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robots/mobile_manipulator/tiago_dual/asset.yaml

@@ -196,6 +196,9 @@ robot:
     - manipulation
     - grasping
   mjcf: "mujoco/robot.xml"
+  skills:
+    path: "skills"
+    index: "skills/skills.yaml"
 
 source:
   type: "external"

robots/mobile_manipulator/tiago_dual/skills/locomotion/backward/skill.yaml

@@ -0,0 +1,34 @@
+schema_version: '0.1'
+skill:
+  id: backward
+  name: backward
+  display_name: 后退
+  category: locomotion
+  version: 1.0.0
+  description: Drive the wheeled base backward in the body -X direction.
+  aliases:
+  - 后退
+  - 向后
+  - backward
+  - back
+  inputs:
+    speed:
+      type: number
+      unit: m/s
+      default: 0.4
+      minimum: 0.0
+      maximum: 1.0
+    duration:
+      type: number
+      unit: s
+      default: 1.0
+      minimum: 0.0
+interface:
+  kind: unified_base_target
+  command: set_base_motion
+  mapping:
+    axis: 0
+    sign: -1
+    speed_from: speed
+    speed_unit: m/s
+    duration_from: duration

robots/mobile_manipulator/tiago_dual/skills/locomotion/forward/skill.yaml

@@ -0,0 +1,33 @@
+schema_version: '0.1'
+skill:
+  id: forward
+  name: forward
+  display_name: 前进
+  category: locomotion
+  version: 1.0.0
+  description: Drive the wheeled base forward in the body +X direction.
+  aliases:
+  - 前进
+  - 向前
+  - forward
+  inputs:
+    speed:
+      type: number
+      unit: m/s
+      default: 0.4
+      minimum: 0.0
+      maximum: 1.0
+    duration:
+      type: number
+      unit: s
+      default: 1.0
+      minimum: 0.0
+interface:
+  kind: unified_base_target
+  command: set_base_motion
+  mapping:
+    axis: 0
+    sign: 1
+    speed_from: speed
+    speed_unit: m/s
+    duration_from: duration

robots/mobile_manipulator/tiago_dual/skills/locomotion/left/skill.yaml

@@ -0,0 +1,33 @@
+schema_version: '0.1'
+skill:
+  id: left
+  name: left
+  display_name: 左移
+  category: locomotion
+  version: 1.0.0
+  description: Strafe the wheeled base to the left in the body +Y direction.
+  aliases:
+  - 左移
+  - 向左平移
+  - strafe left
+  inputs:
+    speed:
+      type: number
+      unit: m/s
+      default: 0.4
+      minimum: 0.0
+      maximum: 1.0
+    duration:
+      type: number
+      unit: s
+      default: 1.0
+      minimum: 0.0
+interface:
+  kind: unified_base_target
+  command: set_base_motion
+  mapping:
+    axis: 1
+    sign: 1
+    speed_from: speed
+    speed_unit: m/s
+    duration_from: duration

robots/mobile_manipulator/tiago_dual/skills/locomotion/right/skill.yaml

@@ -0,0 +1,33 @@
+schema_version: '0.1'
+skill:
+  id: right
+  name: right
+  display_name: 右移
+  category: locomotion
+  version: 1.0.0
+  description: Strafe the wheeled base to the right in the body -Y direction.
+  aliases:
+  - 右移
+  - 向右平移
+  - strafe right
+  inputs:
+    speed:
+      type: number
+      unit: m/s
+      default: 0.4
+      minimum: 0.0
+      maximum: 1.0
+    duration:
+      type: number
+      unit: s
+      default: 1.0
+      minimum: 0.0
+interface:
+  kind: unified_base_target
+  command: set_base_motion
+  mapping:
+    axis: 1
+    sign: -1
+    speed_from: speed
+    speed_unit: m/s
+    duration_from: duration

robots/mobile_manipulator/tiago_dual/skills/locomotion/rotate_left/skill.yaml

@@ -0,0 +1,32 @@
+schema_version: '0.1'
+skill:
+  id: rotate_left
+  name: rotate_left
+  display_name: 左转
+  category: locomotion
+  version: 1.0.0
+  description: Yaw the base counterclockwise. Speed is degrees per second.
+  aliases:
+  - 左转
+  - turn left
+  inputs:
+    speed:
+      type: number
+      unit: deg/s
+      default: 30.0
+      minimum: 0.0
+      maximum: 90.0
+    duration:
+      type: number
+      unit: s
+      default: 1.0
+      minimum: 0.0
+interface:
+  kind: unified_base_target
+  command: set_base_motion
+  mapping:
+    axis: 2
+    sign: 1
+    speed_from: speed
+    speed_unit: deg/s
+    duration_from: duration

robots/mobile_manipulator/tiago_dual/skills/locomotion/rotate_right/skill.yaml

@@ -0,0 +1,32 @@
+schema_version: '0.1'
+skill:
+  id: rotate_right
+  name: rotate_right
+  display_name: 右转
+  category: locomotion
+  version: 1.0.0
+  description: Yaw the base clockwise. Speed is degrees per second.
+  aliases:
+  - 右转
+  - turn right
+  inputs:
+    speed:
+      type: number
+      unit: deg/s
+      default: 30.0
+      minimum: 0.0
+      maximum: 90.0
+    duration:
+      type: number
+      unit: s
+      default: 1.0
+      minimum: 0.0
+interface:
+  kind: unified_base_target
+  command: set_base_motion
+  mapping:
+    axis: 2
+    sign: -1
+    speed_from: speed
+    speed_unit: deg/s
+    duration_from: duration

robots/mobile_manipulator/tiago_dual/skills/locomotion/stop/skill.yaml

@@ -0,0 +1,17 @@
+schema_version: '0.1'
+skill:
+  id: stop
+  name: stop
+  display_name: 停止
+  category: locomotion
+  version: 1.0.0
+  description: Zero the base command for this robot.
+  aliases:
+  - 停止
+  - 停下
+  - 急停
+  - stop
+  inputs: {}
+interface:
+  kind: unified_base_action
+  command: stop

robots/mobile_manipulator/tiago_dual/skills/skills.yaml

@@ -0,0 +1,11 @@
+# Skill packages ship with the robot on UniEMind-Assets / Hugging Face.
+# UniEMind discovers them at runtime; it does not vendor robot skills in-repo.
+schema_version: '0.1'
+skills:
+- locomotion/forward
+- locomotion/backward
+- locomotion/left
+- locomotion/right
+- locomotion/rotate_left
+- locomotion/rotate_right
+- locomotion/stop