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No -- at least, not originally. Skaro had two intelligent humanoid races, the Thals & the Kaleds. Davros developed the Daleks from Kaleds who had been mutated by the weapons used in a long war between the two races ("Genesis of the Daleks"). The Thals still lived on Skaro after the Daleks had been created ("The Daleks") & they eventually developed space travel ("Planet of the Daleks"). There were also lower forms of animal & plant life on the planet.