# 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

- Skill: `miuav/physics-simulation` (Agent Skill)
- Install (CLI): `npx skillmds@latest add miuav/physics-simulation`
- Raw SKILL.md: https://api.skillmd.com/api/skills/miuav/physics-simulation/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/physics-simulation

---


# 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）