Telekinesis Agentic Skill Library

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Is Connected ​

SUMMARY

Is Connected returns True when a hardware adapter is attached to the manipulator state and the underlying link reports connected; False otherwise (offline, never connected, or link disconnected).

SUPPORTED ROBOTS

Available on all supported manipulators. Live hardware connections are currently established only for Universal Robots.

UNITS

Returns a boolean.

The Skill ​

python
connected = robot.is_connected()

The Code ​

python
"""
Check live connection status example for the Synapse SDK.

``is_connected`` reports whether the manipulator state is being driven by
live hardware.

With ``--ip``, logs the value before connect, after connect, and after
disconnect. Without ``--ip``, only the offline (``False``) case is shown.

Illustrated using Universal Robots (UR10e), supported on all robots.

Usage:
    python is_connected.py [--ip <ROBOT_IP>]
"""

import argparse
from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None = None):
    """Log ``is_connected`` offline, and around a connect/disconnect cycle if ``ip`` is given."""

    # Create the robot instance (no hardware yet)
    robot = universal_robots.UniversalRobotsUR10E()
    logger.info(f"is_connected (pre-connect): {robot.is_connected()}")

    if ip is None:
        return

    # Connect to the robot with given ip
    robot.connect(ip=ip)
    logger.success(f"is_connected (post-connect): {robot.is_connected()}")

    # Disconnect from the robot
    robot.disconnect()
    logger.info(f"is_connected (post-disconnect): {robot.is_connected()}")


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="is_connected Synapse example")
    parser.add_argument("--ip", type=str, default=None, help="UR robot IP address (optional)")
    args = parser.parse_args()

    main(ip=args.ip)

The Explanation of the Code ​

python
from telekinesis.synapse.robots.manipulators import universal_robots

robot = universal_robots.UniversalRobotsUR10E()
logger.info(f"is_connected (pre-connect): {robot.is_connected()}")

Create the robot. UR10e is used here for illustration; the same pattern works for every supported brand. With no hardware adapter yet attached, is_connected() returns False.

python
robot.connect(ip=ip)
logger.success(f"is_connected (post-connect): {robot.is_connected()}")

Connect to the robot at the given IP. Once the link is up is_connected() returns True, confirming the manipulator state is driven by live hardware.

python
robot.disconnect()
logger.info(f"is_connected (post-disconnect): {robot.is_connected()}")

Disconnect the adapter and verify is_connected() flips back to False.

Return Value ​

TypeDescription
boolTrue if a hardware adapter is attached and the link reports connected; False otherwise.

Where to Use the Skill ​

  • Pre-flight checks - Confirm the controller link is up before sending motion commands.
  • Mode branching - Switch between live execution and offline kinematics depending on hardware availability.
  • Reconnection logic - Poll inside a retry loop after a network blip.