# Wandelbots Documentation

> Documentation for Wandelbots NOVA Cloud, NOVA OS, Simulation, and Developer — a robotics programming platform for industrial automation.

## NOVA Cloud

- [Introduction](/nova-cloud/introduction.md): NOVA Cloud is where you create your Wandelbots NOVA account, receive your license, create cloud instances, download installation and robot files, and manage the instances and users in your organization.
- [Quickstart](/nova-cloud/quickstart.md): Create a cloud instance with pre-installed Wandelbots NOVA, then connect your instance to NOVA Cloud so it appears in the fleet. Connecting works the same way for cloud instances, virtual machines, and industrial PCs.
- [Deployment](/nova-cloud/deployment.md): Deployment of NOVA Cloud presents the 3 deployment options for NOVA Cloud: SaaS, on-premises, and self-hosted. It also explains the differences between the deployment options and how to choose the right one for your organization.
- [Accounts](/nova-cloud/accounts.md): Before you can work with Wandelbots NOVA, you need a NOVA account and a license assigned to it. Learn how to create the account, get the license, and what each of them gives you access to.
- [Licenses](/nova-cloud/licenses.md): Wandelbots NOVA licenses are assigned to your NOVA account and activated from NOVA Cloud. Learn about the license types, their limits, seats, and how activation works for cloud and on-premise instances.
- [Downloads](/nova-cloud/downloads.md): The Downloads area of NOVA Cloud provides the Wandelbots NOVA image, robot option packages, fieldbus device description files, and simulation asset packages. Learn which file you need for which task.
- [Cloud instances](/nova-cloud/cloud-instances.md): Cloud instances are hosted Wandelbots NOVA instances that run without local installation. Learn how to create, open, and keep them, what their limits are, and where to get the access token for API and SDK use.
- [Tutorials and support](/nova-cloud/tutorials-and-support.md): NOVA Cloud hosts the video tutorials, the Wandelbots NOVA API reference, the feedback form, and the contact route to Wandelbots Customer Success.
- [API Reference](/nova-cloud/api-reference.md): Explore the NOVA Cloud public REST API.
- [Roles and permissions](/nova-cloud/roles-and-permissions.md): Understand how roles control access and actions in NOVA Cloud. NOVA Cloud uses role-based access control to define what users can see and do in the system. Each role is designed around typical responsibilities in automation projects from system administration to day-to-day operation.
- [Scopes](/nova-cloud/scopes.md): Understand how scopes control access and actions in NOVA Cloud. NOVA evaluates access using scoped permissions which are mapped to API endpoints and enforced during request authorization.
- [How to activate a device](/nova-cloud/guides/activate-a-device.md): Installing Wandelbots NOVA on a virtual machine or an industrial PC requires activating the device against your NOVA account and license. Learn what activation does and where it happens.
- [How to manage your fleet](/nova-cloud/guides/fleet-management.md): Manage your fleet of NOVA OS instances from NOVA Cloud. NOVA Cloud provides a centralized dashboard to manage all your NOVA OS instances.
- [How to manage licenses and assign roles](/nova-cloud/guides/licensing-and-roles.md): Manage licenses and roles in NOVA. This example shows how a team sets up NOVA, assigns roles, and starts working.
- [FAQ](/nova-cloud/faq.md): Answers to recurring questions about NOVA accounts, cloud instances, licenses, and downloads in NOVA Cloud.

## NOVA OS 26.6 (latest)

- [Introduction](/nova/26.6/introduction.md): Use Wandelbots NOVA to manage cells, configure robots, and simulate physical environments. Learn about initial configuration and how to integrate NOVA into your robot cell.
- [Quickstart](/nova/26.6/quickstart.md): Get started quickly with Wandelbots NOVA. Add a robot to your cell, explore key features, and begin programming robots without local installation.
- [Install Wandelbots NOVA](/nova/26.6/installation/installation.md): Learn how to install Wandelbots NOVA and set up your robot environment. Follow step-by-step instructions to prepare for seamless robot programming and automation.
- [Behind a proxy](/nova/26.6/installation/proxy.md): Learn how to install Wandelbots NOVA behind a proxy and set up your robot environment. Follow step-by-step instructions to prepare for seamless robot programming and automation.
- [Real-time performance](/nova/26.6/installation/real-time-performance.md): Learn how to configure the real-time kernel for optimal robot control performance in Wandelbots NOVA. Follow step-by-step instructions to ensure stable and efficient robot operation.
- [Architecture](/nova/26.6/architecture.md): Explore the architecture and key components of Wandelbots NOVA. Understand how the system is structured and how to begin working with the components most relevant to your robotics workflow.
- [Cell design](/nova/26.6/setup/cell-design.md): Set up single or multi-robot cells with Wandelbots NOVA. Learn about supported components and hardware, safety instructions, and how to connect robots for seamless automation.
- [Overview](/nova/26.6/setup/robots/overview.md): Learn how to connect physical robots to Wandelbots NOVA. Follow safety requirements, learn about supported robot models, and configure your cell for real-world automation.
- [ABB](/nova/26.6/setup/robots/abb.md): Learn how to connect ABB robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.
- [FANUC](/nova/26.6/setup/robots/fanuc.md): Learn how to connect FANUC robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.
- [KUKA](/nova/26.6/setup/robots/kuka.md): Learn how to connect KUKA robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.
- [Stäubli](/nova/26.6/setup/robots/staubli.md): Learn how to connect Stäubli robots to Wandelbots NOVA.
- [Techman](/nova/26.6/setup/robots/techman.md): Learn how to connect Techman robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.
- [UR](/nova/26.6/setup/robots/ur.md): Learn how to connect Universal Robots cobots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.
- [Yaskawa](/nova/26.6/setup/robots/yaskawa.md): Learn how to connect Yaskawa robots to Wandelbots NOVA. Follow step-by-step setup instructions, safety guidelines, and supported controller requirements for reliable integration.
- [Import/Export configurations](/nova/26.6/setup/configurations.md): Learn how and when to import and export cell configurations to manage cells.
- [Virtual clone](/nova/26.6/setup/virtual-clone.md): Learn how to create virtual clones of robots in the Wandelbots NOVA Setup. This enables working offline and testing without a physical robot.
- [I/O signals](/nova/26.6/setup/io-signals.md): Learn how to setup and use I/O signals in Wandelbots NOVA.
- [Modbus](/nova/26.6/communication-protocols/modbus.md): Get started with Modbus communication protocol supported by Wandelbots NOVA. Learn how to set up Modbus and connect to Wandelbots NOVA.
- [OPC UA](/nova/26.6/communication-protocols/opcua.md): Connect OPC UA servers to Wandelbots NOVA using Python. Learn how to enable secure communication for industrial automation and integrate data into your robotic workflows.
- [PROFINET](/nova/26.6/communication-protocols/profinet.md): Get started with PROFINET communication protocol supported by Wandelbots NOVA. Learn how to set up PROFINET, configure the controller, and connect to Wandelbots NOVA.
- [S7](/nova/26.6/communication-protocols/snapseven.md): Get started with S7 communication for Siemens PLCs in Wandelbots NOVA. Learn how to connect NOVA to a simulated PLC via PUT/GET and enable virtual commissioning.
- [NATS](/nova/26.6/communication-protocols/nats.md): Learn about NATS messaging system integration with Wandelbots NOVA OS for real-time data communication and event-driven architectures in your robot cell.
- [Overview](/nova/26.6/nova-api/overview.md): Get hands-on with this overview covering cell setup, motion planning, and program execution.
- [Overview](/nova/26.6/nova-api/core-concepts/overview.md): Understand the fundamental concepts of Wandelbots NOVA API including controllers, motion groups, virtual robots, and the relationship between them.
- [Robotics basics](/nova/26.6/nova-api/core-concepts/robotics-basics.md): Wandelbots NOVA assumes some basic knowledge of robotics to comfortably embark on your projects. This section provides a robotics primer for NOVA users, e.g., TCP, flange, degrees of freedom, joints and poses, coordinate systems, motion types, singularities, and other terminology that comes from robotics in general.
- [Unified controller interface](/nova/26.6/nova-api/core-concepts/unified-controller-interface.md): Learn how NOVA's unified controller interface lets you switch between virtual and physical robot hardware without changing your code.
- [Cells, controllers, and motion groups](/nova/26.6/nova-api/core-concepts/cells-controllers-motion-groups.md): Learn about the relationship between cells, controllers and motion groups in Wandelbots NOVA.
- [Collision handling](/nova/26.6/nova-api/core-concepts/collision-handling.md): Understand collision detection components and how Nova prevents robot collisions.
- [Direction constraint](/nova/26.6/nova-api/core-concepts/direction-constraint.md): Understand how to plan motions with direction constraints on the TCP.
- [Execution model](/nova/26.6/nova-api/execution-model.md): Understand how trajectory planning and execution work in Wandelbots NOVA, including planning approaches and control mechanisms.
- [Guide: collision-free paths](/nova/26.6/nova-api/guide-collision-free-paths.md): This is a step-by-step guide to configure collision detection and plan collision-free robot paths.
- [Migration guide](/nova/26.6/nova-api/migration-guide.md): Migrate from Wandelbots NOVA API v1 (deprecated) to v2. Understand the key changes and how to update your integration.
- [REST API](/nova/26.6/api-reference/rest.md): Interactive reference for the Wandelbots NOVA REST API. Browse endpoints and view request and response schemas.
- [Async API](/nova/26.6/api-reference/async.md): Interactive reference for the Wandelbots NOVA Async API. Browse channels, view message schemas, and understand event-driven communication.
- [Licenses](/nova/26.6/licenses.md): How a Wandelbots NOVA license behaves on your instance. Activate a license on a virtual machine or industrial PC, transfer it between instances, check limits and offline usage, and manage it with the License API or the License helper app.
- [Compatibility](/nova/26.6/compatibility.md): Read about the compatibility of Wandelbots NOVA with other Wandelbots software. Includes information on supported versions and interoperability to ensure seamless operation within the Wandelbots ecosystem.
- [Release notes](/nova/26.6/release-notes.md): Read the official release notes for Wandelbots NOVA 26.6. Discover new features, improvements, bug fixes, and changes in the latest version of Wandelbots NOVA.
- [FAQ](/nova/26.6/faq.md): Find answers to common questions about Wandelbots NOVA. Learn about supported software, how to avoid singularities, and other frequently asked topics.
- [Overview](/nova/26.6/safety/overview.md): Review the official safety instructions for Wandelbots NOVA. Learn how to safely operate physical robots, comply with EU Machinery Regulation 2023/1230, and follow mandatory safety protocols for Wandelbots NOVA.
- [Intended use](/nova/26.6/safety/intended-use.md): Review the intended use of Wandelbots NOVA. Learn how to operate the platform safely and correctly within its defined industrial application scope.
- [Residual hazards](/nova/26.6/safety/residual-hazards.md): Identify potential residual hazards when using Wandelbots NOVA, even when used correctly. Stay informed to minimize risk and ensure operational safety.
- [Responsibility of the operating company](/nova/26.6/safety/responsibility.md): Understand the responsibilities of the operating company when using Wandelbots NOVA. Ensure legal compliance and safe implementation of the platform.
- [User groups](/nova/26.6/safety/user-groups.md): Learn about user qualification requirements for operating Wandelbots NOVA. Ensure only authorized and trained personnel interact with the robotics platform.
- [Protective equipment](/nova/26.6/safety/protective-equipment.md): Find out which personal protective equipment is required when using Wandelbots NOVA to maintain workplace safety during robot operation and setup.
- [Applying documents](/nova/26.6/safety/applying-documents.md): Learn which additional documentation applies when working with Wandelbots NOVA. Ensure compliance by following all referenced manuals and safety materials.
- [Foreseeable misuse](/nova/26.6/safety/foreseeable-misuse.md): Understand what constitutes reasonably foreseeable misuse of Wandelbots NOVA. Avoid incorrect operation by adhering to defined usage boundaries.
- [Overview](/nova/26.6/legal-notice/overview.md): Read the legal notice for Wandelbots NOVA. Includes provider information, copyright terms, and links to Wandelbots GmbH's terms and conditions and legal responsibilities.
- [About documentation](/nova/26.6/legal-notice/about-documentation.md): Learn about the official documentation for Wandelbots NOVA. Understand its purpose, safety guidelines, and how to ensure proper usage and compliance in robotics applications.
- [Third-party software](/nova/26.6/legal-notice/third-party-software.md): Understand the use of third-party and open-source software in Wandelbots NOVA. Learn about licensing terms, compliance requirements, and integration with NVIDIA Isaac Sim.

## Simulation

- [Introduction](/simulation/introduction.md): Simulate robot behavior using NVIDIA Isaac Sim with Wandelbots NOVA. Connect virtual and physical robots, test path-planning algorithms, and program robotic motion using the Python SDK.
- [Quickstart](/simulation/quickstart.md): Set up the Wandelbots Isaac Sim extension with Wandelbots NOVA and NVIDIA Isaac Sim. Start simulating your first robotics use case or explore a demo to test your setup.
- [Installation](/simulation/installation.md): Learn how to install the Wandelbots NOVA extension (Omniservice) for NVIDIA Isaac Sim. Follow step-by-step instructions to set up your simulation environment with Wandelbots NOVA.
- [OpenUSD types](/simulation/build-scene/open-usd-types.md): Learn about the OpenUSD prim types and APIs provided by the Wandelbots NOVA Isaac Sim extension.
- [Add parallel gripper](/simulation/build-scene/parallel-gripper.md): Learn how to create and use parallel grippers in your NOVA simulation.
- [Add surface gripper](/simulation/build-scene/surface-gripper.md): Learn how to use surface grippers in your NOVA simulation.
- [Add contact gripper](/simulation/build-scene/contact-gripper.md): Learn how to use kinematic contact grippers in your NOVA simulation.
- [Add external axis](/simulation/build-scene/external-axis.md): Learn how to use an external axis in your NOVA simulation.
- [Connect IOs](/simulation/omnigraph-nodes/connect-ios.md): Use OmniGraph Nodes in NVIDIA Isaac Sim with Wandelbots NOVA to simulate and connect IO signals. Add logic to your scenes using Action Graph for dynamic event-based control.
- [Create tools](/simulation/omnigraph-nodes/create-tool.md): Create a reusable tool in NVIDIA Isaac Sim and connect it to Wandelbots NOVA.
- [Viewport](/simulation/viewport.md): Display NVIDIA Isaac Sim scenes directly in Robot Pad with Wandelbots NOVA. Learn how to configure the viewport and use simulation visuals to support robot programming workflows.
- [Ghost teaching](/simulation/ghost-teaching.md): Learn how to use Ghost Teaching with Wandelbots NOVA to guide robots by moving a ghost object in simulation. Teach robotic movements intuitively using virtual end effectors.
- [Collision world](/simulation/collision-world.md): Learn how to join NOVA collision setups with your Isaac Sim collision world.
- [Animation recorder](/simulation/animation-recorder.md): Learn how to use the Animation Recorder to record a simulation run and play it back as an animated scene.
- [Synthetic data](/simulation/synthetic-data.md): Generate and capture synthetic data in NVIDIA Isaac Sim using Wandelbots NOVA. Use virtual cameras to collect color images, depth data, segmentation maps, and more for robotics applications.
- [Data exchange](/simulation/data-exchange.md): Learn which data is exchanged between NVIDIA Isaac Sim and a NOVA instance through the Wandelbots NOVA Isaac Sim extension, including robot state, trajectories, controller data, and IO/Bus signals for peripheral control.
- [Extension API](/simulation/extension-api.md): REST API reference for the Wandelbots NOVA extension for NVIDIA Isaac Sim. Manage stages, prims, cameras, motion groups, collision worlds, and trajectory playback from your own code.
- [Release Notes](/simulation/release-notes.md): Release timeline for the Wandelbots Isaac Sim Extension.
- [FAQ](/simulation/faq.md): Find answers to common questions about using Wandelbots NOVA with NVIDIA Isaac Sim. Learn about compatible versions, known issues, and solutions for working with the Wandelbots Isaac Sim extension's API.

## Developer

- [Introduction](/developer/introduction.md): Write robot programs with the Python SDK, prototype and visualize motions, and package your work as deployable apps on a NOVA instance or in your local development environment.
- [Quickstart](/developer/quickstart.md): Start programming robots with the Wandelbots NOVA VS Code extension directly on your NOVA instance. No local setup is required. The extension is a good entry point to get familiar with software development and robotic programming. Everything in this guide runs in the browser.
- [Declare program](/developer/declare-program.md): Complete guide to the @nova.program decorator for creating NOVA robot programs with controller configuration, visualization, and parameter exposure.
- [Run program](/developer/run-program.md): Once you've declared and tested your robot programs, you can provide them to operators. The Program Operator (Beta) application runs and monitors robot programs safely, without code editing.
- [Rerun visualization](/developer/visualization.md): Rerun visualises the robot's path and the recorded data. Use the Rerun visualization to analyze the recorded data and improve your application.
- [Jupyter notebook](/developer/jupyter.md): Install the Jupyter notebook app on your NOVA instance, open interactive notebooks, and prototype robot motions with the Python SDK.
- [Local development](/developer/local-development.md): Developing on a NOVA cloud instance with Visual Studio Code, the Python SDK, and Rerun is a good starting point for building your first robotic programs. Working locally has the advantages that you can use the full power of your own computer, stay in your favorite IDE, keep everything on your company network, and keep working when you're offline.
- [Python](/developer/custom-apps/python.md): Build NOVA Python programs and apps locally with NOVAx and FastAPI, and deploy them to your NOVA instance.
- [TypeScript](/developer/custom-apps/typescript.md): Build NOVA TypeScript apps locally and deploy them to your instance via containers.
- [Deploy to NOVA](/developer/custom-apps/deploy-app.md): Set up Docker and a container registry, connect the NOVA CLI, and deploy your app permanently to a Wandelbots NOVA instance.
- [Integrate devices](/developer/custom-apps/integrate-devices.md): Build NOVA device services as Docker containers with HTTP interfaces, configure their resources, and deploy them so robots and teammates can use them instantly.
- [Publish to app store](/developer/custom-apps/publish-to-app-store.md): Configure your app's manifest, install it with the NOVA CLI, and publish it to the Wandelbots NOVA app store catalog.
- [Applying norms](/developer/custom-apps/applying-norms.md): Learn about the legal requirements and best practices for publishing apps on Wandelbots NOVA.
- [Migrate Wandelscript](/developer/migrate-wandelscript.md): Migrate your Wandelscript (deprecated) programs to Python step by step. NOVAx supports both approaches side by side during the transition.
- [FAQ](/developer/faq.md): Find answers to common questions about developing within the Wandelbots NOVA ecosystem.