Question for how to add my own robot if i have its urdf?

[StudySoftSCU]

Hi @Danfoa , I am very interested in the robots' symmetry theory and want to use it on my own hexapod robot. So I want to know how to add my own robot if i have the urdf? Thanks.

[StudySoftSCU]

This is my URDF path:
https://github.com/StudySoftSCU/robot_rl/tree/main/hexapod_description
It's better that if I can know how to expand it by myself :). Thank you.