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

# Skills [​](#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 [​](#quick-navigation)

| Category  | Description  |
| [Overview](/InternDataEngine-Docs/concepts/skills/overview.html) | Skill architecture and available skills  |
| [Pick Skill](/InternDataEngine-Docs/concepts/skills/pick.html) | Grasping and lifting objects  |
| [Place Skill](/InternDataEngine-Docs/concepts/skills/place.html) | Placing objects at target locations  |
| [Articulation Skill](/InternDataEngine-Docs/concepts/skills/articulation.html) | Operating articulated objects (doors, drawers)  |

## What is a Skill? [​](#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 [​](#skill-categories)

### Manipulation Skills [​](#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 [​](#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 [​](#utility-skills)

Helper skills for common operations:

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

## Getting Started [​](#getting-started)

- Read the [Skills Overview](/InternDataEngine-Docs/concepts/skills/overview.html)to understand the architecture
- Learn about [Pick Skill](/InternDataEngine-Docs/concepts/skills/pick.html)for grasping objects
- Explore [Place Skill](/InternDataEngine-Docs/concepts/skills/place.html)for placing operations
- Check [Articulation Skill](/InternDataEngine-Docs/concepts/skills/articulation.html)for operating doors and drawers

## Related Topics [​](#related-topics)

- [Tasks](/InternDataEngine-Docs/concepts/tasks/)- Combine skills into complete workflows
- [Controllers](/InternDataEngine-Docs/concepts/controllers/)- Understand motion control
- [Custom Skill](/InternDataEngine-Docs/custom/skill/)- Create your own skills