Open and Close Door

SUMMARY

Open and Close slide the door between the positions given when connecting, easing in and out of the travel. Each call blocks until the door arrives, and travels from wherever the door stands now, so opening a door that already stands open returns without moving it.

Available on: IsaacSim CNC.

The Skill

machine.open()
machine.close()

The Code

"""
Opens and closes the door of a CNC machine in a running Isaac Sim stage.

Supports Isaac Sim only. The door slides between the two positions given
here, easing in and out of the travel, and each move blocks until the door
arrives.

Usage:
    python open_and_close_door.py --prim_path <PRIM_PATH>
    python open_and_close_door.py --prim_path <PRIM_PATH>
        --open_position 0.0 0.0 0.0 --closed_position -0.8 0.0 0.0
    python open_and_close_door.py --prim_path <PRIM_PATH> --load_usd

Note:
    Open Isaac Sim and add a CNC machine whose door is its own prim before
    running this, or pass --load_usd to add one to the open stage -- this
    keeps whatever is already in the stage. Both positions
    are relative to the door prim's parent: select the door prim, slide it
    fully open and fully closed in the stage, and read the position off
    Property > Transform each time. Where that transform is shown as a
    matrix, the first three values of the bottom row are its x, y and z.

    The door is slid by writing its transform, so keep its path clear -- it
    passes through whatever stands in the way.
"""

import argparse

from loguru import logger

from telekinesis.medulla.machines import isaacsim


def main(prim_path: str,
         open_position: list[float],
         closed_position: list[float],
         load_usd: bool) -> None:
    """Opens the door of a CNC machine, then closes it again."""

    if load_usd:
        # ===================== Load Demo Scene (Optional) ===========================
        from telekinesis import datatypes, isaacsim_client

        client = isaacsim_client.IsaacSimClient(
            api_key="",
            base_url="http://127.0.0.1:8766",
            websocket_base_url="ws://127.0.0.1:8766",
        )
        asset = datatypes.USD.from_url(
            "https://assets.telekinesis.ai/usd/machines/cnc_machine.zip"
        )
        client.stage.add_to_scene(uri=asset.path.as_posix(),
                                  prim_path="/World/cnc_machine")

    # ===================== Create Machine =======================================
    machine = isaacsim.CNCMachine(name="my_simulated_cnc_machine")

    try:
        # ===================== Connect Machine ==================================
        machine.connect(simulation_prim_path=prim_path,
                        open_position=open_position,
                        closed_position=closed_position)

        # ==================== Run Skill ============================================
        logger.info("Opening the door.")
        machine.open()
        logger.info(f"Door open at {machine.door_position} m.")

        logger.success("Closing the door.")
        machine.close()
        logger.success(f"Door closed at {machine.door_position} m.")

        logger.info("Opening the door.")
        machine.open()
        logger.info(f"Door open at {machine.door_position} m.")
    except (ConnectionError, RuntimeError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        machine.disconnect()


if __name__ == "__main__":
    p = argparse.ArgumentParser(
        description="Open and close a CNC machine's door in Isaac Sim")
    p.add_argument("--prim_path", type=str, default="/World/cnc_machine/E_body_1/door",
                   help='Isaac Sim CNC machine door prim path, e.g. '
                        '"/World/cnc_machine/E_body_1/door"')
    p.add_argument("--open_position", type=float, nargs=3,
                   default=[-0.68654, -0.05313, 1.208], metavar=("X", "Y", "Z"),
                   help="Door position in meters, relative to the door "
                        "prim's parent, at which it stands open")
    p.add_argument("--closed_position", type=float, nargs=3,
                   default=[-0.2193, -0.05313, 1.208], metavar=("X", "Y", "Z"),
                   help="Door position in meters, relative to the door "
                        "prim's parent, at which it stands closed")
    p.add_argument("--load_usd", action=argparse.BooleanOptionalAction, default=False,
                   help="Add the bundled demo CNC machine to the open stage "
                        "at /World/cnc_machine before connecting. Use this "
                        "if you don't already have one in the stage.")
    args = p.parse_args()

    main(prim_path=args.prim_path,
         open_position=args.open_position,
         closed_position=args.closed_position,
         load_usd=args.load_usd)

Running the Example

python open_and_close_door.py --prim_path /World/cnc_machine/E_body_1/door

To load the bundled demo CNC machine into the stage first:

python open_and_close_door.py --load_usd

For all options:

python open_and_close_door.py --help

Parameter Configuration

open and close take no parameters. Both target positions are set once, when connecting — see Connection and Disconnection.

Returns

Method	Type	Description
open	None	Returns nothing.
close	None	Returns nothing.

Raises

Method	Exception	Condition
open	RuntimeError	The machine is not connected, or the door rejects the command.
close	RuntimeError	The machine is not connected, or the door rejects the command.

Where to Use the Skill

Open and Close Door require an active connection — see Connection and Disconnection.