ALOHA

Built by:   Trossen
Licence:    BSD 3-Clause
Source:     https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha
Collection: MuJoCo Menagerie
Packaged:   2026-11-05 by urdfbase.com/models/aloha/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - link "world" only anchors the robot to the fixed world, and MJCF's worldbody already carries that name, so it is gone and left/base_link, right/base_link attaches to the world directly
  - mesh vx300s_1_base.stl on link "left/base_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_1_base.stl on link "left/base_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_2_shoulder.stl on link "left/shoulder_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_2_shoulder.stl on link "left/shoulder_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_3_upper_arm.stl on link "left/upper_arm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_3_upper_arm.stl on link "left/upper_arm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_4_upper_forearm.stl on link "left/upper_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_4_upper_forearm.stl on link "left/upper_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_5_lower_forearm.stl on link "left/lower_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_5_lower_forearm.stl on link "left/lower_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_6_wrist.stl on link "left/wrist_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_6_wrist.stl on link "left/wrist_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_1_base.stl on link "right/base_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_1_base.stl on link "right/base_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_2_shoulder.stl on link "right/shoulder_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_2_shoulder.stl on link "right/shoulder_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_3_upper_arm.stl on link "right/upper_arm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_3_upper_arm.stl on link "right/upper_arm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_4_upper_forearm.stl on link "right/upper_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_4_upper_forearm.stl on link "right/upper_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_5_lower_forearm.stl on link "right/lower_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_5_lower_forearm.stl on link "right/lower_forearm_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_6_wrist.stl on link "right/wrist_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there
  - mesh vx300s_6_wrist.stl on link "right/wrist_link" has a scale of 0.001 0.001 0.001; MJCF scales meshes in the asset section, so it was moved there

The robot belongs to the people who built it. Credit the source, not this site.
