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Telekinesis Agentic Skill Library

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Getting Started

Skills Overview

Installation

Quickstart

Synapse: Robotics Skills

Installation

Overview

Robots

All Supported Robots

Manipulators

ABB

Fanuc

Kuka

Motoman

Universal Robots

Franka Robotics

Neura Robotics

Humanoids

Unitree

Digit

Atlas

Quadrupeds

Unitree

Boston Dynamics Spot

Mobile Robots

Clearpath

Tools

All Supported Tools

Parallel Grippers

OnRobot

Robotiq

Schunk

Skills

Kinematics

Forward Kinematics

Inverse Kinematics

On-Robot Forward Kinematics

On-Robot Inverse Kinematics

Get Inverse Kinematics Has Solution

Get Jacobian

Get Jacobian Time Derivative

Get Actual Tool Flange Pose

Connection

Connection and Disconnection

Motion

Set Cartesian Pose

Set Joint Positions

Set Cartesian Pose in Joint Space

Set Joint Position in Cartesian Space

Move Joint Path

Move Cartesian Path

Move Path

Move until Contact

Stop Cartesian Motion

Stop Joint Motion

Trigger Protective Stop

Start Jog

Stop Jog

Start Freedrive Mode

Stop Freedrive Mode

Start Teach Mode

Stop Teach Mode

Motion Planning

Servo Control

Servo Joint

Servo Cartesian

Servo Circular

Servo Stop

Speed Control

Speed Joint

Speed Cartesian

Speed Stop

Force Control

Move in Force Mode

Stop Force Mode

Set Force Mode Damping

Set Force Mode Gain Scaling

Set External Force Torque

Tool Contact

Zero FT Sensor

State Reading

Get Joint Positions

Get Cartesian Pose

Get Pose Transform

Robot Status

Get Timestamp

Get Robot Mode

Get Robot Status

Get Safety Mode

Get Runtime State

Get Controller Frequency

Joint Telemetry

Get Actual Joint Velocities

Get Actual Joint Currents

Get Joint Temperatures

Get Joint Torques

Get Actual Joint Positions History

TCP Telemetry

Get Actual TCP Speed

Get Actual TCP Force

Get Target Waypoint

Get TCP Offset

Get FT Raw Wrench

I/O and Configuration

Get Digital Input State

Get Digital Output State

Get Payload

Get Payload Center of Gravity

Set Payload

Set TCP

Get Step Time

Get Speed Scaling

Get Async Operation Progress

Get Freedrive Status

Get Actual Digital Input Bits

Get Actual Digital Output Bits

Get Standard Analog Input

Get Standard Analog Output

Get Output Int Register

Get Output Double Register

Safety Checks

Is Protective Stopped

Is Emergency Stopped

Is Program Running

Is Steady

Is Pose Within Safety Limits

Is Joints Within Safety Limits

Unlock Protective Stop

Get Safety Status Bits

Contact Detection

Start Contact Detection

Read Contact Detection

Stop Contact Detection

F/T Sensor Setup

FT RTDE Input Enable

Enable External FT Sensor

Dynamics

Set Gravity

Set Target Payload

Direct Torque

Get Mass Matrix

Get Coriolis and Centrifugal Torques

Target State

Get Target Joint Positions

Get Target Joint Velocities

Get Target Joint Currents

Get Target Joint Moments

Get Target Joint Accelerations

Get Target TCP Pose

Get Target TCP Speed

Get Target Speed Fraction

Electrical

Get Actual Main Voltage

Get Actual Robot Voltage

Get Actual Robot Current

Get Actual Joint Voltage

Get Actual Current as Torque

Diagnostics

Get Actual Execution Time

Get Actual Tool Accelerometer

Get Actual Momentum

Get Speed Scaling Combined

Joint Detail

Get Joint Control Output

Get Joint Mode

Get Payload Inertia

Custom Scripting

Send Custom Script

Send Custom Script File

Send Custom Script Function

Set Custom Script File

Watchdog

Set Watchdog

Kick Watchdog

Recording

Start File Recording

Stop File Recording

Tools

Tool Connection and Disconnection

Tool Set Unit

Tool Set Position Range

Tool Set Speed

Tool Set Force

Tool Open

Tool Close

Tool Move

Tool Get Current Position

Cornea: Image Segmentation Skills

Overview

Use Cases

Bin Picking using SAM

Conveyor Tracking using SAM

Depalletizing using SAM

Ground segmentation using SAM

PCB segmentation using SAM

Pedestrian segmentation using SAM

Forklift segmentation using SAM

Skills

Segment Image Using RGB

Segment Image Using HSV

Segment Image Using LAB

Segment Image Using YCrCb

Segment Image Using Flood Fill

Segment Image Using Watershed

Segment Image Using Focus Region

Segment Image Using Otsu Threshold

Segment Image Using Local Threshold

Segment Image Using Yen Threshold

Segment Image Using Threshold

Segment Image Using Adaptive Threshold

Segment Image Using Laplacian Threshold

Segment Image Using Felzenszwalb

Segment Image Using SLIC Superpixel

Filter Segments By Area

Filter Segments By Color

Filter Segments By Mask

Segment Image Using GrabCut

Segment Image Using Foreground BiRefNet

Segment Image Using SAM

Retina: Object Detection Skills

Overview

Skills

Detect Circle Using Classic Hough

Detect Contours

Detect Objects Using RF-DETR

Detect Objects Using QWEN

Detect Objects Using YOLOX

Detect Objects Using Grounding DINO

Pupil: Image Processing Skills

Overview

Skills

Bitwise AND Images

Bitwise Difference Images

Bitwise NOT Image

Bitwise OR Images

Bitwise XOR Images

Calculate Image PCA

Convert Image Color Space

Crop Image Center

Crop Image Using Bounding Boxes

Crop Image Using Polygon

Enhance Image Using CLAHE

Enhance Image Using Gamma Correction

Enhance Image Using White Balance

Filter Image Using Bilateral

Filter Image Using Blur

Filter Image Using Box

Filter Image Using Frangi

Filter Image Using Gabor

Filter Image Using Gaussian Blur

Filter Image Using Hessian

Filter Image Using Laplacian

Filter Image Using Meijering

Filter Image Using Median Blur

Filter Image Using Morphological Blackhat

Filter Image Using Morphological Close

Filter Image Using Morphological Dilate

Filter Image Using Morphological Erode

Filter Image Using Morphological Gradient

Filter Image Using Morphological Open

Filter Image Using Morphological Tophat

Filter Image Using Sato

Filter Image Using Scharr

Filter Image Using Sobel

Merge Image From Channels

Normalize Image Intensity

Overlay Images Using Weighted Overlay

Pad Image

Project Camera Point to Pixel

Project Pixel to Camera Point

Project Pixel to World Point

Project World Point to Pixel

Resize Image

Resize Image With Aspect Fit

Rotate Image

Split Image Into Channels

Transform Image Using Pyramid Downsampling

Transform Image Using Pyramid Upsampling

Transform Mask Using Blob Thinning

Translate Image

Vitreous: 3D Point Cloud Processing Skills

Overview

Use Cases

Object Detection Pipeline Example

ICP Registration Pipeline Example

Skills

Calculate Axis Aligned Bounding Box

Calculate Oriented Bounding Box

Calculate Plane Normal

Calculate Point Cloud Centroid

Calculate Points in Point Cloud

Cluster Point Cloud Based on Density Jump

Cluster Point Cloud Using DBSCAN

Convert Mesh to Point Cloud

Create Cylinder Mesh

Create Plane Mesh

Create Sphere Mesh

Create Torus Mesh

Estimate Principal Axis Within Radius

Estimate Principal Axes

Filter Point Cloud Using Passthrough Filter

Filter Point Cloud Using Bounding Box

Filter Point Cloud Using Cylinder Base Removal

Filter Point Cloud Using Mask

Filter Point Cloud Using Oriented Bounding Box

Filter Point Cloud Using Plane Defined by Point Normal Proximity

Filter Point Cloud Using Plane Proximity

Filter Point Cloud Using Plane Splitting

Filter Point Cloud Using Radius Outlier Removal

Filter Point Cloud Using Statistical Outlier Removal

Filter Point Cloud Using Uniform Downsampling

Filter Point Cloud Using Viewpoint Visibility

Filter Point Cloud Using Voxel Downsampling

Add Point Clouds

Subtract Point Clouds

Scale Point Cloud

Apply Transform to Point Cloud

Project Point Cloud to Plane

Project Point Cloud to Plane Defined by Point Normal

Reconstruct Mesh Using Convex Hull

Reconstruct Mesh Using Poisson

Register Point Clouds Using Cuboid Translation Sampler ICP

Register Point Clouds Using Fast Global Registration

Register Point Clouds Using Point to Plane ICP

Register Point Clouds Using Point to Point ICP

Register Point Clouds Using Rotation Sampler ICP

Segment Point Cloud Using Color

Segment Point Cloud Using Plane

Illusion: Synthetic Data Generation Skills

Overview

Iris: AI Model Training Skills

Overview

Medulla: Hardware Communication Skills

Installation

Overview

Cameras

All Supported Cameras

IDS

Webcam

Intel RealSense

Sensors

All Supported Sensors

Skills

Connect

Disconnect

Capture Single Color Frame

Capture Single Depth Frame

Capture Single Point Cloud

Stream Live Color Video

Stream Live Depth Video

Stream Point Cloud

Get Parameter

Set Parameter

Publish Video with BabyROS

RLbotics: Reinforcement Learning Skills

Overview

Legal

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Terms & Conditions

Privacy Policy

End User License Agreement

Data Processing License

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All Supported Sensors

No sensors are currently supported. This section will grow as Medulla adds sensor integrations.

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