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issacdataengine/docs_crawled/concepts_skills.md
Tangger 3d6b73753a feat: add test tube pick task with custom assets and grasp annotations 
- 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
2026-04-05 11:01:59 +08:00

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

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 ​

Related Topics ​