# MuJoCo Menagerie: hello robot stretch/stretch.xml

Official pinned robot model text for hello robot stretch/stretch.xml. Inspect the upstream package and adjacent assets before use.

ID: `mujoco-menagerie-artifact-hello-robot-stretch-stretch-xml`

Record version: `source-4f33408242b90acbe4ca0f4b544ca5efae4f423c92ef71358f0977ec0b03a316`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/hello_robot_stretch/README.md

## Source and license

- Repository: https://github.com/google-deepmind/mujoco_menagerie
- Pinned source: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/hello_robot_stretch/stretch.xml
- Revision: `62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35`
- Path: `hello_robot_stretch/stretch.xml`
- Source SHA256: `4f33408242b90acbe4ca0f4b544ca5efae4f423c92ef71358f0977ec0b03a316`
- Source bytes: 23669
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause-Clear](https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/hello_robot_stretch/LICENSE)
- License scope: Model/scene description text in this model directory only. Preserve this model-specific license and upstream notices. Included models, meshes, textures, dependencies and trademarks retain their applicable rights; this index does not redistribute them.

License SHA256: `bcc1dc8fcec14cbef3dc8f10b6f6d2fd2d81c0fb5c0e3657e43e34d3d38f9072`

## Artifact

```json
{
  "kind": "robot_model",
  "format": "mjcf",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "root": "mujoco",
    "references": [
      "arm_inner_wrist_aruco_sticker.png",
      "arm_top_wrist_aruco_sticker.png",
      "base_link_0.obj",
      "base_link_2.obj",
      "base_link_3.obj",
      "base_link_4.obj",
      "base_link_5.obj",
      "base_link_6.obj",
      "base_link_7.obj",
      "base_link_8.obj",
      "base_link_casterless.stl",
      "hand_crush.png",
      "hand_pinch.png",
      "laser.obj",
      "link_arm_l0_0.obj",
      "link_arm_l0_1.obj",
      "link_arm_l0_2.obj",
      "link_arm_l1_0.obj",
      "link_arm_l1_1.obj",
      "link_arm_l2_0.obj",
      "link_arm_l2_1.obj",
      "link_arm_l3_0.obj",
      "link_arm_l3_1.obj",
      "link_arm_l4_0.obj",
      "link_arm_l4_1.obj",
      "link_aruco_inner_wrist.obj",
      "link_aruco_left_base.obj",
      "link_aruco_right_base.obj",
      "link_aruco_shoulder.obj",
      "link_aruco_top_wrist.obj",
      "link_gripper_0.obj",
      "link_gripper_1.obj",
      "link_gripper_finger_left_0.obj",
      "link_gripper_finger_left_1.obj",
      "link_gripper_finger_right_0.obj",
      "link_gripper_finger_right_1.obj",
      "link_gripper_fingertip_left.stl",
      "link_gripper_fingertip_right.stl",
      "link_head_0.obj",
      "link_head_1.obj"
    ],
    "references_truncated": true
  }
}
```

## Requirements

```json
{
  "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
  "packages": [
    "MuJoCo version specified by the pinned model README",
    "Adjacent upstream meshes and included XML definitions"
  ],
  "display": "Model XML often references adjacent meshes or other model XML. Viewer/rendering and MuJoCo/MJX version requirements are model-specific; this index does not fetch those assets or load a model.",
  "execution_domain": "simulation",
  "source_imports": []
}
```

## Invocation

```json
{
  "entrypoint": "Data/configuration artifact: hello_robot_stretch/stretch.xml; use its upstream loader or package integration after inspection",
  "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.