# Source: https://internrobotics.github.io/InternDataEngine-Docs/api/skills.html

# Skills API Reference [​](#skills-api-reference)

This page provides API documentation for the skills module.

## BaseSkill [​](#baseskill)

Base class for all manipulation skills.

### Constructor [​](#constructor)
python
```
BaseSkill(cfg, task, controller, **kwargs)
```
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**Parameters: **

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

### Properties [​](#properties)

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

### Methods [​](#methods)

#### `run() -> bool `[​](#run-bool)

Execute the skill. **Must be implemented by subclass. **

**Returns: **`bool `- Success status

## Dexpick [​](#dexpick)

Dex-style picking skill with approach planning.
python
```
class Dexpick(BaseSkill):
    def __init__(self, cfg, task, controller, **kwargs)
    def run(self) -> bool
```
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**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 [​](#dexplace)

Dex-style placing skill with constraints.
python
```
class Dexplace(BaseSkill):
    def __init__(self, cfg, task, controller, **kwargs)
    def run(self) -> bool
```
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**Configuration: **

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

## Pick [​](#pick)

Standard pick skill.
python
```
class Pick(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## Place [​](#place)

Standard place skill.
python
```
class Place(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## GotoPose [​](#gotopose)

Move to target pose skill.
python
```
class GotoPose(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## Home [​](#home)

Return to home configuration.
python
```
class Home(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## Open / Close [​](#open-close)

Gripper control skills.
python
```
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)
```
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## PourWaterSucc [​](#pourwatersucc)

Pouring skill for liquid simulation.
python
```
class PourWaterSucc(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## Rotate [​](#rotate)

Rotation skill.
python
```
class Rotate(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## Wait [​](#wait)

Wait skill for timing control.
python
```
class Wait(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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

## HeuristicSkill [​](#heuristicskill)

Configurable skill for simple actions.
python
```
class HeuristicSkill(BaseSkill):
    def run(self) -> bool
```
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**Configuration: **

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