Skills

Skills are the fundamental building blocks of robotic manipulation in InternDataEngine. Each skill defines an atomic action that a robot can perform, from simple gripper operations to complex manipulation sequences.

Quick Navigation

Category	Description
Overview	Skill architecture and available skills
Pick Skill	Grasping and lifting objects
Place Skill	Placing objects at target locations
Articulation Skill	Operating articulated objects (doors, drawers)

What is a Skill?

A skill encapsulates:

• Motion Planning: Trajectory generation using CuRobo
• Execution Control: Step-by-step command execution
• State Monitoring: Success/failure evaluation
• Gripper Actions: Open/close operations

Skill Categories

Manipulation Skills

Skills for interacting with objects in the environment:

• Pick: Grasp and lift objects using sampled grasp poses
• Place: Position objects at target locations
• Articulation: Operate doors, drawers, and other articulated objects

Motion Skills

Skills for robot movement:

• goto_pose - Move to a target end-effector pose
• move - Cartesian motion in a direction
• rotate - Rotate the end-effector

Utility Skills

Helper skills for common operations:

• home - Return to home configuration
• open / close - Gripper control
• wait - Pause execution

Getting Started

1. Read the Skills Overview to understand the architecture
2. Learn about Pick Skill for grasping objects
3. Explore Place Skill for placing operations
4. Check Articulation Skill for operating doors and drawers

Related Topics

• Tasks - Combine skills into complete workflows
• Controllers - Understand motion control
• Custom Skill - Create your own skills