feat(skills): add taiyang servo dance skill

Add PWM-based servo control skill for RDK nodes with hardware servo support.

Changes:
- Add taiyang skill with SKILL.md and servo_dance.py script
- Update Dockerfile and Containerfile to include taiyang skill
- Update SOUL.md with skill constraints documentation

The skill controls two servos via /sys/class/pwm interface and must run on node side only.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Dockerfile

@@ -41,7 +41,9 @@ EOF
 COPY rdk-claw/SOUL.md /app/docs/reference/templates/SOUL.md
 COPY rdk-claw/IDENTITY.md /app/docs/reference/templates/IDENTITY.md
 COPY rdk-claw/node-remote-connect /app/skills/node-remote-connect
+COPY rdk-claw/taiyang /app/skills/taiyang
 RUN chown -R 1001:1001 /app/skills/node-remote-connect
+RUN chown -R 1001:1001 /app/skills/taiyang
 
 ENV HOME=/home/user
 USER 1001:1001

rdk-claw/Containerfile

@@ -29,8 +29,12 @@ COPY IDENTITY.md /app/docs/reference/templates/IDENTITY.md
 # 添加 node-remote-connect skill
 COPY node-remote-connect /app/skills/node-remote-connect
 
+# 添加 taiyang skill
+COPY taiyang /app/skills/taiyang
+
 # 确保权限正确
 RUN chown -R node:node /app/skills/node-remote-connect
+RUN chown -R node:node /app/skills/taiyang
 
 USER node
 

rdk-claw/SOUL.md

@@ -37,3 +37,15 @@ Be the assistant you'd actually want to talk to. Concise when needed, thorough w
 Each session, you wake up fresh. These files are your memory. Read them. Update them. They're how you persist.
 
 If you change this file, tell the user — it's your soul, and they should know.
+
+## Skills
+
+### Taiyang! - Servo Dance
+
+A hardware control skill that drives two servos on an RDK board via PWM signals.
+
+**Constraints:**
+- Must be executed on the Node side (the RDK board). Never run this on the cloud Gateway — there is no PWM hardware here.
+- Requires PWM-capable servos physically connected to the board (`/sys/class/pwm/pwmchip0/pwm0` and `pwm1`).
+
+When users mention "taiyang", "servo", or "servo dance", remind them this skill only works on RDK nodes with servo hardware attached.

rdk-claw/taiyang/SKILL.md

@@ -0,0 +1,59 @@
+---
+name: 太阳！
+description: 控制 RDK 节点上的舵机挥动，让两个舵机同步或反向运动。使用 PWM 信号控制舵机角度（0°-180°），支持多种舞动模式。触发话：太阳、舵机挥动、servo dance、PWM 舵机、双舵机控制、双舵机控制。
+---
+
+# 太阳！- 舵机挥动技能
+
+让舵机动起来！就像太阳升起一样充满活力。
+
+## 前置条件
+
+- RDK 节点已连接
+- PWM 接口可用（/sys/class/pwm/pwmchip0）
+- 两个舵机分别连接到 pwm0 和 pwm1
+
+## 快速使用
+
+直接调用脚本启动舵机舞动：
+
+```bash
+python3 ~/.openclaw/skills/taiyang/scripts/servo_dance.py
+```
+
+停止舞动：
+
+```bash
+pkill -f servo_dance.py
+```
+
+## 舵机控制参数
+
+| 参数 | 默认值 | 说明 |
+|------|--------|------|
+| 频率 | 50Hz | 标准舵机频率（20ms周期） |
+| 脉宽范围 | 1-2ms | 0°-180° 对应 |
+| 中心位置 | 1.5ms | 90° |
+
+## PWM 接口路径
+
+- pwm0: `/sys/class/pwm/pwmchip0/pwm0` → Servo 0
+- pwm1: `/sys/class/pwm/pwmchip0/pwm1` → Servo 1
+
+## 舞动模式
+
+脚本内置三种模式循环：
+
+1. **波浪模式** - Servo0 和 Servo1 反向运动
+2. **同步模式** - 两个舵机同步运动
+
+## 手动控制
+
+如需手动控制单个舵机：
+
+```bash
+# 设置角度（0-180）
+echo $((1000000 + angle * 5555)) > /sys/class/pwm/pwmchip0/pwm0/duty_cycle
+```
+
+角度计算：duty = 1000000 + (angle/180) * 1000000 (单位：ns)

rdk-claw/taiyang/scripts/servo_dance.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+"""
+太阳！- 双舵机舞动脚本
+让舵机像太阳升起一样充满活力地挥动
+"""
+import time
+import os
+import sys
+
+PWM0 = "/sys/class/pwm/pwmchip0/pwm0"
+PWM1 = "/sys/class/pwm/pwmchip0/pwm1"
+PERIOD = 20000000  # 20ms = 50Hz
+
+def init_pwm():
+    """初始化两个PWM通道"""
+    for pwm in [PWM0, PWM1]:
+        try:
+            with open(os.path.join(pwm, "period"), "w") as f:
+                f.write(str(PERIOD))
+            with open(os.path.join(pwm, "duty_cycle"), "w") as f:
+                f.write("1500000")  # 中心位置 90°
+            with open(os.path.join(pwm, "enable"), "w") as f:
+                f.write("1")
+        except Exception as e:
+            print(f"Error initializing {pwm}: {e}")
+            sys.exit(1)
+
+def set_angle(pwm, angle):
+    """设置舵机角度 (0-180°)"""
+    duty = int(1000000 + (angle / 180.0) * 1000000)
+    with open(os.path.join(pwm, "duty_cycle"), "w") as f:
+        f.write(str(duty))
+
+def wave_pattern():
+    """波浪模式：两舵机反向运动"""
+    for a in range(0, 181, 30):
+        set_angle(PWM0, a)
+        set_angle(PWM1, 180 - a)
+        time.sleep(0.2)
+    for a in range(180, -1, -30):
+        set_angle(PWM0, a)
+        set_angle(PWM1, 180 - a)
+        time.sleep(0.2)
+
+def sync_pattern():
+    """同步模式：两舵机同步运动"""
+    for a in [0, 90, 180, 90]:
+        set_angle(PWM0, a)
+        set_angle(PWM1, a)
+        time.sleep(0.3)
+
+def stop_pwm():
+    """停止PWM输出"""
+    set_angle(PWM0, 90)
+    set_angle(PWM1, 90)
+    time.sleep(0.3)
+    for pwm in [PWM0, PWM1]:
+        with open(os.path.join(pwm, "enable"), "w") as f:
+            f.write("0")
+
+def main():
+    print("🌞 太阳！- 舵机舞动开始")
+    print("=" * 40)
+    init_pwm()
+
+    try:
+        while True:
+            print("🌊 波浪模式...")
+            wave_pattern()
+            print("🎯 同步模式...")
+            sync_pattern()
+    except KeyboardInterrupt:
+        print("\n停止舞动...")
+        stop_pwm()
+        print("🌞 太阳落山了,再见！")
+
+if __name__ == "__main__":
+    main()