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
230 lines
4.3 KiB
Markdown
230 lines
4.3 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/api/skills.html
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# Skills API Reference [](#skills-api-reference)
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This page provides API documentation for the skills module.
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## BaseSkill [](#baseskill)
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Base class for all manipulation skills.
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### Constructor [](#constructor)
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python
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```
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BaseSkill(cfg, task, controller, **kwargs)
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```
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**Parameters: **
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| Parameter | Type | Description |
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| `cfg ` | DictConfig | Skill configuration |
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| `task ` | BananaBaseTask | Task instance |
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| `controller ` | TemplateController | Controller instance |
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### Properties [](#properties)
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| Property | Type | Description |
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| `skill_cfg ` | dict | Skill-specific configuration |
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| `task ` | BananaBaseTask | Reference to task |
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| `controller ` | TemplateController | Reference to controller |
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### Methods [](#methods)
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#### `run() -> bool `[](#run-bool)
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Execute the skill. **Must be implemented by subclass. **
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**Returns: **`bool `- Success status
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## Dexpick [](#dexpick)
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Dex-style picking skill with approach planning.
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python
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```
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class Dexpick(BaseSkill):
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def __init__(self, cfg, task, controller, **kwargs)
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `objects ` | List[str] | required | Objects to pick |
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| `pick_pose_idx ` | int | 0 | Pick pose group index |
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| `pre_grasp_offset ` | float | 0.0 | Pre-grasp approach offset |
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| `post_grasp_offset ` | float | 0.1 | Post-grasp lift offset |
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## Dexplace [](#dexplace)
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Dex-style placing skill with constraints.
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python
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```
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class Dexplace(BaseSkill):
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def __init__(self, cfg, task, controller, **kwargs)
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `objects ` | List[str] | required | [object, target] |
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| `camera_axis_filter ` | dict | None | Camera constraint |
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## Pick [](#pick)
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Standard pick skill.
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python
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```
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class Pick(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `objects ` | List[str] | required | Objects to pick |
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## Place [](#place)
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Standard place skill.
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python
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```
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class Place(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `objects ` | List[str] | required | [object, target] |
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## GotoPose [](#gotopose)
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Move to target pose skill.
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python
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```
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class GotoPose(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `target_pose ` | tuple | required | (position, orientation) |
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## Home [](#home)
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Return to home configuration.
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python
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```
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class Home(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `mode ` | str | "default" | Home configuration mode |
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## Open / Close [](#open-close)
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Gripper control skills.
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python
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```
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class Open(BaseSkill):
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def run(self) -> bool
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self.controller.set_gripper_state(1.0)
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class Close(BaseSkill):
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def run(self) -> bool
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self.controller.set_gripper_state(-1.0)
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```
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## PourWaterSucc [](#pourwatersucc)
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Pouring skill for liquid simulation.
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python
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```
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class PourWaterSucc(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `objects ` | List[str] | required | [container, target] |
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| `pour_angle ` | float | 90.0 | Pouring angle (degrees) |
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## Rotate [](#rotate)
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Rotation skill.
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python
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```
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class Rotate(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `axis ` | str | "z" | Rotation axis |
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| `angle ` | float | 90.0 | Rotation angle (degrees) |
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## Wait [](#wait)
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Wait skill for timing control.
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python
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```
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class Wait(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `duration ` | float | 1.0 | Wait duration (seconds) |
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## HeuristicSkill [](#heuristicskill)
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Configurable skill for simple actions.
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python
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```
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class HeuristicSkill(BaseSkill):
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def run(self) -> bool
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```
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**Configuration: **
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| Parameter | Type | Default | Description |
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| `mode ` | str | "home" | Action mode |
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| `gripper_state ` | float | None | Gripper state to set | |