* [ MoveIt Setup Assistant ](../setup_assistant/setup_assistant_tutorial.html)
    * [ Overview ](../setup_assistant/setup_assistant_tutorial.html#overview)
    * [ Getting Started ](../setup_assistant/setup_assistant_tutorial.html#getting-started)
    * [ Step 1: Start ](../setup_assistant/setup_assistant_tutorial.html#step-1-start)
    * [ Step 2: Generate Self-Collision Matrix ](../setup_assistant/setup_assistant_tutorial.html#step-2-generate-self-collision-matrix)
    * [ Step 3: Add Virtual Joints ](../setup_assistant/setup_assistant_tutorial.html#step-3-add-virtual-joints)
    * [ Step 4: Add Planning Groups ](../setup_assistant/setup_assistant_tutorial.html#step-4-add-planning-groups)
    * [ Step 5: Add Robot Poses ](../setup_assistant/setup_assistant_tutorial.html#step-5-add-robot-poses)
    * [ Step 6: Label End Effectors ](../setup_assistant/setup_assistant_tutorial.html#step-6-label-end-effectors)
    * [ Step 7: Add Passive Joints ](../setup_assistant/setup_assistant_tutorial.html#step-7-add-passive-joints)
    * [ Step 8: 3D Perception ](../setup_assistant/setup_assistant_tutorial.html#step-8-3d-perception)
    * [ Step 9: Gazebo Simulation ](../setup_assistant/setup_assistant_tutorial.html#step-9-gazebo-simulation)
    * [ Step 10: ROS Control ](../setup_assistant/setup_assistant_tutorial.html#step-10-ros-control)
    * [ Step 11: Add Author Information ](../setup_assistant/setup_assistant_tutorial.html#step-11-add-author-information)
    * [ Step 12: Generate Configuration Files ](../setup_assistant/setup_assistant_tutorial.html#step-12-generate-configuration-files)
    * [ What’s Next ](../setup_assistant/setup_assistant_tutorial.html#what-s-next)
    * [ Additional Reading ](../setup_assistant/setup_assistant_tutorial.html#additional-reading)
  * [ URDF and SRDF ](../urdf_srdf/urdf_srdf_tutorial.html)
    * [ URDF ](../urdf_srdf/urdf_srdf_tutorial.html#urdf)
      * [ URDF Resources ](../urdf_srdf/urdf_srdf_tutorial.html#urdf-resources)
      * [ Important Tips ](../urdf_srdf/urdf_srdf_tutorial.html#important-tips)
        * [ Special Characters in Joint Names ](../urdf_srdf/urdf_srdf_tutorial.html#special-characters-in-joint-names)
        * [ Special Characters in Link Names ](../urdf_srdf/urdf_srdf_tutorial.html#special-characters-in-link-names)
        * [ Safety Limits ](../urdf_srdf/urdf_srdf_tutorial.html#safety-limits)
        * [ Collision Checking ](../urdf_srdf/urdf_srdf_tutorial.html#collision-checking)
        * [ Test your URDF ](../urdf_srdf/urdf_srdf_tutorial.html#test-your-urdf)
      * [ URDF Examples ](../urdf_srdf/urdf_srdf_tutorial.html#urdf-examples)
    * [ SRDF ](../urdf_srdf/urdf_srdf_tutorial.html#srdf)
      * [ Virtual Joints ](../urdf_srdf/urdf_srdf_tutorial.html#virtual-joints)
      * [ Passive Joints ](../urdf_srdf/urdf_srdf_tutorial.html#passive-joints)
      * [ Groups ](../urdf_srdf/urdf_srdf_tutorial.html#groups)
        * [ Collection of Joints ](../urdf_srdf/urdf_srdf_tutorial.html#collection-of-joints)
        * [ Collection of Links ](../urdf_srdf/urdf_srdf_tutorial.html#collection-of-links)
        * [ Serial Chain ](../urdf_srdf/urdf_srdf_tutorial.html#serial-chain)
        * [ Collection of Sub-Groups ](../urdf_srdf/urdf_srdf_tutorial.html#collection-of-sub-groups)
      * [ End-Effectors ](../urdf_srdf/urdf_srdf_tutorial.html#end-effectors)
      * [ Self-Collisions ](../urdf_srdf/urdf_srdf_tutorial.html#self-collisions)
      * [ Robot Poses ](../urdf_srdf/urdf_srdf_tutorial.html#robot-poses)
      * [ SRDF Documentation ](../urdf_srdf/urdf_srdf_tutorial.html#srdf-documentation)
  * [ Low Level Controllers ](../controller_configuration/controller_configuration_tutorial.html)