Physics Simulation

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

miuav 809ab0a 768 B Updated

File contents

physics-simulation — 物理仿真基础 SKILL

引用技能

  • agents/skills/simulation/gazebo/
  • agents/skills/simulation/mujoco/
  • agents/skills/ros2-debug/

刚体动力学

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

接触力模型

F_normal = k × penetration^e
F_friction = μ × F_normal × tangent_velocity

禁止

  • ❌ 摩擦系数设错(机器人打滑或卡死)
  • ❌ 质量/惯性张量错误(行为异常)

miuav/vibe-coding-ros2/tree/main/agents/skills/simulation/physics-simulation commit 809ab0a8c8

Frequently asked questions

npx skillmds@latest add miuav/physics-simulation