What is Sheikh Muhammad ibn Uthaymeen's preferred view regarding ablution after touching the male organ, and is there a contradiction between what he preferred in his books and what he mentioned in "Al-Usul min Ilm al-Usul"?

The view of Sheikh Ibn 'Uthaymeen regarding touching the male organ is to reconcile between the two hadiths of Talq ibn 'Ali and Busrah bint Safwan. Thus, ablution (wudu') becomes obligatory if the touching is with desire, and recommended if it is without desire. He explained this by stating that the hadith "It is but a piece of your flesh" indicates that touching does not invalidate ablution. However, if it is with desire, then it becomes obligatory. Nevertheless, if someone prays after touching his male organ with desire without performing ablution, he is not commanded to repeat the prayer.