Weld Gun Open

SUMMARY

Weld Gun Open moves the electrode of a simulated spot-welding gun to its configured open position.

This skill is used to clear the electrode from a panel before or after a weld, or to reset the gun to a known state.

The Skill

status = gun.open(asynchronous=False)

The Code

"""
Demonstrates opening a simulated spot-welding gun.

Usage:
    python open.py --prim_path <PRIM_PATH>
"""

import argparse
from loguru import logger

from telekinesis.synapse.tools import welding_gun


def main(prim_path: str) -> None:
    """Opens a simulated spot-welding gun."""

    #===================== Create Gun ======================================
    gun = welding_gun.SpotWeldingGun()

    try:
        #===================== Connect Gun =================================
        gun.connect(simulation_prim_path=prim_path)

        #===================== Run Skill ====================================
        status = gun.open(asynchronous=False)
        logger.success(f"open() status: {status}")
    finally:
        gun.disconnect()


if __name__ == "__main__":
    p = argparse.ArgumentParser(description="Spot-welding gun open")
    p.add_argument("--prim_path", type=str, default="/World/spot_welding_gun",
                   help='Isaac Sim gun prim path, e.g. "/World/spot_welding_gun"')
    args = p.parse_args()

    main(prim_path=args.prim_path)

Running the Example

python open.py --prim_path /World/spot_welding_gun

For all options:

python open.py --help

Parameter Configuration

Parameter	Type	Default	Description
asynchronous	bool	False	If True, returns "MOVING" immediately without waiting.

Returns

Same canonical motion status values as Weld Gun Move.

Raises

Exception	Condition
TypeError	asynchronous is not a bool
RuntimeError	The gun is not connected, or motion fails

Where to Use the Skill

• Clearing the panel - Retract the electrode after a weld or before repositioning the robot
• Known starting state - Open the gun at the start of a script before the first weld

When Not to Use the Skill

Do not use Weld Gun Open when:

• An intermediate position is needed - use Weld Gun Move instead
• The gun is not connected - always call connect before issuing motion commands