diff --git a/modules/superbuild/options.nix b/modules/superbuild/options.nix
index d2c7e03..af838e9 100644
--- a/modules/superbuild/options.nix
+++ b/modules/superbuild/options.nix
@@ -77,6 +77,24 @@ in
             default = [ ];
           };
 
+          mainRobot = lib.mkOption {
+            type = lib.types.nullOr lib.types.str;
+            default = null;
+            description = "Name of the MainRobot";
+          };
+
+          enabled = lib.mkOption {
+            type = lib.types.nullOr lib.types.str;
+            default = null;
+            description = "Name of the Enabled controller";
+          };
+
+          timeStep = lib.mkOption {
+            type = lib.types.nullOr lib.types.number;
+            default = null;
+            description = "TimeStep";
+          };
+
           runtime = lib.mkOption {
             type = lib.types.submodule { options = runtimeOptions; };
             default = { };
diff --git a/modules/superbuild/resolver.nix b/modules/superbuild/resolver.nix
index d2812ca..23efef8 100644
--- a/modules/superbuild/resolver.nix
+++ b/modules/superbuild/resolver.nix
@@ -15,12 +15,17 @@ let
 
   mkRuntime = mkComponent;
 
+  # 1. Added defaults to mkPreset
   mkPreset = {
+    mainRobot = null;
+    enabled = null;
+    timeStep = null;
     runtime = mkRuntime;
     devel = mkComponent;
   };
 
   preferString = previous: next: if next != null && next != "" then next else previous;
+  preferNumber = previous: next: if next != null then next else previous;
 
   mergeComponent = left: right: {
     apps = left.apps ++ right.apps;
@@ -35,6 +40,9 @@ let
   mergeRuntime = mergeComponent;
 
   mergePreset = left: right: {
+    mainRobot = preferString (left.mainRobot or null) (right.mainRobot or null);
+    enabled = preferString (left.enabled or null) (right.enabled or null);
+    timeStep = preferNumber (left.timeStep or null) (right.timeStep or null);
     runtime = mergeRuntime left.runtime right.runtime;
     devel = mergeComponent left.devel right.devel;
   };
@@ -56,7 +64,11 @@ let
 
   project = cfg.project;
 
+  # 2. Ensured overlay includes configuration items from project top-level
   projectOverlay = {
+    mainRobot = project.mainRobot or null;
+    enabled = project.enabled or null;
+    timeStep = project.timeStep or null;
     runtime = project.runtime;
     devel = project.devel;
   };
@@ -90,7 +102,11 @@ in
     mkPreset
     selectedConfiguration
     ;
+  # 3. Made mainRobot, enabled, and timeStep directly available at the root of resolved
   resolved = {
+    mainRobot = base.mainRobot;
+    enabled = base.enabled;
+    timeStep = base.timeStep;
     inherit base release devel;
   };
 }
diff --git a/modules/superbuild/superbuild.nix b/modules/superbuild/superbuild.nix
index 6ea91af..3cef3c4 100644
--- a/modules/superbuild/superbuild.nix
+++ b/modules/superbuild/superbuild.nix
@@ -18,6 +18,10 @@ let
     if isDevel then resolver.resolved.devel.runtime else resolver.resolved.release.runtime;
   develOverlay = resolver.resolved.devel.devel;
 
+  mainRobot = resolver.resolved.mainRobot;
+  enabled = resolver.resolved.enabled;
+  timeStep = resolver.resolved.timeStep;
+
   localPath = "$PWD/${relativeLocalPath}";
   localInstallPath = "${localPath}/install";
 
@@ -167,6 +171,9 @@ in
 
         cat <<EOF_CONF > $PROJECT_DIR/mc_rtc.yaml
         ---
+        ${lib.optionalString (mainRobot != null && mainRobot != "") "MainRobot: \"${mainRobot}\""}
+        ${lib.optionalString (enabled != null && enabled != "") "Enabled: \"${enabled}\""}
+        ${lib.optionalString (timeStep != null) "Timestep: ${toString timeStep}"}
         ControllerModulePaths: [${mkModulePaths "mc_controller" shellControllers}]
         RobotModulePaths: [${mkModulePaths "mc_robots" shellRobots}]
         ObserverModulePaths: [${mkModulePaths "mc_observers" shellObservers}]