint"/>
     <general class="size1" name="wrist_3" joint="wrist_3_joint"/>
-    <!-- Gripper actuator -->
-    <general name="gripper" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
   </actuator>
 
   <keyframe>
-    <!-- Official MuJoCo Menagerie UR5e home pose with gripper open (0=open) -->
-    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0 0.45 0.2 0.43 1 0 0 0"
-         ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0"/>
+    <!-- UR5e home pose (6 joints) + t_object freejoint (3 pos + 4 quat) -->
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0.45 0.2 0.43 1 0 0 0"
+         ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0"/>
   </keyframe>
 </mujoco>

robots/ur5/model/scene_with_gripper.xml

@@ -0,0 +1,192 @@
+<mujoco model="ur5e">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+
+  <!-- Wandelbots Corporate Design Colors:
+       Primary Dark: #01040f (0.004, 0.016, 0.059)
+       Light/Secondary: #bcbeec (0.737, 0.745, 0.925)
+       Accent: #211c44 (0.129, 0.110, 0.267)
+       Highlight: #8b7fef (0.545, 0.498, 0.937)
+  -->
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.35 0.35 0.4" specular="0 0 0"/>
+    <rgba haze="0.02 0.04 0.12 1"/>
+    <global azimuth="120" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <!-- Wandelbots gradient skybox - deep purple to near black -->
+    <texture type="skybox" builtin="gradient" rgb1="0.13 0.11 0.27" rgb2="0.004 0.016 0.059" width="512" height="3072"/>
+    <!-- Ground with Wandelbots purple accent -->
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.08 0.07 0.15" rgb2="0.04 0.04 0.08"
+      markrgb="0.55 0.5 0.94" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.15"/>
+    <!-- Table with subtle purple tint -->
+    <material name="table" rgba="0.18 0.16 0.25 1" specular="0.4" shininess="0.4"/>
+    <!-- Target marker with Wandelbots highlight color -->
+    <material name="target_mat" rgba="0.55 0.5 0.94 0.6" specular="0.5" shininess="0.5"/>
+
+    <!-- UR5e materials - with Wandelbots accent colors -->
+    <material name="black" rgba="0.02 0.02 0.04 1" specular="0.5" shininess="0.25"/>
+    <material name="jointgray" rgba="0.22 0.22 0.26 1" specular="0.5" shininess="0.25"/>
+    <material name="linkgray" rgba="0.74 0.75 0.82 1" specular="0.5" shininess="0.25"/>
+    <!-- Wandelbots purple accent instead of UR blue -->
+    <material name="urblue" rgba="0.55 0.5 0.94 1" specular="0.6" shininess="0.35"/>
+
+
+    <!-- UR5e meshes -->
+    <mesh file="base_0.obj"/>
+    <mesh file="base_1.obj"/>
+    <mesh file="shoulder_0.obj"/>
+    <mesh file="shoulder_1.obj"/>
+    <mesh file="shoulder_2.obj"/>
+    <mesh file="upperarm_0.obj"/>
+    <mesh file="upperarm_1.obj"/>
+    <mesh file="upperarm_2.obj"/>
+    <mesh file="upperarm_3.obj"/>
+    <mesh file="forearm_0.obj"/>
+    <mesh file="forearm_1.obj"/>
+    <mesh file="forearm_2.obj"/>
+    <mesh file="forearm_3.obj"/>
+    <mesh file="wrist1_0.obj"/>
+    <mesh file="wrist1_1.obj"/>
+    <mesh file="wrist1_2.obj"/>
+    <mesh file="wrist2_0.obj"/>
+    <mesh file="wrist2_1.obj"/>
+    <mesh file="wrist2_2.obj"/>
+    <mesh file="wrist3.obj"/>
+
+  </asset>
+
+  <default>
+    <default class="ur5e">
+      <joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1"/>
+      <general gaintype="fixed" biastype="affine" ctrlrange="-6.2831 6.2831" gainprm="2000" biasprm="0 -2000 -400" forcerange="-150 150"/>
+      <default class="size3">
+        <default class="size3_limited">
+          <joint range="-3.1415 3.1415"/>
+          <general ctrlrange="-3.1415 3.1415"/>
+        </default>
+      </default>
+      <default class="size1">
+        <general gainprm="500" biasprm="0 -500 -100" forcerange="-28 28"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="capsule" group="3"/>
+        <default class="eef_collision">
+          <geom type="cylinder"/>
+        </default>
+      </default>
+      <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+    </default>
+
+  </default>
+
+  <worldbody>
+    <light pos="0 0 3.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
+
+    <!-- Table -->
+    <body name="table" pos="0 0 0">
+      <geom name="table_top" type="box" pos="0.5 0 0.4" size="0.4 0.6 0.02" material="table"/>
+      <geom name="table_leg1" type="box" pos="0.2 0.4 0.2" size="0.03 0.03 0.2" material="table"/>
+      <geom name="table_leg2" type="box" pos="0.2 -0.4 0.2" size="0.03 0.03 0.2" material="table"/>
+      <geom name="table_leg3" type="box" pos="0.8 0.4 0.2" size="0.03 0.03 0.2" material="table"/>
+      <geom name="table_leg4" type="box" pos="0.8 -0.4 0.2" size="0.03 0.03 0.2" material="table"/>
+    </body>
+
+    <!-- Target visualization sphere (for IK target) -->
+    <body name="target" pos="0.4 0.0 0.6" mocap="true">
+      <geom name="target_vis" type="sphere" size="0.03" material="target_mat" contype="0" conaffinity="0"/>
+    </body>
+
+    <!-- UR5e robot mounted on table edge -->
+    <body name="base" pos="0 0 0.42" quat="0 0 0 -1" childclass="ur5e">
+      <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072"/>
+      <geom mesh="base_0" material="black" class="visual"/>
+      <geom mesh="base_1" material="jointgray" class="visual"/>
+      <body name="shoulder_link" pos="0 0 0.163">
+        <inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666"/>
+        <joint name="shoulder_pan_joint" class="size3" axis="0 0 1"/>
+        <geom mesh="shoulder_0" material="urblue" class="visual"/>
+        <geom mesh="shoulder_1" material="black" class="visual"/>
+        <geom mesh="shoulder_2" material="jointgray" class="visual"/>
+        <geom class="collision" size="0.06 0.06" pos="0 0 -0.04"/>
+        <body name="upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
+          <inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074"/>
+          <joint name="shoulder_lift_joint" class="size3"/>
+          <geom mesh="upperarm_0" material="linkgray" class="visual"/>
+          <geom mesh="upperarm_1" material="black" class="visual"/>
+          <geom mesh="upperarm_2" material="jointgray" class="visual"/>
+          <geom mesh="upperarm_3" material="urblue" class="visual"/>
+          <geom class="collision" pos="0 -0.04 0" quat="1 1 0 0" size="0.06 0.06"/>
+          <geom class="collision" size="0.05 0.2" pos="0 0 0.2"/>
+          <body name="forearm_link" pos="0 -0.131 0.425">
+            <inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095"/>
+            <joint name="elbow_joint" class="size3_limited"/>
+            <geom mesh="forearm_0" material="urblue" class="visual"/>
+            <geom mesh="forearm_1" material="linkgray" class="visual"/>
+            <geom mesh="forearm_2" material="black" class="visual"/>
+            <geom mesh="forearm_3" material="jointgray" class="visual"/>
+            <geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.055 0.06"/>
+            <geom class="collision" size="0.038 0.19" pos="0 0 0.2"/>
+            <body name="wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
+              <inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942"/>
+              <joint name="wrist_1_joint" class="size1"/>
+              <geom mesh="wrist1_0" material="black" class="visual"/>
+              <geom mesh="wrist1_1" material="urblue" class="visual"/>
+              <geom mesh="wrist1_2" material="jointgray" class="visual"/>
+              <geom class="collision" pos="0 0.05 0" quat="1 1 0 0" size="0.04 0.07"/>
+              <body name="wrist_2_link" pos="0 0.127 0">
+                <inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942"/>
+                <joint name="wrist_2_joint" axis="0 0 1" class="size1"/>
+                <geom mesh="wrist2_0" material="black" class="visual"/>
+                <geom mesh="wrist2_1" material="urblue" class="visual"/>
+                <geom mesh="wrist2_2" material="jointgray" class="visual"/>
+                <geom class="collision" size="0.04 0.06" pos="0 0 0.04"/>
+                <geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04"/>
+                <body name="wrist_3_link" pos="0 0 0.1">
+                  <inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1"
+                    diaginertia="0.000132134 9.90863e-05 9.90863e-05"/>
+                  <joint name="wrist_3_joint" class="size1"/>
+                  <geom material="linkgray" mesh="wrist3" class="visual"/>
+                  <geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02"/>
+                  <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0"/>
+
+                  <!-- End-effector site for IK (no gripper) -->
+                  <site name="ee_site" pos="0 0.1 0" quat="-1 1 0 0" type="sphere" size="0.01" rgba="1 0 0 0.5"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+
+    <!-- Optional: object to manipulate - Wandelbots lavender accent -->
+    <body name="box" pos="0.5 0.2 0.45">
+      <freejoint name="box_joint"/>
+      <geom name="box_geom" type="box" size="0.025 0.025 0.025" rgba="0.74 0.75 0.93 1" mass="0.1"/>
+    </body>
+  </worldbody>
+
+  <actuator>
+    <!-- UR5e joint actuators -->
+    <general class="size3" name="shoulder_pan" joint="shoulder_pan_joint"/>
+    <general class="size3" name="shoulder_lift" joint="shoulder_lift_joint"/>
+    <general class="size3_limited" name="elbow" joint="elbow_joint"/>
+    <general class="size1" name="wrist_1" joint="wrist_1_joint"/>
+    <general class="size1" name="wrist_2" joint="wrist_2_joint"/>
+    <general class="size1" name="wrist_3" joint="wrist_3_joint"/>
+    <general name="gripper" tendon="split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
+  </actuator>
+
+  <keyframe>
+    <!-- Official MuJoCo Menagerie UR5e home pose with gripper open (0=open) -->
+    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0 0.5 0.2 0.45 1 0 0 0"
+         ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0"/>
+  </keyframe>
+</mujoco>

robots/ur5/nova_api.py

@@ -1,5 +1,6 @@
 import json
 import math
+import os
 import threading
 import time
 import urllib.error
@@ -9,7 +10,9 @@ from typing import Any, Dict, Optional, Tuple
 
 try:
     from websockets.sync.client import connect
-except Exception:  # pragma: no cover - optional dependency
+except Exception as e:  # pragma: no cover - optional dependency
+    print(f"[Nova] WARNING: Failed to import websockets: {type(e).__name__}: {e}")
+    print(f"[Nova] Install websockets with: pip install websockets")
     connect = None
 
 
@@ -24,6 +27,72 @@ class NovaApiConfig:
     tcp_name: Optional[str] = None
     response_rate_ms: int = 200
 
+    @classmethod
+    def from_env(cls, override: Optional[Dict[str, Any]] = None) -> "NovaApiConfig":
+        """Create NovaApiConfig from environment variables.
+
+        Environment variables:
+            NOVA_INSTANCE_URL: Nova instance URL (e.g., https://nova.wandelbots.io)
+            NOVA_ACCESS_TOKEN: Nova API access token
+            NOVA_CELL_ID: Cell ID
+            NOVA_CONTROLLER_ID: Controller ID
+            NOVA_MOTION_GROUP_ID: Motion group ID
+            NOVA_MOTION_GROUP_MODEL: Motion group model (optional)
+            NOVA_TCP_NAME: TCP name (optional, default: Flange)
+            NOVA_RESPONSE_RATE_MS: Response rate in milliseconds (optional, default: 200)
+
+        Args:
+            override: Optional dict to override specific values from env vars
+
+        Returns:
+            NovaApiConfig instance
+
+        Raises:
+            ValueError: If required environment variables are not set
+        """
+        override = override or {}
+
+        # Required fields
+        # Support both NOVA_INSTANCE_URL and NOVA_API for backward compatibility
+        instance_url = override.get("instance_url") or os.getenv("NOVA_INSTANCE_URL") or os.getenv("NOVA_API")
+        access_token = override.get("access_token") or os.getenv("NOVA_ACCESS_TOKEN")
+        cell_id = override.get("cell_id") or os.getenv("NOVA_CELL_ID", "cell")
+        controller_id = override.get("controller_id") or os.getenv("NOVA_CONTROLLER_ID")
+        motion_group_id = override.get("motion_group_id") or os.getenv("NOVA_MOTION_GROUP_ID")
+
+        # Validate required fields
+        missing = []
+        if not instance_url:
+            missing.append("NOVA_INSTANCE_URL or NOVA_API")
+        if not access_token:
+            missing.append("NOVA_ACCESS_TOKEN")
+        if not controller_id:
+            missing.append("NOVA_CONTROLLER_ID")
+        if not motion_group_id:
+            missing.append("NOVA_MOTION_GROUP_ID")
+
+        if missing:
+            raise ValueError(
+                f"Missing required environment variables: {', '.join(missing)}. "
+                "Please set these environment variables or pass them in the override dict."
+            )
+
+        # Optional fields
+        motion_group_model = override.get("motion_group_model") or os.getenv("NOVA_MOTION_GROUP_MODEL")
+        tcp_name = override.get("tcp_name") or os.getenv("NOVA_TCP_NAME", "Flange")
+        response_rate_ms = override.get("response_rate_ms") or int(os.getenv("NOVA_RESPONSE_RATE_MS", "200"))
+
+        return cls(
+            instance_url=instance_url,
+            access_token=access_token,
+            cell_id=cell_id,
+            controller_id=controller_id,
+            motion_group_id=motion_group_id,
+            motion_group_model=motion_group_model,
+            tcp_name=tcp_name,
+            response_rate_ms=response_rate_ms,
+        )
+
 
 class NovaApiClient:
     def __init__(self, config: NovaApiConfig):
@@ -124,8 +193,10 @@ class NovaApiClient:
             backoff = min(backoff * 2.0, 10.0)
 
     def _connect_state_stream(self):
+        # Convert HTTP(S) URL to WebSocket URL
+        ws_url = self.config.instance_url.replace("https://", "wss://").replace("http://", "ws://")
         url = (
-            f"{self.config.instance_url}/api/v2/cells/{self.config.cell_id}/controllers/"
+            f"{ws_url}/api/v2/cells/{self.config.cell_id}/controllers/"
             f"{self.config.controller_id}/motion-groups/{self.config.motion_group_id}/state-stream"
             f"?response_rate={int(self.config.response_rate_ms)}"
         )

robots/ur5/ur5_env.py

@@ -1,4 +1,4 @@
-"""Gymnasium environment for Universal Robots UR5e with Robotiq 2F-85 gripper."""
+"""Gymnasium environment for Universal Robots UR5e (with optional gripper)."""
 from typing import Optional
 
 import gymnasium as gym
@@ -24,8 +24,8 @@ except Exception:
 
 class UR5Env(gym.Env):
     """
-    Gymnasium environment for Universal Robots UR5e with Robotiq 2F-85 gripper.
-    UR5e has 6 actuated joints, gripper has 1 actuator controlling both fingers.
+    Gymnasium environment for Universal Robots UR5e.
+    UR5e has 6 actuated joints. Optional Robotiq 2F-85 gripper (detected automatically).
     """
     metadata = {"render_modes": ["human", "rgb_array"], "render_fps": 30}
 
@@ -79,9 +79,12 @@ class UR5Env(gym.Env):
 
         self.data = mujoco.MjData(self.model)
 
-        # Number of actuators: 6 arm joints + 1 gripper
+        # Detect if gripper is present (scene.xml has 7 actuators, scene_t_push.xml has 6)
+        self.has_gripper = self.model.nu > 6
+
+        # Number of actuators: 6 arm joints + optional gripper
         self.num_arm_actuators = 6
-        self.num_actuators = self.model.nu  # 7 total
+        self.num_actuators = self.model.nu
 
         # Find site IDs
         self.ee_site_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_SITE, "ee_site")
@@ -89,22 +92,29 @@ class UR5Env(gym.Env):
         self.t_object_body_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, "t_object")
         self.t_target_body_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_BODY, "t_target")
 
-        # Action space: 6 joint positions + 1 gripper (0-255)
-        self.action_space = spaces.Box(
-            low=np.array([-6.28, -6.28, -3.14, -6.28, -6.28, -6.28, 0], dtype=np.float32),
-            high=np.array([6.28, 6.28, 3.14, 6.28, 6.28, 6.28, 255], dtype=np.float32),
-            dtype=np.float32
-        )
+        # Action space: 6 joint positions + optional gripper (0-255)
+        if self.has_gripper:
+            self.action_space = spaces.Box(
+                low=np.array([-6.28, -6.28, -3.14, -6.28, -6.28, -6.28, 0], dtype=np.float32),
+                high=np.array([6.28, 6.28, 3.14, 6.28, 6.28, 6.28, 255], dtype=np.float32),
+                dtype=np.float32
+            )
+        else:
+            self.action_space = spaces.Box(
+                low=np.array([-6.28, -6.28, -3.14, -6.28, -6.28, -6.28], dtype=np.float32),
+                high=np.array([6.28, 6.28, 3.14, 6.28, 6.28, 6.28], dtype=np.float32),
+                dtype=np.float32
+            )
 
         # Observation space:
         # - Joint positions (6)
         # - Joint velocities (6)
         # - End-effector position (3)
         # - End-effector orientation (4, quaternion)
-        # - Gripper state (1)
+        # - Gripper state (1, optional)
         # - Target position (3)
-        # Total: 6 + 6 + 3 + 4 + 1 + 3 = 23
-        obs_dim = 23
+        # Total: 6 + 6 + 3 + 4 + [0 or 1] + 3 = 22 or 23
+        obs_dim = 23 if self.has_gripper else 22
         self.observation_space = spaces.Box(
             low=-np.inf, high=np.inf,
             shape=(obs_dim,),
@@ -120,6 +130,12 @@ class UR5Env(gym.Env):
         self.steps = 0
         self.max_steps = 1000
 
+        # Initialize Nova API attributes FIRST (before any methods that might call _sync_nova_state)
+        self._nova_client = None
+        self._use_nova_state_stream = False
+        self._use_nova_ik = False
+        self._last_nova_sequence = None
+
         # IK controller for end-effector control
         self.controller = IKController(
             model=self.model,
@@ -142,50 +158,75 @@ class UR5Env(gym.Env):
 
         # Whether to use orientation in IK (user can toggle this)
         self._use_orientation = True
-        # Gripper target: Robotiq 2F-85 uses 0=open, 255=closed
-        self._gripper_target = 0.0  # Start open
+
+        # Gripper target (only if gripper exists)
+        if self.has_gripper:
+            self._gripper_target = 0.0  # Start open
 
         # Control mode: 'ik' (end-effector target) or 'joint' (direct joint positions)
         self._control_mode = 'ik'
         # Direct joint targets (used when control_mode is 'joint')
         self._joint_targets = self.DEFAULT_HOME_POSE.copy()
 
-        self._nova_client = None
-        self._use_nova_state_stream = False
-        self._use_nova_ik = False
-        self._last_nova_sequence = None
-
+        # Configure Nova API if requested (must be after Nova attributes are initialized)
         if nova_api_config:
             self._configure_nova_api(nova_api_config)
 
     def _configure_nova_api(self, nova_api_config: dict) -> None:
+        print(f"[Nova] Configuring Nova API with config: {nova_api_config}")
+
         if nova_api is None:
-            print("Nova API integration requested but nova_api module is unavailable.")
+            print("[Nova] ERROR: Nova API integration requested but nova_api module is unavailable.")
             return
 
         use_state = bool(nova_api_config.get("use_state_stream"))
         use_ik = bool(nova_api_config.get("use_ik"))
+        print(f"[Nova] use_state_stream={use_state}, use_ik={use_ik}")
+
         if not (use_state or use_ik):
+            print("[Nova] Neither state streaming nor IK requested, skipping configuration")
             return
 
         try:
-            config = nova_api.NovaApiConfig(
-                instance_url=nova_api_config["instance_url"],
-                access_token=nova_api_config["access_token"],
-                cell_id=nova_api_config["cell_id"],
-                controller_id=nova_api_config["controller_id"],
-                motion_group_id=nova_api_config["motion_group_id"],
-                motion_group_model=nova_api_config.get("motion_group_model"),
-                tcp_name=nova_api_config.get("tcp_name"),
-                response_rate_ms=int(nova_api_config.get("response_rate_ms", 200)),
-            )
+            # Try to create config from environment variables first, with override from nova_api_config
+            # This allows env vars to be the primary source with optional dict overrides
+            print("[Nova] Attempting to load config from environment variables...")
+            try:
+                config = nova_api.NovaApiConfig.from_env(override=nova_api_config)
+                print(f"[Nova] Config loaded from env: {config.instance_url}, controller={config.controller_id}, motion_group={config.motion_group_id}")
+            except ValueError as env_err:
+                # If env vars are not set, fall back to using the dict directly
+                # (backward compatibility)
+                if all(k in nova_api_config for k in ["instance_url", "access_token", "cell_id",
+                                                       "controller_id", "motion_group_id"]):
+                    config = nova_api.NovaApiConfig(
+                        instance_url=nova_api_config["instance_url"],
+                        access_token=nova_api_config["access_token"],
+                        cell_id=nova_api_config["cell_id"],
+                        controller_id=nova_api_config["controller_id"],
+                        motion_group_id=nova_api_config["motion_group_id"],
+                        motion_group_model=nova_api_config.get("motion_group_model"),
+                        tcp_name=nova_api_config.get("tcp_name", "Flange"),
+                        response_rate_ms=int(nova_api_config.get("response_rate_ms", 200)),
+                    )
+                else:
+                    print(f"[Nova] ERROR: Environment variables not complete, and dict config incomplete: {env_err}")
+                    raise env_err
+
+            print(f"[Nova] Creating NovaApiClient...")
             self._nova_client = nova_api.NovaApiClient(config)
             self._use_nova_state_stream = use_state
             self._use_nova_ik = use_ik
+            print(f"[Nova] Client created successfully. State streaming: {use_state}, IK: {use_ik}")
+
             if self._use_nova_state_stream:
+                print("[Nova] Starting state stream...")
                 self._nova_client.start_state_stream()
+                print("[Nova] State stream started successfully")
         except Exception as exc:
-            print(f"Failed to initialize Nova API integration: {exc}")
+            print(f"[Nova] ERROR: Failed to initialize Nova API integration: {exc}")
+            import traceback
+            traceback.print_exc()
             self._nova_client = None
             self._use_nova_state_stream = False
             self._use_nova_ik = False
@@ -244,12 +285,15 @@ class UR5Env(gym.Env):
         return self._use_orientation
 
     def set_gripper(self, value: float):
-        """Set gripper target. Robotiq 2F-85: 0=open, 255=closed."""
-        self._gripper_target = np.clip(value, 0, 255)
+        """Set gripper target. Robotiq 2F-85: 0=open, 255=closed. Only works if gripper exists."""
+        if self.has_gripper:
+            self._gripper_target = np.clip(value, 0, 255)
 
     def get_gripper(self):
-        """Get gripper target."""
-        return self._gripper_target
+        """Get gripper target. Returns 0 if no gripper."""
+        if self.has_gripper:
+            return self._gripper_target
+        return 0
 
     def set_control_mode(self, mode: str):
         """Set control mode: 'ik' or 'joint'."""
@@ -331,15 +375,19 @@ class UR5Env(gym.Env):
         # End-effector orientation
         ee_quat = self.get_end_effector_quat()
 
-        # Gripper state (read from actuator ctrl, normalized)
-        gripper_state = np.array([self.data.ctrl[6] / 255.0])
-
         # Target position
         target = self._target_pos.copy()
 
-        return np.concatenate([
-            joint_pos, joint_vel, ee_pos, ee_quat, gripper_state, target
-        ]).astype(np.float32)
+        # Build observation (conditionally include gripper state)
+        if self.has_gripper:
+            gripper_state = np.array([self.data.ctrl[6] / 255.0])
+            return np.concatenate([
+                joint_pos, joint_vel, ee_pos, ee_quat, gripper_state, target
+            ]).astype(np.float32)
+        else:
+            return np.concatenate([
+                joint_pos, joint_vel, ee_pos, ee_quat, target
+            ]).astype(np.float32)
 
     def set_command(self, vx: float = 0.0, vy: float = 0.0, vyaw: float = 0.0):
         """Compatibility method - for arm robots, this does nothing.
@@ -367,7 +415,8 @@ class UR5Env(gym.Env):
         # Set to home pose
         self.data.qpos[:6] = self.DEFAULT_HOME_POSE.copy()
         self.data.ctrl[:6] = self.DEFAULT_HOME_POSE.copy()
-        self.data.ctrl[6] = 0  # Gripper open (Robotiq: 0=open, 255=closed)
+        if self.has_gripper:
+            self.data.ctrl[6] = 0  # Gripper open (Robotiq: 0=open, 255=closed)
 
         # Reset task objects if present
         self._reset_freejoint("box_joint", [0.5, 0.2, 0.45], [1, 0, 0, 0])
@@ -386,7 +435,8 @@ class UR5Env(gym.Env):
         self._target_euler = np.array([roll, pitch, yaw], dtype=np.float32)
 
         self.data.mocap_pos[0] = self._target_pos
-        self._gripper_target = 0.0  # Open gripper
+        if self.has_gripper:
+            self._gripper_target = 0.0  # Open gripper
         self._joint_targets = self.DEFAULT_HOME_POSE.copy()
 
         self.steps = 0
@@ -435,8 +485,9 @@ class UR5Env(gym.Env):
         # Apply joint targets
         self.data.ctrl[:6] = joint_targets
 
-        # Apply gripper target
-        self.data.ctrl[6] = self._gripper_target
+        # Apply gripper target if gripper exists
+        if self.has_gripper:
+            self.data.ctrl[6] = self._gripper_target
 
         # Step simulation
         mujoco.mj_step(self.model, self.data)

scripts/discover_nova_config.py

@@ -0,0 +1,160 @@
+#!/usr/bin/env python3
+"""Discover Nova API configuration from your instance.
+
+This script connects to your Nova instance and discovers available
+controllers and motion groups to help you configure the environment variables.
+
+Requirements:
+    - python-dotenv: pip install python-dotenv
+"""
+
+import json
+import os
+import sys
+import urllib.request
+from pathlib import Path
+
+try:
+    from dotenv import load_dotenv
+except ImportError:
+    print("Error: python-dotenv is required")
+    print("Install with: pip install python-dotenv")
+    sys.exit(1)
+
+
+def request_json(url, access_token):
+    """Make a GET request to the Nova API."""
+    request = urllib.request.Request(url)
+    request.add_header("Authorization", f"Bearer {access_token}")
+    request.add_header("Content-Type", "application/json")
+    try:
+        with urllib.request.urlopen(request, timeout=10) as response:
+            body = response.read().decode("utf-8")
+            return json.loads(body) if body else {}
+    except urllib.error.HTTPError as exc:
+        body = exc.read().decode("utf-8") if exc.fp else ""
+        print(f"Error: Nova API returned status {exc.code}")
+        print(f"Response: {body}")
+        return None
+
+
+def main():
+    # Try to load from .env.local first, then .env
+    env_local = Path("nova-sim/.env.local")
+    env_file = Path("nova-sim/.env")
+
+    if env_local.exists():
+        load_dotenv(env_local)
+        print(f"Loaded configuration from {env_local}")
+    elif env_file.exists():
+        load_dotenv(env_file)
+        print(f"Loaded configuration from {env_file}")
+    else:
+        print("Error: No .env or .env.local file found")
+        print("Create one with at least NOVA_INSTANCE_URL and NOVA_ACCESS_TOKEN")
+        return 1
+
+    # Get configuration from environment
+    instance_url = os.getenv("NOVA_INSTANCE_URL") or os.getenv("NOVA_API")
+    access_token = os.getenv("NOVA_ACCESS_TOKEN")
+    cell_id = os.getenv("NOVA_CELL_ID", "cell")
+
+    if not instance_url:
+        print("Error: NOVA_INSTANCE_URL (or NOVA_API) not set")
+        return 1
+
+    if not access_token:
+        print("Error: NOVA_ACCESS_TOKEN not set")
+        return 1
+
+    print(f"\nConnecting to Nova instance: {instance_url}")
+    print(f"Cell ID: {cell_id}")
+    print()
+
+    # Fetch controllers
+    print("Fetching controllers...")
+    controllers_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers"
+    controllers_data = request_json(controllers_url, access_token)
+
+    if not controllers_data:
+        return 1
+
+    controllers = controllers_data.get("instances", [])
+    if not controllers:
+        print("No controllers found")
+        return 1
+
+    print(f"Found {len(controllers)} controller(s):")
+    print()
+
+    for controller in controllers:
+        controller_id = controller.get("controller", "unknown")
+        print(f"Controller ID: {controller_id}")
+
+        # Fetch motion groups for this controller
+        motion_groups_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers/{controller_id}/motion-groups"
+        motion_groups_data = request_json(motion_groups_url, access_token)
+
+        if not motion_groups_data:
+            continue
+
+        motion_groups = motion_groups_data.get("motion_groups", [])
+        print(f"  Motion groups: {len(motion_groups)}")
+
+        for mg in motion_groups:
+            mg_id = mg.get("motion_group", "unknown")
+            model = mg.get("model_from_controller", "unknown")
+            name = mg.get("name_from_controller", "")
+
+            print(f"    - ID: {mg_id}")
+            print(f"      Model: {model}")
+            if name:
+                print(f"      Name: {name}")
+
+            # Fetch motion group description
+            desc_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers/{controller_id}/motion-groups/{mg_id}/description"
+            desc_data = request_json(desc_url, access_token)
+
+            if desc_data:
+                tcps = desc_data.get("tcps", {})
+                if tcps:
+                    print(f"      Available TCPs: {', '.join(tcps.keys())}")
+            print()
+
+    # Generate recommended .env configuration
+    print("\n" + "=" * 60)
+    print("RECOMMENDED CONFIGURATION")
+    print("=" * 60)
+
+    if controllers:
+        controller = controllers[0]
+        controller_id = controller.get("controller", "unknown")
+
+        # Get motion groups for first controller
+        motion_groups_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers/{controller_id}/motion-groups"
+        motion_groups_data = request_json(motion_groups_url, access_token)
+
+        if motion_groups_data:
+            motion_groups = motion_groups_data.get("motion_groups", [])
+            if motion_groups:
+                mg = motion_groups[0]
+                mg_id = mg.get("motion_group", "unknown")
+                model = mg.get("model_from_controller", "unknown")
+
+                print("\nAdd these to your .env.local file:")
+                print(f"""
+NOVA_INSTANCE_URL={instance_url}
+NOVA_ACCESS_TOKEN={access_token[:20]}...  # (your full token)
+NOVA_CELL_ID={cell_id}
+NOVA_CONTROLLER_ID={controller_id}
+NOVA_MOTION_GROUP_ID={mg_id}
+NOVA_MOTION_GROUP_MODEL={model}
+NOVA_TCP_NAME=Flange
+NOVA_RESPONSE_RATE_MS=200
+""")
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

scripts/discover_nova_simple.py

@@ -0,0 +1,184 @@
+#!/usr/bin/env python3
+"""Discover Nova API configuration - simple version without dependencies."""
+
+import json
+import os
+import sys
+import urllib.request
+from pathlib import Path
+
+
+def load_env_file(filepath):
+    """Simple .env file loader."""
+    env_vars = {}
+    if not filepath.exists():
+        return env_vars
+
+    with open(filepath, 'r') as f:
+        for line in f:
+            line = line.strip()
+            if line and not line.startswith('#') and '=' in line:
+                key, value = line.split('=', 1)
+                env_vars[key.strip()] = value.strip()
+    return env_vars
+
+
+def request_json(url, access_token):
+    """Make a GET request to the Nova API."""
+    request = urllib.request.Request(url)
+    request.add_header("Authorization", f"Bearer {access_token}")
+    request.add_header("Content-Type", "application/json")
+    try:
+        with urllib.request.urlopen(request, timeout=10) as response:
+            body = response.read().decode("utf-8")
+            return json.loads(body) if body else {}
+    except urllib.error.HTTPError as exc:
+        body = exc.read().decode("utf-8") if exc.fp else ""
+        print(f"Error: Nova API returned status {exc.code}")
+        print(f"Response: {body}")
+        return None
+    except Exception as exc:
+        print(f"Error: {exc}")
+        return None
+
+
+def main():
+    # Try to load from .env.local first, then .env
+    env_local = Path("nova-sim/.env.local")
+    env_file = Path("nova-sim/.env")
+
+    env_vars = {}
+    if env_local.exists():
+        env_vars = load_env_file(env_local)
+        print(f"Loaded configuration from {env_local}")
+    elif env_file.exists():
+        env_vars = load_env_file(env_file)
+        print(f"Loaded configuration from {env_file}")
+    else:
+        print("Error: No .env or .env.local file found")
+        print("Create one with at least NOVA_INSTANCE_URL and NOVA_ACCESS_TOKEN")
+        return 1
+
+    # Get configuration
+    instance_url = env_vars.get("NOVA_INSTANCE_URL") or env_vars.get("NOVA_API")
+    access_token = env_vars.get("NOVA_ACCESS_TOKEN")
+    cell_id = env_vars.get("NOVA_CELL_ID", "cell")
+
+    if not instance_url:
+        print("Error: NOVA_INSTANCE_URL (or NOVA_API) not set in .env file")
+        return 1
+
+    if not access_token:
+        print("Error: NOVA_ACCESS_TOKEN not set in .env file")
+        return 1
+
+    print(f"\nConnecting to Nova instance: {instance_url}")
+    print(f"Cell ID: {cell_id}")
+    print()
+
+    # Fetch controllers
+    print("Fetching controllers...")
+    controllers_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers"
+    controllers_data = request_json(controllers_url, access_token)
+
+    if not controllers_data:
+        return 1
+
+    # Handle both list and dict responses
+    if isinstance(controllers_data, list):
+        controllers = controllers_data
+    else:
+        controllers = controllers_data.get("instances", [])
+
+    if not controllers:
+        print("No controllers found")
+        return 1
+
+    print(f"Found {len(controllers)} controller(s):")
+    print()
+
+    for controller in controllers:
+        # Handle both string and dict controller responses
+        if isinstance(controller, str):
+            controller_id = controller
+        else:
+            controller_id = controller.get("controller", "unknown")
+        print(f"Controller ID: {controller_id}")
+
+        # Fetch motion groups - try cell-level endpoint first
+        motion_groups_url = f"{instance_url}/api/v2/cells/{cell_id}/motion-groups"
+        motion_groups_data = request_json(motion_groups_url, access_token)
+
+        if not motion_groups_data:
+            # Try controller-specific endpoint
+            motion_groups_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers/{controller_id}/motion-groups"
+            motion_groups_data = request_json(motion_groups_url, access_token)
+
+        if not motion_groups_data:
+            print("  Motion groups: Could not fetch")
+            continue
+
+        motion_groups = motion_groups_data.get("motion_groups", [])
+        print(f"  Motion groups: {len(motion_groups)}")
+
+        for mg in motion_groups:
+            mg_id = mg.get("motion_group", "unknown")
+            model = mg.get("model_from_controller", "unknown")
+            name = mg.get("name_from_controller", "")
+
+            print(f"    - ID: {mg_id}")
+            print(f"      Model: {model}")
+            if name:
+                print(f"      Name: {name}")
+
+            # Fetch motion group description
+            desc_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers/{controller_id}/motion-groups/{mg_id}/description"
+            desc_data = request_json(desc_url, access_token)
+
+            if desc_data:
+                tcps = desc_data.get("tcps", {})
+                if tcps:
+                    print(f"      Available TCPs: {', '.join(tcps.keys())}")
+            print()
+
+    # Generate recommended .env configuration
+    print("\n" + "=" * 60)
+    print("RECOMMENDED CONFIGURATION")
+    print("=" * 60)
+
+    if controllers:
+        # Handle both string and dict controller responses
+        controller = controllers[0]
+        if isinstance(controller, str):
+            controller_id = controller
+        else:
+            controller_id = controller.get("controller", "unknown")
+
+        # Get motion groups for first controller
+        motion_groups_url = f"{instance_url}/api/v2/cells/{cell_id}/controllers/{controller_id}/motion-groups"
+        motion_groups_data = request_json(motion_groups_url, access_token)
+
+        if motion_groups_data:
+            motion_groups = motion_groups_data.get("motion_groups", [])
+            if motion_groups:
+                mg = motion_groups[0]
+                mg_id = mg.get("motion_group", "unknown")
+                model = mg.get("model_from_controller", "unknown")
+
+                print("\nAdd/update these in your .env.local file:")
+                print(f"""
+NOVA_INSTANCE_URL={instance_url}
+NOVA_ACCESS_TOKEN={access_token}
+NOVA_CELL_ID={cell_id}
+NOVA_CONTROLLER_ID={controller_id}
+NOVA_MOTION_GROUP_ID={mg_id}
+NOVA_MOTION_GROUP_MODEL={model}
+NOVA_TCP_NAME=Flange
+NOVA_RESPONSE_RATE_MS=200
+""")
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

scripts/test_nova_connection.py

@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+"""Test Nova API connection and configuration."""
+
+import os
+import sys
+from pathlib import Path
+
+# Add parent directory to path
+sys.path.insert(0, str(Path(__file__).parent.parent))
+
+# Simple .env loader
+def load_env_file(filepath):
+    """Simple .env file loader."""
+    if not filepath.exists():
+        return {}
+    env_vars = {}
+    with open(filepath, 'r') as f:
+        for line in f:
+            line = line.strip()
+            if line and not line.startswith('#') and '=' in line:
+                key, value = line.split('=', 1)
+                env_vars[key.strip()] = value.strip()
+                os.environ[key.strip()] = value.strip()
+    return env_vars
+
+
+def main():
+    # Load .env.local
+    env_path = Path(__file__).parent.parent / ".env.local"
+    if not env_path.exists():
+        print(f"Error: {env_path} not found")
+        return 1
+
+    print(f"Loading environment from {env_path}")
+    env_vars = load_env_file(env_path)
+
+    # Import after loading env vars
+    try:
+        from robots.ur5 import nova_api
+    except ImportError:
+        print("Error: Could not import nova_api module")
+        print("Make sure you're in the nova-sim directory")
+        return 1
+
+    # Try to create config
+    print("\nTesting Nova API configuration...")
+    try:
+        config = nova_api.NovaApiConfig.from_env()
+        print("✓ Configuration created successfully!")
+        print(f"\n  Instance URL: {config.instance_url}")
+        print(f"  Cell ID: {config.cell_id}")
+        print(f"  Controller ID: {config.controller_id}")
+        print(f"  Motion Group ID: {config.motion_group_id}")
+        print(f"  Motion Group Model: {config.motion_group_model}")
+        print(f"  TCP Name: {config.tcp_name}")
+        print(f"  Response Rate: {config.response_rate_ms}ms")
+    except ValueError as e:
+        print(f"✗ Configuration error: {e}")
+        return 1
+
+    # Try to create client
+    print("\nCreating Nova API client...")
+    try:
+        client = nova_api.NovaApiClient(config)
+        print("✓ Client created successfully!")
+    except Exception as e:
+        print(f"✗ Client creation error: {e}")
+        return 1
+
+    # Try to fetch motion group description
+    print("\nFetching motion group description...")
+    try:
+        description = client._ensure_motion_group_description()
+        if description:
+            print("✓ Successfully fetched motion group description!")
+            print(f"\n  Motion Group Model: {description.get('motion_group_model', 'N/A')}")
+            tcps = description.get('tcps', {})
+            if tcps:
+                print(f"  Available TCPs: {', '.join(tcps.keys())}")
+        else:
+            print("✗ No description returned")
+            return 1
+    except Exception as e:
+        print(f"✗ Error fetching description: {e}")
+        return 1
+
+    print("\n" + "=" * 60)
+    print("SUCCESS! Your Nova API configuration is working correctly.")
+    print("=" * 60)
+    print("\nYou can now use Nova API integration with the UR5 environment:")
+    print("""
+    from robots.ur5.ur5_env import UR5Env
+
+    # Enable both state streaming and Nova IK
+    env = UR5Env(
+        render_mode="human",
+        nova_api_config={
+            "use_state_stream": True,
+            "use_ik": True
+        }
+    )
+    """)
+
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())