Telekinesis Agentic Skill Library

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Stop Contact Detection ​

SUMMARY

Stop Contact Detection disarms the contact detection subsystem and returns the definitive boolean result — True if contact was detected at any point since Start Contact Detection was called, False otherwise.

Always call this skill to cleanly disarm detection after an asynchronous move completes.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill ​

python
contact = robot.stop_contact_detection()

The Code ​

Example: Complete a Contact Detection Sequence ​

Start contact detection, poll during motion, then stop and retrieve the result.

python
import time
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

current = robot.get_cartesian_pose()
target = list(current)
target[2] += 0.05

robot.set_cartesian_pose(target, speed=0.05, acceleration=0.5, asynchronous=True)
robot.start_contact_detection()
logger.info("Contact detection started.")

for _ in range(50):
    if robot.read_contact_detection():
        logger.info("Contact detected mid-move.")
        break
    time.sleep(0.05)

contact = robot.stop_contact_detection()
logger.success(f"Contact detected: {contact}")

# Disconnect
robot.disconnect()

The Explanation of the Code ​

stop_contact_detection disarms the contact detection subsystem and returns a boolean: True if any contact event was recorded since start_contact_detection was called, False if the move completed without contact. Always call this skill to cleanly finalize a detection session, even if contact was already observed via read_contact_detection.

How to Tune the Parameters ​

This skill takes no parameters.

Return Value ​

TypeDescription
boolTrue if contact was detected during the detection window, False otherwise.

Where to Use the Skill ​

  • End of every contact detection sequence — Always call after an asynchronous move to disarm and obtain the definitive result
  • Post-move decision logic — Use the return value to branch between contact and no-contact paths

When Not to Use the Skill ​

Do not use Stop Contact Detection when: