Intrinsic Open Machine Tending Solution

Based on published sources · Not tested by us · Sources checked 2026-09-30

Overview

Configurable CNC machine-tending reference application using Intrinsic Core, behavior trees, perception and machine I/O. [S001]

OMTS supplies the application layer for a CNC tending cycle: pick stock, load the machine, coordinate the machining handshake, unload and return the workpiece to infeed. It runs on Intrinsic Core and organizes those steps as a behavior tree. This profile covers software release 20260922.0, not a purchasable or fully open hardware cell. [S001] [S010]

Official website · Source code

Specifications

Detail	Description
Intended users	Robotics developers evaluating local industrial manipulation software Editorial assessment [S001] · Checked 2026-09-30
Required software	Git LFS; GitHub CLI; k3s/containerd; Bazelisk / Bazel 8.8.0; ROS 2 Lyrical for the documented RViz route Reported by source [S003] [S004] [S009] · Checked 2026-09-30
Installation	Follow the pinned Core guide: install Git LFS/GitHub CLI, fetch release 20260922.0 of Core and OMTS, configure k3s, deploy the matching runtime archive and inctl, then build the simulation with Bazelisk. Configure NVIDIA support for perception. Reported by source [S003] · Checked 2026-09-30
Uses	Deploy the OMTS scene in simulation; Inspect belief-world state in RViz or physics state in Gazebo; Configure and run the OMTS behavior tree after scene and pose-estimator setup Reported by source [S003] [S004] [S005] · Checked 2026-09-30
File formats	Not known
Development status	prototype Editorial assessment of the reviewed release and our evidence scope. Editorial assessment [S001] · Checked 2026-09-30

3D preview

A robot-part preview is not applicable to this software project profile.

Installation and use

Inspect the example cell before choosing devices

The README distinguishes the default OMTS cell (UR5e, CNC enclosure and Schunk vise) from lab_bb_01 (UR3e and CAW enclosure, without CNC or vise). That lab scene is useful for initial simulation, but it is not the complete CNC example. Its configuration names a UR robot module, a Robotiq Hand-E finger joint, an Orbbec camera and perception-based infeed. Its default cycle count is one. The adapter documentation also exposes digital-I/O gripper and CNC interfaces. These are concrete starting points for integration, not evidence that every arm, camera or CNC machine works without additional drivers or configuration. [S001] [S006] [S007]

Door, vise and cycle signals belong to the application configuration. The hardware layer updates the software's scene representation alongside machine commands so planning can reflect door and vise positions. Source code describing that coordination does not establish that a particular physical installation has been commissioned or tested. [S006]

Deploy simulation, then prepare the application

Use the linked Core installation guide with Ubuntu 26.04 on x86-64. It recommends at least 32 GiB RAM and 100 GB free storage; the full perception-enabled simulation requires dedicated NVIDIA graphics. Both repositories use release 20260922.0, and OMTS pins the exact Core commit in its dependency file. Install Git LFS before fetching model assets. [S003] [S008]

Deploy //:omts_solution with the documented lab_bb_01 configuration and --operation_mode=sim. Deployment is not yet the complete tending cycle: the OMTS README then applies scene updates, registers the workpiece pose estimator, and runs //src:omts_app with the matching configuration file. RViz and Gazebo provide different views of the deployed scene. [S001] [S003] [S004]

Keep model licensing and cell cost separate

OMTS's code carries Apache-2.0. Its README explicitly excludes the FoundationPose ONNX weights from that license: the build retrieves them from NVIDIA under separate NVIDIA Open Model License terms. Preserve that distinction when deciding which artifacts to redistribute. [S002] [S005]

The software example does not give us a verified, delivered price for a complete robot, gripper, camera, host and CNC integration. We have not built this release, run its tests or operated the reference cell; those remain the next steps for a reproduction effort.

Source files and licenses

Open software profile; external model weights, dependencies and physical devices have separate scope. No complete open hardware or tested deployment claim.

Layer	Availability / license
software	available · Apache-2.0 Repository material under its root license; third-party artifacts and marks retain separate terms. [S001] [S002]
model weights	available · NVIDIA Open Model License (upstream OMTS declaration) External FoundationPose weights downloaded by the build; absent from the reviewed repository and not covered by its Apache-2.0 license. This review records the upstream declaration, not a legal interpretation or verified download. [S005]
documentation	available · Apache-2.0 Repository material under its root license; third-party artifacts and marks retain separate terms. [S001] [S002]

No training dataset is being offered or reviewed in this runtime/application profile.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: README.md
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / README.md
Source notes
Purpose, modules and documented workflows; upstream claims, not our test results.
S002 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: LICENSE
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / LICENSE
Source notes
Apache-2.0 text for this repository; external dependencies retain separate terms.
S003 · Intrinsic Innovation LLC / project contributors
intrinsic-core: developer_resources/learn/tutorials/getting_started.md
Accessed 2026-09-30 · 523f2e03ddf3cb46a19b15be5e81586ae2f538c2 / developer_resources/learn/tutorials/getting_started.md
Source notes
Release-specific installation, hardware requirements, GPU setup and simulation deployment.
S004 · Intrinsic Innovation LLC / project contributors
intrinsic-core: developer_resources/learn/tutorials/visualize_the_robot.md
Accessed 2026-09-30 · 523f2e03ddf3cb46a19b15be5e81586ae2f538c2 / developer_resources/learn/tutorials/visualize_the_robot.md
Source notes
RViz/ROS 2 Lyrical and Gazebo visualization routes.
S005 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: README.md
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / README.md
Source notes
Application workflow and explicitly separate FoundationPose model-weight license.
S006 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: src/hardware/README.md
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / src/hardware/README.md
Source notes
Documented concrete adapters and machine I/O responsibilities.
S007 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: configs/lab_bb_01/app_config.yaml
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / configs/lab_bb_01/app_config.yaml
Source notes
Named lab configuration: UR module, Robotiq Hand-E finger, Orbbec perception and one cycle.
S008 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: MODULE.bazel
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / MODULE.bazel
Source notes
Exact Intrinsic Core dependency revision and external dependencies.
S009 · Intrinsic Innovation LLC / project contributors
intrinsic-omts: .bazelversion
Accessed 2026-09-30 · 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae / .bazelversion
Source notes
Bazel 8.8.0 selected by the repository.
S010 · Intrinsic Innovation LLC / GitHub release metadata
Release and immutable source acquisition metadata
Accessed 2026-09-30 · 20260922.0 / 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae
Source notes
Release tag, publication time and commit retained with a checksummed source archive.

Research and review details

Source-researched release profile. We have not installed this release, run its tests, commissioned a cell or measured performance. No affiliation or endorsement claimed.

Profile edited 2026-09-30 · Sources checked 2026-09-30 · Next review target 2026-10-30

Revision: 20260922.0 / 8253cdfdd173da9d5b7c9bb7b8cee817f66902ae. Software repository activity recorded 2026-09-22 [S010]

Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1

Change history

2026-09-30 — Initial source-researched profile of release 20260922.0; installation scope and external weight terms distinguished.