Use when writing or debugging URDF/Xacro robot descriptions for ROS 2 — link/joint trees, inertia tensors, collision geometry, xacro macros, ros2_control tags, Gazebo/Ignition spawning. Provides exact inertia formulas, working xacro patterns, mimic joint rules, mesh simplification strategy, and fixe
Use when writing or debugging URDF/Xacro robot descriptions for ROS 2 — link/joint trees, inertia tensors, collision geometry, xacro macros, ros2_control tags, Gazebo/Ignition spawning. Provides exact inertia formulas, working xacro patterns, mimic joint rules, mesh simplification strategy, and fixes for the classic 'robot explodes in simulation' and 'no transform from base_link' failures.