Tutorials

Tutorials are lessons: you learn by following along, doing the same thing every reader on this page does, and arriving at a working result. They're the right place to look when you want to develop competence in a part of the stack.

Reading order is loose — pick whichever subject is closest to what you want to learn. Each assumes the install and Lite 101 lesson, nothing more.

#	Tutorial	What you come away with
1	Drive one Robstride end-to-end	A single motor moving under our plugin, on bench hardware. Familiarity with the CAN bus, the MIT command surface, and the calibration math.
2	MuJoCo + full FSM walkthrough	The whole five-mode FSM exercised in sim, with the gamepad. Comfort with mode_manager intents and the standby pose.
3	Run a tracking policy	A trained tracking ONNX policy driving the arms in sim. Familiarity with the bar_policy runner, the self-describing ONNX metadata, and the LeRobot dataset path.
4	Build your own controller plugin	A skeleton bar/MyController plugin loaded by the controller_manager. Familiarity with the pluginlib machinery and the ControllerInterface lifecycle.

Tutorial vs how-to

A tutorial teaches — it gives you confidence and a mental model. A how-to guide gets a specific thing done — it's the recipe you reach for once you already have that mental model.

If you find yourself reading a tutorial because you have a specific problem to solve, the matching how-to is probably what you want.