Create Robot Config

Create Mock Config

• 1. Get URDF Files (Export CAD to URDF)
• 2. Refactor URDF to Xacro
• 3. Robot Mock Config
• hardware Values
• ros_global_params Values
• ros2_control Values
• moveit_params Values
• objectives Values
• 4. Run Mock Robot Config

Create Sim Config

• 1. Create Sim Config
• 2. Create MuJoCo Files
• 3. Overload Sim Values
• 4. Run Sim Robot Config
• Simulator Keyframes Setup

Create Physical Config

• 1. Create Physical Config
• 2. Overload Physical Values
• Protective Stop Setup
• Drivers without ROS 2 Control

Additional Configuration

• Optimize Model Meshes
• Mobile Base Control Setup
• Mobile Navigation Setup (Nav2)
• State Estimation Setup (Fuse)
• Third-Party Simulator Setup

How to Use

1. Determine which stage of robot configuration the user needs help with (mock, sim, or physical).
2. Fetch the relevant documentation page(s) using WebFetch.
3. Guide the user through the steps, referencing the official documentation.
4. For a full new robot config, follow the pages in order: Overview -> Mock Config (steps 1-4) -> Sim Config (steps 1-4) -> Physical Config (steps 1-2).

Improving the Docs

Our robot configuration documentation is a work in progress. If you encounter gaps, unclear steps, or missing information while helping the user create a robot config, recommend that the user file an issue or PR to improve the relevant docs page. All documentation should live in the public src/docs/ directory — do not add configuration tutorials or how-to content to this skill file, CLAUDE.md files, or other Claude-specific locations.