actuator-sizinglisted

# actuator-sizing This skill estimates whether a simplified robot-dog actuator set has enough torque, speed, and thermal margin for early digital-twin gates. It consumes requirement contracts and architecture assumptions, then writes machine-readable actuator reports. ## When To Use Use this skill for: - Robot-dog hip/knee/ankle torque margin checks. - Selecting or validating actuator specs before CAD/simulation iteration. - Producing `actuator_spec.yaml` and `torque_margin.json`. - Feeding `robot-dog-digital-twin` G2/G3 blocker decisions. ## Workflow 1. Read `requirements.yaml` for mass, payload, speed, and slope targets. 2. Read `architecture.yaml` for leg count and joints per leg. 3. Load an actuator preset or use the built-in MVP preset. 4. Estimate joint torque and speed requirements. 5. Write `reports/actuator_spec.yaml`, `reports/torque_margin.json`, and `reports/actuator_sizing_report.md`. ## Commands ```bash python skills/actuator-sizing/scripts/estimate_torque.py skills/actuator-sizing/examples/quadruped_mvp python skills/actuator-sizing/scripts/write_report.py skills/actuator-sizing/examples/quadruped_mvp ``` ## Rules - Keep calculations deterministic and conservative. - Treat torque margin below 20% as a blocker. - Do not select real purchasable parts unless a user explicitly provides a candidate list. - Do not import sibling subskill code. Read requirement files only. ## References - `references/torque-model.md` for formulas. - `references/thermal-