# Mujoco Modeling > Mujoco 建模技能 - MJCF 模型、关节驱动、接触参数、ROS2 Mujoco 桥接 - Skill: `miuav/mujoco-modeling` (Agent Skill) - Install (CLI): `npx skillmds@latest add miuav/mujoco-modeling` - Raw SKILL.md: https://api.skillmd.com/api/skills/miuav/mujoco-modeling/raw - Safety review: pending - Works with: Claude Code, Claude.ai, OpenAI Codex - Category: Coding & Dev Tools - Author: miuav (https://skillmd.com/u/miuav) - Updated: 2026-09-17 - Page: https://skillmd.com/skills/miuav/mujoco-modeling --- # Mujoco 建模技能 > Mujoco 物理仿真建模 --- ## 何时使用当需要以下帮助时使用此技能： - MJCF 模型 - 关节和驱动 - 接触参数 - 力学验证 - ROS2 Mujoco 桥接 --- ## 核心实现 ### MJCF 模型 ```xml ``` ### ROS2 Mujoco 桥接 ```python # mujoco_ros_bridge.py import mujoco import numpy as np class MujocoROS_Bridge: def __init__(self, model_path): self.model = mujoco.MjModel.from_xml_path(model_path) self.data = mujoco.MjData(self.model) # ROS2 接口 # 订阅关节命令 # 发布关节状态 def step(self, ctrl): """执行一步仿真""" self.data.ctrl = ctrl mujoco.mj_step(self.model, self.data) return { 'qpos': self.data.qpos.copy(), 'qvel': self.data.qvel.copy(), 'qacc': self.data.qacc.copy() } ```