What problem does it solve? Designing collision geometry for robot models is error-prone: using detailed visual meshes as collision shapes slows physics simulation, causes solver instability, and produces mismatches between the URDF collision envelope and the Nav2 costmap footprint that lead to unplannable paths or self-collisions. ## Core Features & Use Cases - Primitive-Based Collision Design: Replace detailed meshes with boxes, cylinders, spheres, or convex hulls, and combine multiple collision elements per link to approximate complex shapes. - Gazebo Configuration Guidance: Set friction coefficients, contact parameters, and max contacts through Gazebo SDF extensions for stable simulation. - Nav2 Footprint Consistency: Align robot_radius or footprint polygons with the URDF collision envelope, including inscribed and circumscribed radius reasoning. - Use Case: When building a URDF for a mobile robot, use this Skill to define simple collision primitives for the chassis and wheels, then configure the Nav2 local costmap footprint so the planner never routes the robot through spaces it cannot physically fit. ## Quick Start Ask the AI to design simplified collision geometry for a robot link and verify that the Nav2 footprint matches the URDF collision envelope.
