Telekinesis Agentic Skill Library

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Get Timestamp ​

SUMMARY

Get Timestamp returns the timestamp (in seconds) of the most recent state update.

Reads from the manipulator state - controller-reported time of the latest telemetry sample when connected, wall-clock time of the most recent cache write offline.

UNITS

Returns a timestamp in seconds.

The Skill ​

python
timestamp = robot.get_timestamp()

The Code ​

python
"""
Logs the timestamp of the most recent state update, in seconds since the Unix epoch.

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

Usage:
    python get_timestamp.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:
    """Log the timestamp of the most recent state update."""

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

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

        # ==================== Run Skill ============================================
        logger.success(f"timestamp [s since epoch]: {robot.get_timestamp()}")
    except (ConnectionError, OSError) as e:
        logger.error(f"Error occurred: {e}")
    finally:
        robot.disconnect()
        robot.shutdown()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Read state timestamp Synapse example")
    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 ​

bash
python get_timestamp.py
bash
python get_timestamp.py --prim_path /World/ur10e
bash
python get_timestamp.py --ip 192.168.1.100

For all options:

bash
python get_timestamp.py --help

Parameter Configuration ​

This skill takes no input parameters.

Returns ​

TypeDescription
floatTimestamp of the most recent state update, in seconds. Controller-reported time when connected; wall-clock time of the last cache write offline.

Where to Use the Skill ​

  • State logging - Attach a timestamp to every sampled data point.
  • Duration measurement - Record the timestamp before and after a motion to measure execution time.
  • Data synchronization - Align robot state samples with external sensor streams.

When Not to Use the Skill ​

  • You need wall-clock time independent of the robot state - use Python's time.time() or datetime.now() instead.