Hello Robot Stretch RE1

Built by:   Hello Robot
Licence:    CC-BY-SA-4.0
Source:     https://github.com/robot-descriptions/stretch_description/tree/4b838429fe4c5d9f2937efe698444bd68968f376
Commit:     4b838429fe4c5d9f2937efe698444bd68968f376
Collection: robot-descriptions/stretch_description
Packaged:   2026-08-29 by urdfbase.com/models/hello-stretch-re1/

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:
  - joint "joint_lift" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - link "link_arm_l4" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 6.8095e-08 kg·m², so this link's rotation is approximate
  - joint "joint_arm_l3" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_arm_l2" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_arm_l1" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_arm_l0" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_wrist_yaw" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_wrist_pitch" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_wrist_roll" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_gripper_finger_right" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_gripper_finger_left" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_head_pan" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - joint "joint_head_tilt" has a velocity limit of 1, which MJCF does not store on the joint — enforce it in the controller
  - link "respeaker_base" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 1.5643e-08 kg·m², so this link's rotation is approximate
  - link "link_aruco_right_base" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 3.6e-12 kg·m², so this link's rotation is approximate
  - link "link_aruco_left_base" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 3.6e-12 kg·m², so this link's rotation is approximate
  - link "laser" declares an inertia tensor MuJoCo cannot use (it is not positive definite); the off-diagonal terms were dropped and the moments floored at 7.49979e-08 kg·m², so this link's rotation is approximate

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