IsaacSim CNC

SUMMARY

The CNCMachine class drives the door prim of a CNC machine in a running Isaac Sim stage. The door slides between an open and a closed position, both fixed by the installation and given once when connecting, and opening or closing blocks until the door arrives.

Requirements: Isaac Sim running with the telekinesis.isaacsim.bridge extension enabled, and a CNC machine whose door is its own prim in the open stage.

Installation

Install Medulla — see Installation. No additional dependencies are required beyond Isaac Sim itself.

Getting Started

Open Isaac Sim and add a CNC machine whose door is its own prim before running any script. Both the open and closed positions are relative to the door prim's parent: select the door prim in Isaac Sim, slide it fully open and fully closed in the stage, and read the position off Property > Transform each time.

from telekinesis.medulla.machines import isaacsim

machine = isaacsim.CNCMachine(name="milling_cell")
machine.connect(simulation_prim_path="/World/cnc_machine/E_body_1/door",
                open_position=(-0.687, -0.053, 1.208),
                closed_position=(-0.219, -0.053, 1.208))
machine.close()

WARNING

A simulated door is slid by writing its transform, so it passes through whatever stands in its path instead of being blocked by it. Keep the door's path clear.

Examples

Skill	Description
Connection and Disconnection	Connect to and disconnect from a CNC machine's door prim in the open stage
Set USD	Configure the asset used when the CNC door prim is missing
Open and Close Door	Slide the door open or closed