25.7 - August 2025

Wandelbots NOVA 25.7 brings significant improvements to the API, including BUS integration endpoints, enhanced robot support, and a fully integrated Python SDK for streamlined development.

BREAKING CHANGES

Parameter name change

For those consulting API v2, please note that for clarity purposes, certain endpoints under Controller have had the parameter name position changed to initial_joint_position. This is only relevant for when Virtual is selected as the type of configuration. The default initial position remains the same.

It is mandatory to update any relevant API calls to reflect this parameter change, otherwise functionality will be broken. Affected endpoints include:

• Add Robot Controller (opens in a new tab)
• Robot Controller (opens in a new tab)
• Update Robot Controller (opens in a new tab)

Robot controller mode endpoint moved

The endpoint for the robot controller mode has been moved from
GET /api/v2/cells/{cell}/controllers/{controller}/mode
to GET /api/v2/cells/{cell}/controllers/{controller}/state (opens in a new tab).

Collision scenes renamed to collision setups

The endpoints under store collision scenes have been renamed. Thus, they all now refer to setups instead. These are:

• List Collision Setups (opens in a new tab)
• Get Collision Setup (opens in a new tab)
• Store Collision Setup (opens in a new tab)
• Delete Collision Setup (opens in a new tab)

Trajectory planning parameter renamed

A parameter in the Plan Trajectory (opens in a new tab) endpoint has been changed from robot_setup to motion_group_setup.

What's new?

BUS integration endpoints

Wandelbots NOVA now supports BUS integration endpoints, allowing you to manage and configure bus systems more effectively:

• Get Service > GET /api/v2/cells/{cell}/bus-ios
• Add Service > POST /api/v2/cells/{cell}/bus-ios
• Clear Service > DELETE /api/v2/cells/{cell}/bus-ios
• List Descriptions > GET /api/v2/cells/{cell}/bus-ios/ios/description
• State > GET /api/v2/cells/{cell}/bus-ios/state
• Get Input/Output Values > GET /api/v2/cells/{cell}/bus-ios/ios/values
• Set Input/Output Values > PUT /api/v2/cells/{cell}/bus-ios/ios/values

PROFINET support

Wandelbots NOVA now supports PROFINET, a standard for industrial Ethernet networks. This allows for real-time communication between automation devices, such as PLCs and field devices like sensors, actuators, and robots.

Refer to the setup documentation to help you integrate PROFINET on your Wandelbots NOVA instance.

Wandelbots NOVA now offers the following PROFINET related API endpoints:

• Get PROFINET Description > GET /api/v2/cells/{cell}/bus-ios/profinet/description
• List PROFINET Input/Output configuration > GET /api/v2/cells/{cell}/bus-ios/profinet/ios
• Add PROFINET Input/Output > PUT /api/v2/cells/{cell}/bus-ios/profinet/ios/{io}
• Remove PROFINET Input/Output > DELETE /api/v2/cells/{cell}/bus-ios/profinet/ios/{io}
• Set PROFINET Inputs/Outputs from file > PUT /api/v2/cells/{cell}/bus-ios/profinet/iofile
• PROFINET Inputs/Outputs to file > GET /api/v2/cells/{cell}/bus-ios/profinet/iofile

Simulating with realvirtual.io

While the documentation still covers the power of simulating with NVIDIA Isaac Sim, it is now possible to also simulate using realvirtual.io. All information can be found here.

Supported robots

The following robots have joined the Wandelbots NOVA family:

• FANUC M-710iC/20L
• FANUC CRX-5iA

Python SDK

Wandelbots NOVA offers a fully integrated Python SDK, simplifying the development process while serving as a powerful tool for robot programming.

With the Wandelbots NOVA Python SDK, you now:

1. Install the SDK directly
2. Develop robot programs using Python code and SDK decorators
3. Optionally use the modern uv package manager for dependency management and project scaffolding
4. Get direct @nova.program decorators for defining robot programs
5. Use built-in 3D visualization with the Rerun bridge
6. Integrate Wandelscript for domain-specific robot programming
7. Access instance-deployed Jupyter Notebooks for interactive development

These changes ensure an integrated experience, streamlined onboarding, and provide decorators while remaining extensible.

Migrating from CLI to Python SDK

If you want to migrate from the Wandelbots NOVA CLI to the Python SDK, you can follow these steps:

• Backend logic: Rewrite robot control logic in Python using the Nova SDK decorators and classes
• Web interface: Either use FastAPI's built-in documentation interface or create a separate TypeScript frontend that calls your Python API
• Robot programs: Convert to Python using @nova.program() decorators

Relevant documentation

• NOVA Python SDK (opens in a new tab)
• NOVA Python SDK DeepWiki (opens in a new tab)
• Introduction into Path Planning with the NOVA Python SDK

Container resources added to app configuration

Upon adding an app via Add Application (opens in a new tab) or via Add Cell (opens in a new tab), you can now specify the following container resources:

• intel_gpu: specifying the number of GPUs. Accepts integer values between 0 and 1.
• memory_limit: Indicates the maximum memory allocated to the app. Provided as a string, for example 1000Mi.

Please note that this feature is only available on Wandelbots NOVA systems installed on virtual machine and IPCs.

Configuration import/export moved

Previously available in the sidebar of the Setup app, importing and exporting cell configurations is now available in the cell menu.

When exporting configurations, you can now select which resources to export. Importing now features a progress bar for a better overall experience.

Remember to export configurations as a backup before updating to a new Wandelbots NOVA version.

Limit added for coupled elbow shoulder joints

Coupled elbow shoulder joints can now receive joint limits coupled_shoulder_elbow_joint via the Wandelbots NOVA API. Use this limit with FANUC robots to ensure consistent behavior between NOVA and the physical controller.

What's better?

Wandelbots NOVA now runs on real-time kernels

Wandelbots NOVA now runs on real-time kernels by default, ensuring better performance and stability for real-time applications. The Wandelbots NOVA image available in Developer Portal has been updated to include a real-time kernel by default.

Action required: This change affects performance of KUKA controllers and high-frequency applications. More information can be found here.

Fixed ambiguous naming conventions

Certain endpoints had ambiguous naming conventions. This has since been updated for clarity. For example, Running has been changed to TrajectoryRunning or JoggingRunning depending on what option is selected under details. The affected endpoints are:

Retrieving configuration backups

If you indicate no specific resources when using Retrieve Configuration Backup (opens in a new tab), all resources in the cell will be included in the backup.

Added example requests for motion planning endpoints

The API documentation now includes example request payloads for motion planning endpoints, using the UR5e robot model.

These additions make it easier to understand and try out the Forward Kinematics and Inverse Kinematics endpoints.

Bug fixes

Fix for unnecessary locking mechanism of motions

It was noted that locking of the motions to ensure control by only one service within Wandelbots NOVA led to preventing re-execution of a motion. This has been fixed so that single source of control functions as expected and motion groups can only start from standstill.

Velocity issues during trajectory execution

Trajectory execution no longer proceeds with a default high speed when the velocity is set to 0.

On the v2 endpoint Execute Trajectory (opens in a new tab), the requested value of playback_speed_in_percent must now be between 1 and 100, otherwise you will get an error from the PauseMovementResponse message and no movement will occur.

The tcp_velocity_limit parameter on the v1 endpoint Plan Trajectory (opens in a new tab) also no longer accepts a value of 0.

KUKA RSI disconnects fixed

If you have been experiencing RSI disconnects with KUKA robots, this release includes fixes to the underlying issues: Wandelbots NOVA needs to be running on a real-time enabled kernel to ensure that the KUKA RSI connection remains stable.

If you're using an older version of Wandelbots NOVA, it is likely that your Wandelbots NOVA instance does not run on a real-time kernel. Please refer to the real-time kernel installation guide for instructions.

Cartesian jogging fixed for FANUC CRX models

FANUC CRX-5iA did not respond to cartesian jogging commands with both the Execute Joint Jogging (opens in a new tab) endpoint and the jogging panel in Robot Pad affected.

This issue was resolved with this release, and cartesian jogging now works as expected for FANUC CRX models.

On their final mission

Previously in the Setup app, there were references to the Robot Pad starter kit and Simulation starter kit. These are no longer present in the interface.

Technical details

Updated KUKA option package

Version 1.4.1.0 of the KUKA integration option package is now available for improved buffer handling and optimized thread scheduling. Please update the KUKA option package on your controller to the latest version for optimal Wandelbots NOVA support.

Legal terms updated

End User License Agreement (EULA) and Terms and Conditions in the Developer Portal reference Wandelbots NOVA instead of the previous Wandelbots NOVA beta, reflecting the final transition out of the beta phase.

No changes were made to functionality. This is a terminology and branding update to align legal documentation with the current product.

Documentation

• Deprecated the Collision Handling section in Wandelscript section in favor of upcoming reviewed documentation on collision handling.
  Refer to the Migration Guide for more information on how to plan collision-free trajectories with NOVA API v2 and its new Store collision setup type.
• The Introduction to developing an app on Wandelbots NOVA page has been updated to give an overview on the possibilities and available GitHub repositories.