Skills API Reference

This page provides API documentation for the skills module.

BaseSkill

Base class for all manipulation skills.

Constructor

BaseSkill(cfg, task, controller, **kwargs)

Parameters:

Parameter	Type	Description
cfg	DictConfig	Skill configuration
task	BananaBaseTask	Task instance
controller	TemplateController	Controller instance

Properties

Property	Type	Description
skill_cfg	dict	Skill-specific configuration
task	BananaBaseTask	Reference to task
controller	TemplateController	Reference to controller

Methods

run() -> bool

Execute the skill. Must be implemented by subclass.

Returns: bool - Success status

---

Dexpick

Dex-style picking skill with approach planning.

class Dexpick(BaseSkill):
    def __init__(self, cfg, task, controller, **kwargs)
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
objects	List[str]	required	Objects to pick
pick_pose_idx	int	0	Pick pose group index
pre_grasp_offset	float	0.0	Pre-grasp approach offset
post_grasp_offset	float	0.1	Post-grasp lift offset

---

Dexplace

Dex-style placing skill with constraints.

class Dexplace(BaseSkill):
    def __init__(self, cfg, task, controller, **kwargs)
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
objects	List[str]	required	[object, target]
camera_axis_filter	dict	None	Camera constraint

---

Pick

Standard pick skill.

class Pick(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
objects	List[str]	required	Objects to pick

---

Place

Standard place skill.

class Place(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
objects	List[str]	required	[object, target]

---

GotoPose

Move to target pose skill.

class GotoPose(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
target_pose	tuple	required	(position, orientation)

---

Home

Return to home configuration.

class Home(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
mode	str	"default"	Home configuration mode

---

Open / Close

Gripper control skills.

class Open(BaseSkill):
    def run(self) -> bool
        self.controller.set_gripper_state(1.0)

class Close(BaseSkill):
    def run(self) -> bool
        self.controller.set_gripper_state(-1.0)

---

PourWaterSucc

Pouring skill for liquid simulation.

class PourWaterSucc(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
objects	List[str]	required	[container, target]
pour_angle	float	90.0	Pouring angle (degrees)

---

Rotate

Rotation skill.

class Rotate(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
axis	str	"z"	Rotation axis
angle	float	90.0	Rotation angle (degrees)

---

Wait

Wait skill for timing control.

class Wait(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
duration	float	1.0	Wait duration (seconds)

---

HeuristicSkill

Configurable skill for simple actions.

class HeuristicSkill(BaseSkill):
    def run(self) -> bool

Configuration:

Parameter	Type	Default	Description
mode	str	"home"	Action mode
gripper_state	float	None	Gripper state to set