Create Robot Physical Configuration

Create your ROBOT_hw Robot Configuration Folder

example_robot_ws Checkpoint

If you are following this guide with example_robot_ws, your workspace should look like branch step11.

We will use moveit_pro new config in its interactive mode to add a new robot configuration to our configured workspace.

Run moveit_pro new config and, following previous robot config naming best practices, inherit (based_on_package) from example_robot_sim and use example_robot_hw for the package_name.

info

We recommend basing your _hw config off of your _sim config and not your _mock config so that you have access to the MJCF files and Model Predictive Control (MPC) Behaviors.

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step12 Checkpoint

Your example_robot_ws workspace should now look like branch step12.