> For the complete documentation index, see [llms.txt](https://docs.dextoros.app/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.dextoros.app/skills-and-training/which-robots-can-run-a-skill.md).

# Which robots can run a skill

How DextorOS matches a skill to the robots that have the parts it needs.

A skill doesn't belong to one robot or one brand. Each skill lists the [capabilities](/skills-and-training/capabilities.md) it **needs**, and any robot that has all of them can run it.

## The rule

A robot can run a skill when it reports **every** capability the skill needs. If even one is missing, DextorOS shows which ones, so you know exactly what stands in the way.

```mermaid
flowchart LR
    S[Skill needs] --> C{Robot has every one?}
    C -->|Yes| R[Can run the skill]
    C -->|No| M[Shows the missing capabilities]
```

## Skills in the demo fleet

| Skill            | Needs                             | Taught on |
| ---------------- | --------------------------------- | --------- |
| Pick and place   | arm, gripper, depth camera        | `ARM-02`  |
| Shelf scan       | wheeled base, LiDAR, depth camera | `AMR-11`  |
| Stair inspection | legs, depth camera                | `QDR-04`  |
| Object handoff   | arm, gripper                      | `HUM-03`  |

## Who can run what

Using the demo fleet:

| Robot                      | Pick and place   | Shelf scan                            | Stair inspection       | Object handoff   |
| -------------------------- | ---------------- | ------------------------------------- | ---------------------- | ---------------- |
| `ARM-02` 6-axis arm        | Yes              | No: wheeled base, LiDAR               | No: legs               | Yes              |
| `AMR-11` Warehouse AMR     | No: arm, gripper | Yes                                   | No: legs               | No: arm, gripper |
| `QDR-04` Quadruped         | No: arm, gripper | No: wheeled base                      | Yes                    | No: arm, gripper |
| `MM-01` Mobile manipulator | Yes              | Yes                                   | No: legs               | Yes              |
| `HUM-03` Humanoid          | Yes              | No: wheeled base, LiDAR               | Yes                    | Yes              |
| `DLT-07` Delta picker      | No: depth camera | No: wheeled base, LiDAR, depth camera | No: legs, depth camera | Yes              |

{% hint style="info" %}
Notice that **Object handoff**, taught on a humanoid, also runs on a 6-axis arm, a mobile manipulator and a delta picker. The robots are different shapes from different makers, but they all have an arm and a gripper.
{% endhint %}

## Related

* [Teach a skill](/skills-and-training/teach-a-skill.md)
* [Skill versions](/skills-and-training/skill-versions.md)


---

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