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luckyworld/RobotData/hello_robot_stretch_3/README.md
Goran Lazarevski 669cf5383b Lucky World source code
2025-03-18 19:25:25 +01:00

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Hello Robot Stretch 3 Description (MJCF)

Important

Requires MuJoCo 2.3.3 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.