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Showing SKILL.md
Based on SOC occupation classification
| name | robot-modeling |
| description | 机器人建模 — URDF/SDF/Xacro 模型、惯性参数、碰撞几何、插件配置，适用于所有 ROS2 机器人 |
| argument-hint | URDF OR SDF OR Xacro OR robot modeling OR 机器人建模 OR 碰撞几何 OR inertial |
| user-invocable | true |
agents/skills/simulation/physics-simulation/agents/skills/ros2-debug/<link name="base_link">
<visual> <!-- 渲染外观 -->
<geometry><cylinder length="0.1" radius="0.1"/></geometry>
</visual>
<collision> <!-- 碰撞检测 -->
<geometry><cylinder length="0.1" radius="0.1"/></geometry>
</collision>
<inertial> <!-- 质量分布 -->
<mass value="5.0"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.02"/>
</inertial>
</link>
<joint name="base_to_wheel" type="continuous">
<parent link="base_link"/>
<child link="wheel"/>
<origin xyz="0 0.1 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/> <!-- 旋转轴 -->
</joint>
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