3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
4.3 KiB
Source: https://internrobotics.github.io/InternDataEngine-Docs/api/skills.html
Skills API Reference
This page provides API documentation for the skills module.
BaseSkill
Base class for all manipulation skills.
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
| 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. 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
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
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
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
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
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
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
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
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 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
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 |