Delete TCP

SUMMARY

delete_tcp removes a previously-registered named TCP frame. If the deleted TCP was active, the robot falls back to its default_tcp, pushing the change to the controller when connected.

The Skill

robot.delete_tcp(name="new_tool")

The Code

0:00 / 0:00

"""
Registers a custom TCP frame, then removes it.

Supports Universal Robots (UR), Epson, virtual, and Isaac Sim.

Usage:
    python delete_tcp.py [--ip <ROBOT_IP>] [--prim_path <PRIM_PATH>]
"""

import argparse

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None, prim_path: str | None) -> None:
    """Add and delete a custom TCP, observing the active TCP before and after."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    # ==================== Visualization (Optional) =============================
    robot.visualize_rerun(live=True)

    try:
        #===================== Connect Robot ==========================================
        if ip:
            robot.connect(ip=ip)
        elif prim_path:
            robot.connect(simulation_prim_path=prim_path)
            robot.set_joint_positions(robot.default_joint_configuration)

        # ==================== Run Skill ============================================
        new_tcp_pose_in_default_tcp_frame = [0.0, 0.0, 0.1, 0.0, 0.0, 0.0]  # 100 mm along Z-axis
        robot.add_tcp(name="new_tool",
                      transform=new_tcp_pose_in_default_tcp_frame,
                      set_active=True)

        logger.info(f"Active TCP after add_tcp(): {robot.active_tcp}"
                    f" \nActive TCP transform: {robot.get_active_tcp_transform()}"
                    f" \n TCP pose: {robot.get_cartesian_pose()}")

        robot.delete_tcp(name="new_tool")

        logger.info(f"Active TCP after delete_tcp(): {robot.active_tcp}"
                    f" \nActive TCP transform: {robot.get_active_tcp_transform()}"
                    f" \n TCP pose: {robot.get_cartesian_pose()}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Add and then delete a custom TCP on the robot.")
    parser.add_argument("--ip", type=str, default=None,
                         help="UR robot IP address for real hardware, e.g. 192.168.1.100")
    parser.add_argument("--prim_path", type=str, default=None,
                         help='Isaac Sim articulation prim path, e.g. "/World/ur10e"')
    args = parser.parse_args()

    main(ip=args.ip, prim_path=args.prim_path)

Running the Example

Virtual

python delete_tcp.py

Isaac Sim

python delete_tcp.py --prim_path /World/ur10e

Real

python delete_tcp.py --ip 192.168.1.100

For all options:

python delete_tcp.py --help

Parameter Configuration

Parameter	Type	Default	Description
name	str	required	Name of the custom TCP frame to remove. Cannot be default_tcp.

Returns

Type	Description
None	delete_tcp removes the TCP as a side effect. Read robot.active_tcp to confirm which TCP is active afterward (it will be default_tcp if the deleted TCP was active).

Raises

Exception	Condition
TypeError	name is not a str
ValueError	name equals default_tcp, or no TCP named name exists
ConnectionError / OSError	The connection to the physical controller fails or drops while pushing the fallback active TCP (Universal Robots only)

Where to Use the Skill

• Tool teardown - Remove a TCP once its associated tool (gripper, sensor, custom end-effector) is permanently removed from the flange.
• Cleaning up temporary frames - Delete TCPs that were registered for a one-off calibration or test, keeping Get TCPs output tidy.

When Not to Use the Skill

• You just need to switch away from a TCP temporarily - use Change Active TCP instead; deleting discards the frame entirely, while switching keeps it registered for later use.
• You want to change the TCP's offset, not remove it - use Update TCP to modify an existing TCP's transform in place.
• You need the TCP's current transform before removing it - read it first with Get TCPs or Forward Kinematics, since it's unavailable once deleted.