Agent skill

Motor Model Dynamics

by benchflow-ai in benchflow-ai/skillsbench

Apache-2.0Auto-check passed

Install Motor Model Dynamics

skills CLI

$ npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a claude-code

Project install by default; add -g for ~/.claude/skills/.

GitHub CLI

$ gh skill install benchflow-ai/skillsbench motor-model-dynamics --agent claude-code

Project scope by default; add --scope user for a personal install. Needs GitHub CLI 2.90.0 or later (public preview).

Manual copy

$ git clone --depth 1 https://github.com/benchflow-ai/skillsbench.git skills-src && mkdir -p .claude/skills && cp -r skills-src/tasks/drone-planning-control/environment/skills/motor-model-dynamics .claude/skills/motor-model-dynamics && rm -rf skills-src

Use ~/.claude/skills/ instead of .claude/skills for a personal install. The folder must contain SKILL.md.

Claude Code skills documentation · loads skills from .claude/skills/

Paste into Claude Code

Install the "motor-model-dynamics" agent skill from https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics into .claude/skills/motor-model-dynamics/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "motor-model-dynamics", then confirm the skill loads.

Claude Code copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

$skill-installer

$skill-installer install https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics

Type this inside Codex. $skill-installer <name> installs a curated skill from openai/skills. The installer writes to $CODEX_HOME/skills (default ~/.codex/skills). Restart Codex if the skill does not show up.

skills CLI

$ npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a codex

Project install goes to .agents/skills/; add -g for ~/.codex/skills/.

GitHub CLI

$ gh skill install benchflow-ai/skillsbench motor-model-dynamics --agent codex

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/benchflow-ai/skillsbench.git skills-src && mkdir -p .agents/skills && cp -r skills-src/tasks/drone-planning-control/environment/skills/motor-model-dynamics .agents/skills/motor-model-dynamics && rm -rf skills-src

Use ~/.agents/skills/ instead of .agents/skills for a personal install.

Codex skills documentation · loads skills from .agents/skills/

Paste into Codex

Install the "motor-model-dynamics" agent skill from https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics into .agents/skills/motor-model-dynamics/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "motor-model-dynamics", then confirm the skill loads.

Codex copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

skills CLI

$ npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a cursor

Project install goes to .agents/skills/; add -g for ~/.cursor/skills/.

GitHub CLI

$ gh skill install benchflow-ai/skillsbench motor-model-dynamics --agent cursor

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/benchflow-ai/skillsbench.git skills-src && mkdir -p .cursor/skills && cp -r skills-src/tasks/drone-planning-control/environment/skills/motor-model-dynamics .cursor/skills/motor-model-dynamics && rm -rf skills-src

Use ~/.cursor/skills/ instead of .cursor/skills for a personal install.

Cursor skills documentation · loads skills from .cursor/skills/, .agents/skills/, .claude/skills/, .codex/skills/

Paste into Cursor

Install the "motor-model-dynamics" agent skill from https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics into .cursor/skills/motor-model-dynamics/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "motor-model-dynamics", then confirm the skill loads.

Cursor copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

gemini skills install

$ gemini skills install https://github.com/benchflow-ai/skillsbench.git --path tasks/drone-planning-control/environment/skills/motor-model-dynamics

--scope user (default) or --scope workspace; --path is the subfolder of the repo that holds the skill; --consent skips the security confirmation prompt.

skills CLI

$ npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a gemini-cli

Project install goes to .agents/skills/; add -g for ~/.gemini/skills/.

GitHub CLI

$ gh skill install benchflow-ai/skillsbench motor-model-dynamics --agent gemini-cli

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/benchflow-ai/skillsbench.git skills-src && mkdir -p .gemini/skills && cp -r skills-src/tasks/drone-planning-control/environment/skills/motor-model-dynamics .gemini/skills/motor-model-dynamics && rm -rf skills-src

Use ~/.gemini/skills/ instead of .gemini/skills for a personal install, then run /skills reload.

Gemini CLI skills documentation · loads skills from .gemini/skills/, .agents/skills/

Paste into Gemini CLI

Install the "motor-model-dynamics" agent skill from https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics into .gemini/skills/motor-model-dynamics/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "motor-model-dynamics", then confirm the skill loads.

Gemini CLI copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

GitHub CLI

$ gh skill install benchflow-ai/skillsbench motor-model-dynamics

Installs for Copilot at project scope by default; add --scope user for a personal install. Preview a skill first with gh skill preview. Needs GitHub CLI 2.90.0 or later (public preview).

skills CLI

$ npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a github-copilot

Project install goes to .agents/skills/; add -g for ~/.copilot/skills/.

Manual copy

$ git clone --depth 1 https://github.com/benchflow-ai/skillsbench.git skills-src && mkdir -p .github/skills && cp -r skills-src/tasks/drone-planning-control/environment/skills/motor-model-dynamics .github/skills/motor-model-dynamics && rm -rf skills-src

Use ~/.copilot/skills/ instead of .github/skills for a personal install. Commit .github/skills so cloud agent and code review can use it.

GitHub Copilot skills documentation · loads skills from .github/skills/, .claude/skills/, .agents/skills/

Paste into GitHub Copilot

Install the "motor-model-dynamics" agent skill from https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics into .github/skills/motor-model-dynamics/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "motor-model-dynamics", then confirm the skill loads.

GitHub Copilot copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

skills CLI

$ npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a opencode

OpenCode documents no install command of its own. Project install goes to .agents/skills/; add -g for ~/.config/opencode/skills/.

GitHub CLI

$ gh skill install benchflow-ai/skillsbench motor-model-dynamics --agent opencode

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/benchflow-ai/skillsbench.git skills-src && mkdir -p .opencode/skills && cp -r skills-src/tasks/drone-planning-control/environment/skills/motor-model-dynamics .opencode/skills/motor-model-dynamics && rm -rf skills-src

Use ~/.config/opencode/skills/ instead of .opencode/skills for a personal install.

OpenCode skills documentation · loads skills from .opencode/skills/, .claude/skills/, .agents/skills/

Paste into OpenCode

Install the "motor-model-dynamics" agent skill from https://github.com/benchflow-ai/skillsbench/tree/main/tasks/drone-planning-control/environment/skills/motor-model-dynamics into .opencode/skills/motor-model-dynamics/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "motor-model-dynamics", then confirm the skill loads.

OpenCode copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

Facts

Skill name: motor-model-dynamics
GitHub stars: 1.8k
Token cost: ~845 tokens
SKILL.md length: 375 words
Files: 1
Skills in repo: 189
Repo updated: Jul 23, 2026
First seen: Oct 7, 2026
Licence: Apache-2.0

At a glance

Works in 2 steps: Motor model — maps desired [F, Mx, My,… → Dynamics — nonlinear equations of…
Simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix
SKILL.md covers Overview, Motor Model, Dynamics (Equations of Motion) and RK45 Integration, plus 2 more sections
Instructions only: no scripts, shell commands, URLs or credentials in SKILL.md

What it does

Motor Model Dynamics is an agent skill from benchflow-ai/skillsbench. Use this skill when simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix, applying first-order motor lag, and integrating the nonlinear equations of motion (translational and rotational) using RK45.

Its SKILL.md is about 850 tokens, which your agent loads only when the skill is triggered. It is a single SKILL.md file with no bundled scripts.

It works with Angular. The repository describes itself as: SkillsBench evaluates how well skills work and how effective agents are at using them. The licence is Apache-2.0.

When your agent uses it

Simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix
Applying first-order motor lag
Integrating the nonlinear equations of motion (translational and rotational) using RK45

Example prompts

“/motor-model-dynamics”

Workflow steps

2 steps, taken from the first numbered list in SKILL.md.

Motor model — maps desired [F, Mx, My, Mz] → desired motor RPMs → applies first-order lag → returns actual thrust and moments
Dynamics — nonlinear equations of motion; given forces and moments, returns the 16-element state derivative for ODE integration

What it can do on your machine

Read from SKILL.md and the folder at commit 9a1f4dd. It shows what the files ask for, not the result of running them.

Tool permissions
Pre-approves nothing: there is no allowed-tools line, so your agent's usual permission prompts apply.
From allowed-tools in the SKILL.md frontmatter.
Runs code
No scripts in the folder and no shell commands in SKILL.md.
From the folder's file list and the shell code blocks in SKILL.md.
Network
No URLs in SKILL.md.
From URLs in SKILL.md, links to its own repository left out.
Credentials
Names no API keys, tokens, secrets or passwords.
From names ending in _API_KEY, _TOKEN, _SECRET, _KEY or _PASSWORD in SKILL.md.

Context cost

Motor Model Dynamics loads about 845 tokens when it runs. Until then it costs about 74 tokens; SKILL.md has 375 words of instructions outside code blocks.

Always · name and description, kept in context so the agent knows when to use it: ~74
When it runs · the whole SKILL.md, loaded when a task matches: ~845

Estimates: characters ÷ 4, the usual rule of thumb; real counts depend on the model's tokenizer. Scripts and assets cost tokens only if the agent reads them.

Safety

Auto-check passed

The automated check found no risky patterns in SKILL.md.

Automated static check — not a guarantee. Review scripts before installing. It scans the text of SKILL.md for risky patterns (piping downloads into a shell, reading credential files, hidden Unicode, destructive commands); files beside SKILL.md are not scanned.

SKILL.md

The full file from benchflow-ai/skillsbench at commit 9a1f4dd, republished under its Apache-2.0 licence (© benchflow-ai). 375 words, ~845 tokens.

Download SKILL.mdSave it as .claude/skills/motor-model-dynamics/SKILL.md (or your agent's skills folder).

name: motor-model-dynamics
description: Use this skill when simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix, applying first-order motor lag, and integrating the nonlinear equations of motion (translational and rotational) using RK45.

Motor Model and Dynamics Simulation

Overview

Two modules form the physics layer of the simulator:

Motor model — maps desired [F, Mx, My, Mz] → desired motor RPMs → applies first-order lag → returns actual thrust and moments
Dynamics — nonlinear equations of motion; given forces and moments, returns the 16-element state derivative for ODE integration

Motor Model

Propeller Allocation Matrix (X-frame quadrotor)

The 4×4 allocation matrix maps [F, Mx, My, Mz] to squared motor RPMs. For an X-frame with arm length d, thrust coefficient cT, and torque coefficient cQ:

         motor:  1      2      3      4
Thrust:         +cT    +cT    +cT    +cT
Roll  (Mx):      0    +d·cT    0    -d·cT
Pitch (My):    -d·cT    0    +d·cT    0
Yaw   (Mz):    -cQ    +cQ    -cQ    +cQ

Implementation Logic

Build the 4×4 prop_matrix from cT, cQ, and d.
Solve prop_matrix @ rpm_sq = [F, Mx, My, Mz] for rpm_sq (desired squared RPMs).
Take sqrt of each element (clamp negatives to 0 first), then clip to [rpm_min, rpm_max].
Apply first-order motor lag: rpm_dot = km * (rpm_desired - rpm_current).
Compute actual force/moment using prop_matrix @ (motor_rpm ** 2) and return (F_actual, M_actual, rpm_dot).

Dynamics (Equations of Motion)

State vector (16,)

Indices	Meaning
0:3	Position [x, y, z]
3:6	Velocity [vẋ, vẏ, vż]
6:9	Euler angles [φ, θ, ψ]
9:12	Angular velocity [p, q, r]
12:16	Motor RPM [ω₁, ω₂, ω₃, ω₄]

Show full SKILL.md (187 more words)Show less

Implementation Logic

Compute state_dot (16,) from current state and applied forces/moments:

Position derivative = current velocity (state[3:6]).
Velocity derivative = gravity + thrust projected into world frame via ZYX Euler rotation. The x/y accelerations depend on F/m, sin/cos of all three Euler angles. The z acceleration is −g + (F/m)·cos(φ)·cos(θ).
Euler angle derivative = current angular velocity (state[9:12]).
Angular velocity derivative = I⁻¹ M (solve inertia matrix against moment vector).
Motor RPM derivative = rpm_motor_dot from the motor model.

RK45 Integration

Use scipy.integrate.solve_ivp with method='RK45' over each timestep [t_k, t_{k+1}]. The ODE function wraps dynamics(params, s, F_actual, M_actual, rpm_motor_dot) with F_actual and M_actual held constant for the step. After solving, take the last column of sol.y as the new state.

Motor Physical Limits

Parameter	Value	Meaning
`rpm_min`	3000	Minimum motor speed (motors always spinning)
`rpm_max`	20000	Maximum motor speed
`motor_constant` km	36.5 s⁻¹	First-order time constant; τ = 1/km ≈ 27 ms

Max Thrust Calculation

Derived from motor limits:

T_max = 4 * cT * rpm_max² (all 4 motors at max RPM)
T_min = 4 * cT * rpm_min²
Thrust-to-weight ratio: twr = T_max / (mass * gravity)
Max upward acceleration: (T_max − mass·g) / mass
Max downward acceleration: (mass·g − T_min) / mass

Files

Just SKILL.md in tasks/drone-planning-control/environment/skills/motor-model-dynamics of benchflow-ai/skillsbench.

Open the folder on GitHubat commit 9a1f4dd

Compare with similar skills

Motor Model Dynamics next to the 5 skills that share the most tags, products or categories with it. Stars are the repository's; “used in” counts other GitHub owners with a copy.

Motor Model Dynamics compared with similar skills
Skill	Stars	Used in	Tokens	Auto-check	Licence	Repo updated
Motor Model Dynamics this skillbenchflow-ai/skillsbench	1.8k	—	~845	Automated safety check: Pass	Apache-2.0	2 mo ago
Boneyard0xGF/boneyard	7.5k	—	~2.2k	Automated safety check: Notes	MIT	1 mo ago
Code Review Skillawesome-skills/code-review-skill	2.1k	—	~2.8k	Automated safety check: Notes	MIT	1 mo ago
Skill Creatormgechev/skills-best-practices	2.3k	—	~1.1k	Automated safety check: Pass	None	2 mo ago
Version ReleaseNG-ZORRO/ng-zorro-antd	9.2k	—	~3.1k	Automated safety check: Pass	MIT	yesterday
Abp Angularabpframework/abp	14k	—	~1.2k	Automated safety check: Pass	LGPL-3.0	today

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Questions about Motor Model Dynamics

What does Motor Model Dynamics do?

A skill your agent uses when simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix, applying first-order motor lag, and…. Motor Model Dynamics is an agent skill from benchflow-ai/skillsbench. Use this skill when simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix, applying first-order motor lag, and integrating the nonlinear equations of motion (translational and rotational) using RK45.

When should I use Motor Model Dynamics?

Motor Model Dynamics fits situations like: simulating quadrotor physical dynamics — mapping desired thrust/moments to individual motor RPMs via a propeller allocation matrix; applying first-order motor lag; integrating the nonlinear equations of motion (translational and rotational) using RK45.

How do I install Motor Model Dynamics in Claude Code?

Run `npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a claude-code`. Or copy the skill folder (tasks/drone-planning-control/environment/skills/motor-model-dynamics in benchflow-ai/skillsbench) into .claude/skills/motor-model-dynamics in your project. Claude Code loads it when a task matches its description.

How do I install Motor Model Dynamics in Codex?

Run `npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a codex`. Or copy the skill folder (tasks/drone-planning-control/environment/skills/motor-model-dynamics in benchflow-ai/skillsbench) into .agents/skills/motor-model-dynamics in your project. Codex loads it when a task matches its description.

Can I use Motor Model Dynamics in Cursor, Gemini CLI or GitHub Copilot?

Cursor, Gemini CLI, GitHub Copilot and OpenCode also load SKILL.md folders. With the skills CLI, run `npx skills add benchflow-ai/skillsbench --skill motor-model-dynamics -a cursor` (or -a gemini-cli, github-copilot or opencode for the others). To copy it by hand, put the folder in .cursor/skills/motor-model-dynamics, .gemini/skills/motor-model-dynamics, .github/skills/motor-model-dynamics and .opencode/skills/motor-model-dynamics in your project.

What does Motor Model Dynamics need to run?

SKILL.md names no scripts, command-line tools or credentials: Motor Model Dynamics is instructions for the agent only.

Does Motor Model Dynamics access the network?

SKILL.md contains no URLs. Any network use would come from the scripts or tools the agent runs. This is read from the text; nothing was executed.

Is Motor Model Dynamics safe to install?

Our automated static check of SKILL.md found no risky patterns, such as piping downloads into a shell, reading credential files or hidden Unicode. It is not a guarantee. Review the folder before installing.

What licence does Motor Model Dynamics use?

Motor Model Dynamics is published under the Apache-2.0 licence (the repository's licence). It allows redistribution, so the full SKILL.md is shown on this page.

How many tokens does Motor Model Dynamics use?

About 845 tokens (SKILL.md is roughly 3.4k characters). Agents keep only the skill's name and description in context until a task matches; then they load SKILL.md in full.

What are the alternatives to Motor Model Dynamics?

Skills that share tags, products or a category with Motor Model Dynamics: Boneyard (0xGF/boneyard, 7.5k stars), Code Review Skill (awesome-skills/code-review-skill, 2.1k stars), Skill Creator (mgechev/skills-best-practices, 2.3k stars) and Version Release (NG-ZORRO/ng-zorro-antd, 9.2k stars). The comparison table on this page puts their stars, adoption, token cost, safety result and licence side by side.

Who maintains Motor Model Dynamics?

benchflow-ai (a GitHub organization) maintains it in benchflow-ai/skillsbench, which has 1,834 GitHub stars. The repository holds 189 skills in this directory. The repository was last updated on July 23, 2026.

Source: benchflow-ai/skillsbench on GitHub. Facts on this page come from the repository at the commit we read; the author's words are quoted as theirs.

Install Motor Model Dynamics

Facts

At a glance

What it does

When your agent uses it

Example prompts

Workflow steps

What it can do on your machine

Tool permissions

Runs code

Network

Credentials

Context cost

Safety

SKILL.md

Motor Model and Dynamics Simulation

Overview

Motor Model

Propeller Allocation Matrix (X-frame quadrotor)

Implementation Logic

Dynamics (Equations of Motion)

State vector (16,)

Implementation Logic

RK45 Integration

Motor Physical Limits

Max Thrust Calculation

Files

Compare with similar skills

Similar skills

More from benchflow-ai/skillsbench

Related

Questions about Motor Model Dynamics