robots/mujoco/hello_robot_stretch_3/README.md

Hello Robot Stretch 3 Description (MJCF)

Requires MuJoCo 3.3.0 or later.

Overview

This package contains the robot description (MJCF) of the Hello Robot Stretch 3 developed by Hello Robot. This model was directly provided by Hello Robot under the Apache 2.0.

URDF → MJCF derivation steps

1. Processed .obj files with obj2mjcf.
2. Added <mujoco> <compiler discardvisual="false" fusestatic="false" balanceinertia="true"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
4. Manually edited the MJCF to extract common properties into the <default> section.
5. Added actuators.
6. Added <exclude> clauses to prevent collisions in the telescoping arm.
7. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.
8. Formatted the MJCF wiht XML formatter.

License

This model is released under an Apache-2.0 License.