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
61 lines
2.6 KiB
Markdown
61 lines
2.6 KiB
Markdown
# Source: https://internrobotics.github.io/InternDataEngine-Docs/concepts/skills.html
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# Skills [](#skills)
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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.
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## Quick Navigation [](#quick-navigation)
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| Category | Description |
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| [Overview](/InternDataEngine-Docs/concepts/skills/overview.html) | Skill architecture and available skills |
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| [Pick Skill](/InternDataEngine-Docs/concepts/skills/pick.html) | Grasping and lifting objects |
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| [Place Skill](/InternDataEngine-Docs/concepts/skills/place.html) | Placing objects at target locations |
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| [Articulation Skill](/InternDataEngine-Docs/concepts/skills/articulation.html) | Operating articulated objects (doors, drawers) |
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## What is a Skill? [](#what-is-a-skill)
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A skill encapsulates:
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- **Motion Planning **: Trajectory generation using CuRobo
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- **Execution Control **: Step-by-step command execution
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- **State Monitoring **: Success/failure evaluation
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- **Gripper Actions **: Open/close operations
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## Skill Categories [](#skill-categories)
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### Manipulation Skills [](#manipulation-skills)
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Skills for interacting with objects in the environment:
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- **Pick **: Grasp and lift objects using sampled grasp poses
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- **Place **: Position objects at target locations
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- **Articulation **: Operate doors, drawers, and other articulated objects
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### Motion Skills [](#motion-skills)
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Skills for robot movement:
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- `goto_pose `- Move to a target end-effector pose
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- `move `- Cartesian motion in a direction
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- `rotate `- Rotate the end-effector
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### Utility Skills [](#utility-skills)
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Helper skills for common operations:
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- `home `- Return to home configuration
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- `open `/ `close `- Gripper control
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- `wait `- Pause execution
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## Getting Started [](#getting-started)
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- Read the [Skills Overview](/InternDataEngine-Docs/concepts/skills/overview.html)to understand the architecture
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- Learn about [Pick Skill](/InternDataEngine-Docs/concepts/skills/pick.html)for grasping objects
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- Explore [Place Skill](/InternDataEngine-Docs/concepts/skills/place.html)for placing operations
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- Check [Articulation Skill](/InternDataEngine-Docs/concepts/skills/articulation.html)for operating doors and drawers
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## Related Topics [](#related-topics)
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- [Tasks](/InternDataEngine-Docs/concepts/tasks/)- Combine skills into complete workflows
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- [Controllers](/InternDataEngine-Docs/concepts/controllers/)- Understand motion control
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- [Custom Skill](/InternDataEngine-Docs/custom/skill/)- Create your own skills |