Hello Robot Stretch 2 Description (MJCF)

Requires MuJoCo 2.3.3 or later.

Overview

This package contains a simplified robot description (MJCF) of the Hello Robot Stretch 2 developed by Hello Robot. The original URDF and assets were provided directly by Hello Robot under the Clear BSD License.

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 clauses to prevent collisions in the telescoping arm.
7. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a Clear BSD License.

Acknowledgement

This model would not be possible without the help and patience of Binit Shah.