| # Hello Robot Stretch 3 Description (MJCF) | |
| > [!IMPORTANT] | |
| > Requires MuJoCo 3.3.0 or later. | |
| ## Overview | |
| This package contains the robot description (MJCF) of the [Hello Robot Stretch 3](https://hello-robot.com/product) developed by [Hello Robot](https://hello-robot.com/). This model was directly provided by Hello Robot under the [Apache 2.0](LICENSE). | |
| <p float="left"> | |
| <img src="stretch.png" width="400"> | |
| </p> | |
| ## URDF → MJCF derivation steps | |
| 1. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/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](LICENSE). | |