Embodied Skill Kit · TianYi 2.0 Secondary-Development Tutorial

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A set of graded, runnable examples with companion guides that takes secondary developers from making a single body part move all the way to running a full task in a real scene. Examples are distilled from three real deployed projects: box-moving, depalletizing, and toy-sorting.

Three Stages (from atom to scene)

Content grows through three stages — from isolated control primitives, to reusable robot capabilities, and finally to complete jobs:

Stage	In one line	Question it answers	Status
① Atom	Make a single body part move	How do you move one part? Control interface, units, limits	✅ In progress
② Skill	Get one thing done on one target, and report success or failure	How does a robot complete one meaningful task?	✅ Finger Tap and Bottle Grasp available
③ Scene	Orchestrate multiple skills, handle failures and progress, and see the whole job through	What if something fails halfway? When is the job done?	🚧 Planned

Quick Start

The fastest way in is to start from the guides — each guide under an atom module's docs/, and the README at the root of each skill project, is a self-contained walkthrough you can read without the real robot; if you're new, begin with stage ① Atom — each module has its own README (atom/motion/, atom/perception/, atom/interaction/). The docs are the tutorial itself; the code is the subject they explain.

When you're ready to run on the real robot:

1. Set up the environment & start body_control: see Prerequisite · Environment Setup (setup/README.md). Motion atoms need body_control running first; one-click start:

   ./setup/start_body_control.sh        # run on the robot's x86 board, as user ubuntu

2. Run an atom (in a second terminal):

   source /home/ubuntu/ros2ws/install/setup.bash
   python3 atom/motion/motion01_head_ros2.py

3. Read the matching guide motionNN_..._guide.md to understand the code, then tweak-and-observe.

Continue with Skill 1 · Finger Tap when you are ready to combine perception and arm control.

Then explore Skill 2 · Bottle Grasp to combine object perception, box geometry, arm motion, and dexterous-hand control.

Repository Layout

setup/        prerequisites shared by every stage: environment setup + one-click start scripts
atom/
  motion/      joint & chassis control  — code at root, docs/, assets/
  perception/  camera, force, power, TF
  interaction/ voice in & out
               (each module: README.md + code at root + docs/ + assets/)
skill/
  skill01_finger_tap/   AprilTag perception + QP arm control for one complete tap
  skill02_bottle_grasp/ bottle/box perception + MoveIt/QP control for grasp and placement
scene/                  multi-skill orchestration + failure handling & progress (planned)

Notes

• Examples require the real robot (ROS2 + bodyctrl_msgs, etc.); they cannot run on a dev machine and are for static reading there.
• Docs are bilingual: the English version is name.md (default), the Chinese version is name_zh-CN.md.
• Most atoms ship a plain version and a _robust production version side by side: the plain one to learn the principle, the robust one adds state reading / limit checking / readiness waiting for production use.