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物理仿真基础 — 刚体动力学、接触力、摩擦模型、关节约束，适用于 Gazebo/Mujoco/Isaac Sim
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Based on SOC occupation classification
视觉语言动作模型 Vision-Language-Action 技能 - VLA 机器人控制、UniDiffuser、World Action Model
视觉语言导航 Vision-Language Navigation 技能 - VLN 自然语言导航、HF-RCN/R罗汉导航智能体
CARLA-Air 空地一体仿真技能 - 车辆+无人机联合仿真、ROS2 Humble 桥接
AI Agent 技能引导 — 加载上下文、路由技能、创建新技能
ROS2 CMakeLists.txt 依赖检查规则库 - 禁止省略ament_export_dependencies、禁止裸消息类型、禁止find_package不写REQUIRED
机器人感知系统技能库 - 视觉感知、激光雷达感知、传感器融合、边缘推理、标定
| name | physics-simulation |
| description | 物理仿真基础 — 刚体动力学、接触力、摩擦模型、关节约束，适用于 Gazebo/Mujoco/Isaac Sim |
| argument-hint | 物理仿真 OR physics simulation OR 刚体 OR dynamics OR 接触力 OR friction OR 关节约束 |
| user-invocable | true |
agents/skills/simulation/gazebo/agents/skills/simulation/mujoco/agents/skills/ros2-debug/M × ä + C × á + g = F_external + F_contact
| 参数 | 说明 |
|---|---|
| M | 质量矩阵 |
| C | 科里奥利矩阵 |
| g | 重力向量 |
| F_contact | 接触力 |
F_normal = k × penetration^e
F_friction = μ × F_normal × tangent_velocity