Add Hello Robot Stretch RE1.

PiperOrigin-RevId: 562937320
Change-Id: I3ba57a139638a0d6554702b6f9d0a9ddaecf106e

LICENSE

@@ -275,6 +275,44 @@ License for contents in the directory 'franka_emika_panda/'
    END OF TERMS AND CONDITIONS
 
 
+================================================================================
+License for contents in the directory 'hello_robot_stretch/'
+================================================================================
+
+The Clear BSD License
+
+Copyright (c) 2022 Hello Robot Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted (subject to the limitations in the disclaimer
+below) provided that the following conditions are met:
+
+     * Redistributions of source code must retain the above copyright notice,
+     this list of conditions and the following disclaimer.
+
+     * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+     * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from this
+     software without specific prior written permission.
+
+NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY
+THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
+
+
 ================================================================================
 License for contents in the directory 'kuka_iiwa_14/'
 ================================================================================

README.md

@@ -132,6 +132,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | [Sawyer](rethink_robotics_sawyer/README.md)|[<img src="rethink_robotics_sawyer/sawyer.png" width="400">](rethink_robotics_sawyer/README.md)|C|
 | [xArm7](ufactory_xarm7/README.md)|[<img src="ufactory_xarm7/xarm7.png" width="400">](ufactory_xarm7/README.md)|C|
 | [Realsense D435i](realsense_d435i/README.md)|[<img src="realsense_d435i/d435i.png" width="400">](realsense_d435i/README.md)|B|
+| [Stretch RE1](hello_robot_stretch/README.md)|[<img src="hello_robot_stretch/stretch.png" width="400">](hello_robot_stretch/README.md)|C|
 
 For corresponding embedded videos, see the MuJoCo [documentation](https://mujoco.readthedocs.io/en/latest/models.html).
 

hello_robot_stretch/LICENSE

@@ -0,0 +1,32 @@
+The Clear BSD License
+
+Copyright (c) 2022 Hello Robot Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted (subject to the limitations in the disclaimer
+below) provided that the following conditions are met:
+
+     * Redistributions of source code must retain the above copyright notice,
+     this list of conditions and the following disclaimer.
+
+     * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+     * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from this
+     software without specific prior written permission.
+
+NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY
+THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

hello_robot_stretch/README.md

@@ -0,0 +1,33 @@
+# Hello Robot Stretch RE1 Description (MJCF)
+
+Requires MuJoCo 2.3.3 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Hello Robot Stretch RE1](https://hello-robot.com/product) developed by [Hello Robot](https://hello-robot.com/). The original URDF and assets were provided directly by Hello Robot under the [Clear BSD License](LICENSE).
+
+<p float="left">
+  <img src="stretch.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/)
+   to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `<mujoco> <compiler discardvisual="false" fusestatic="false" balanceinertia="true"/> </mujoco>` to the URDF's
+   `<robot>` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Manually edited the MJCF to extract common properties into the `<default>` section.
+6. Added actuators.
+7. Added <exclude> clauses to prevent collisions in the telescoping arm.
+8. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [Clear BSD License](LICENSE).
+
+## Acknowledgement
+
+This model would not be possible without the help and patience of [Binit Shah](https://binitshah.github.io/).