# Robot Control

> PyBullet 机器人控制技能 - 关节控制、力控制、运动学

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

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# PyBullet Robot Control Skill

> 用于 PyBullet 中的机器人控制

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## 何时使用

当需要以下帮助时使用此技能：
- 控制关节位置
- 应用力和扭矩
- 运动学计算

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## 快速参考

### 加载机器人

```python
robot_id = p.loadURDF("franka_panda/panda.urdf")
```

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## 控制模式

### 位置控制

```python
p.setJointMotorControl2(
    robot_id,
    joint_index,
    p.POSITION_CONTROL,
    targetPosition=1.0,
    force=100
)
```

### 速度控制

```python
p.setJointMotorControl2(
    robot_id,
    joint_index,
    p.VELOCITY_CONTROL,
    targetVelocity=0.5,
    force=50
)
```

### 力控制

```python
p.setJointMotorControl2(
    robot_id,
    joint_index,
    p.TORQUE_CONTROL,
    force=10.0
)
```

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## 另见

- [rl-environments](../rl-environments/) - RL 环境
- [physics-simulation](../physics-simulation/) - 物理仿真