29 lines
1.1 KiB
Markdown
29 lines
1.1 KiB
Markdown
# Hello Robot Stretch 3 Description (MJCF)
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> [!IMPORTANT]
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> Requires MuJoCo 2.3.3 or later.
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## Overview
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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).
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<p float="left">
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<img src="stretch.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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1. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
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2. Added `<mujoco> <compiler discardvisual="false" fusestatic="false" balanceinertia="true"/> </mujoco>` to the URDF's
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`<robot>` clause in order to preserve visual geometries.
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3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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4. Manually edited the MJCF to extract common properties into the `<default>` section.
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5. Added actuators.
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6. Added `<exclude>` clauses to prevent collisions in the telescoping arm.
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7. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
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8. Formatted the MJCF wiht XML formatter.
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## License
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This model is released under an [Apache-2.0 License](LICENSE).
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