URDF  ·  Hello Robot  ·  CC-BY-SA-4.0  ·  42 MB

Hello Robot Stretch RE1

The first-generation Stretch: a telescoping arm on a lift, on a narrow differential-drive base for domestic spaces.

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Hello Robot Stretch RE1 — URDF model

The first time takes a moment

Opening this model fetches it from the repository Hello Robot keeps it in — the description and the meshes it references, about 42 MB — and keeps it here, so anyone opening it after you gets it straight away. Nothing of yours is uploaded in the process: the simulation itself runs in your tab, on MuJoCo compiled to WebAssembly.

What you can do with it here

  • Simulate it under gravity and contact, write a controller in JavaScript, shove it with the mouse, and run the four repeatable tests that answer with a number rather than an impression.
  • Look inside it: the kinematic tree, every joint and its range, collision geometry against the visual mesh, where the mass actually sits.
  • Convert it to MJCF for MuJoCo, or to USD for Isaac Sim — each direction states what it could not carry across.
  • Download it as a folder — the description, the meshes under meshes/, the licence and a note saying where it came from. Mesh paths are rewritten to point inside the folder, so it opens outside a ROS workspace as well as inside one.
  • Download it as USD for Isaac Sim — one .usda with the meshes written inside it, as described on OpenUSD for robots.
  • Download it as a 3D model — one GLB with every part of the Hello Robot Stretch RE1 in place and named as its description names it, for Blender, a render or a web page; or as an STL in millimetres to print. Both are written in your browser, with the licence inside the GLB.
  • Author a movement for it and check the motors it declares can actually perform what you drew.
  • Edit it as URDF — change a joint range, a mass or a shape in a form or in the text, with its meshes brought along, and save the result as your own copy.

Whose model this is

The Hello Robot Stretch RE1 model is CC-BY-SA-4.0 licensed and was published by Hello Robot in robot-descriptions/stretch_description, pinned here at commit 4b838429fe. This page is a way to open it, not a claim on it — the folder upstream carries the licence text, the changelog and the README its authors wrote:

https://github.com/robot-descriptions/stretch_description/tree/4b838429fe4c5d9f2937efe698444bd68968f376

If you use the model in your own work, credit that folder rather than this page. If it has changed upstream since we fetched it, the copy here is the one you get — say so in a bug report and it will be re-fetched.

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