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Draft: Feature/docking station #14

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18baec0
see https://github.com/hello-robot/stretch4_urdf/pull/26
hello-binit Jun 22, 2026
d685a96
docking station processed through urdf2mjcf
hello-binit Jun 22, 2026
7809e21
move majority of dependencies to optional
hello-binit Jun 23, 2026
c287d49
dup key
hello-binit Jun 23, 2026
e05e14f
add click back
hello-binit Jun 23, 2026
4f4f71f
cv2
hello-binit Jun 23, 2026
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -23,7 +23,7 @@ Then, install this repo:

```
uv venv
uv pip install -e .
uv pip install -e .[tools]
```

Lastly, run the simulation:
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34 changes: 14 additions & 20 deletions pyproject.toml
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Expand Up @@ -6,19 +6,12 @@ description = "A Stretch 4 simulation in MuJoCo"
readme = "README.md"
requires-python = ">=3.12"
dependencies = [
"click>=8.1.8",
"hello-robot-stretch-urdf>=0.1.0",
"hello-robot-stretch4-urdf>=2026.5.6",
"inputs>=0.5",
"matplotlib>=3.10.1",
"mujoco==3.3.1",
"numpy==2.2.5",
"opencv-python",
"pynput>=1.8.1",
"rerun-sdk>=0.23.1",
"yourdfpy",
"urdf2mjcf>=0.2.39"

"urdf2mjcf>=0.2.39",
"click>=8.1.8",
"opencv-python",
]
authors = [
{name = "Hello Robot Inc.", email = "support@hello-robot.com"},
Expand All @@ -30,17 +23,8 @@ classifiers = [
"Programming Language :: Python :: 3",
]

[tool.setuptools.packages.find]
exclude = ["third_party*", "tests*"]

[project.urls]
Source = "https://github.com/hello-robot/stretch4_mujoco"
Tracker = "https://github.com/hello-robot/stretch4_mujoco/issues"

[tool.black]
line-length = 100

[project.optional-dependencies]
tools = ["matplotlib>=3.10.1", "inputs>=0.5", "pynput>=1.8.1", "rerun-sdk>=0.23.1"]
dev = [
"pre-commit",
"pytest",
Expand All @@ -52,3 +36,13 @@ jupyter = [
"ipykernel",
"ipython",
]

[tool.setuptools.packages.find]
exclude = ["third_party*", "tests*"]

[project.urls]
Source = "https://github.com/hello-robot/stretch4_mujoco"
Tracker = "https://github.com/hello-robot/stretch4_mujoco/issues"

[tool.black]
line-length = 100
70 changes: 70 additions & 0 deletions stretch4_mujoco/models/s4_docking_station/docking_station.xml
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@@ -0,0 +1,70 @@
<mujoco model="URDF_FRANCIS_ASSEM_Docking_Station_V1">
<default>
<default class="robot">
<default class="visual">
<geom contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom contype="0" conaffinity="1" group="3" />
</default>
</default>
</default>

<compiler angle="radian" meshdir="." balanceinertia="true" />

<visual>
<global offwidth="3840" offheight="2160" />
</visual>

<worldbody>
<body name="docking_station_link" childclass="robot" pos="0 0 0">
<geom name="docking_station_link_collision" type="mesh" mesh="docking_station_link_collision_docking_station_link" class="collision" />
<geom name="docking_station_link_visual" type="mesh" mesh="docking_station_link_docking_station_link" material="default_material" class="visual" />
<body name="contacts_link" pos="0 -0.0862 0.1335">
<inertial pos="1.66172251238081E-07 0.0070054388859602 -0.0825486379095388" mass="3.50739982324297" diaginertia="0.0154555398316763 0.022704997137557 0.033513884132033" />
<geom name="contacts_link_collision" type="mesh" mesh="contacts_link_collision_contacts_link" class="collision" />
<geom name="contacts_link_visual" type="mesh" mesh="contacts_link_contacts_link" material="default_material" class="visual" />
</body>
<body name="left_aruco_marker_link" pos="-0.105007224114583 -0.0325573575773015 0.129200277015667" quat="0.9534 0.3016 0 0">
<inertial pos="1.44482291657838E-05 -1.04083408558608E-16 -0.000199477439009985" mass="0.00101684792822397" diaginertia="2.11745889065529e-07 2.10646711071285e-07 4.20167128203572e-07" />
<geom name="left_aruco_marker_link_collision" type="mesh" mesh="left_aruco_marker_link_collision_left_aruco_marker_link" class="collision" />
<geom name="left_aruco_marker_link_visual" type="mesh" mesh="left_aruco_marker_link_left_aruco_marker_link" material="default_material" class="visual" />
</body>
<body name="right_aruco_marker_link" pos="0.105007224114583 -0.0325573575773018 0.129200277015666" quat="0.9534 0.3016 0 0">
<inertial pos="-1.44482291657283E-05 7.63278329429795E-17 -0.000199477439009971" mass="0.00101684792822398" diaginertia="2.11745889065533e-07 2.1064671107129e-07 4.2016712820358e-07" />
<geom name="right_aruco_marker_link_collision" type="mesh" mesh="right_aruco_marker_link_collision_right_aruco_marker_link" class="collision" />
<geom name="right_aruco_marker_link_visual" type="mesh" mesh="right_aruco_marker_link_right_aruco_marker_link" material="default_material" class="visual" />
</body>
<body name="apex_aruco_marker_link" pos="0 -0.289303330552929 0.0201">
<inertial pos="-3.97430642180935E-18 5.55111512312578E-17 -0.000200000000000033" mass="0.00101684792822398" diaginertia="2.10646711071288e-07 2.10646711071288e-07 4.21266306197823e-07" />
<geom name="apex_aruco_marker_link_collision" type="mesh" mesh="apex_aruco_marker_link_collision_apex_aruco_marker_link" class="collision" />
<geom name="apex_aruco_marker_link_visual" type="mesh" mesh="apex_aruco_marker_link_apex_aruco_marker_link" material="default_material" class="visual" />
</body>
<freejoint name="floating_base" />
</body>
<light pos="0 0 2." dir="0 0 -1" directional="true" />
</worldbody>

<asset>
<material name="default_material" rgba="0.7 0.7 0.7 1" />
<mesh name="docking_station_link_collision_docking_station_link" file="meshes/meshes\docking_station_link.STL" />
<mesh name="docking_station_link_docking_station_link" file="meshes/meshes\docking_station_link.STL" />
<mesh name="contacts_link_collision_contacts_link" file="meshes/meshes\contacts_link.STL" />
<mesh name="contacts_link_contacts_link" file="meshes/meshes\contacts_link.STL" />
<mesh name="left_aruco_marker_link_collision_left_aruco_marker_link" file="meshes/meshes\left_aruco_marker_link.STL" />
<mesh name="left_aruco_marker_link_left_aruco_marker_link" file="meshes/meshes\left_aruco_marker_link.STL" />
<mesh name="right_aruco_marker_link_collision_right_aruco_marker_link" file="meshes/meshes\right_aruco_marker_link.STL" />
<mesh name="right_aruco_marker_link_right_aruco_marker_link" file="meshes/meshes\right_aruco_marker_link.STL" />
<mesh name="apex_aruco_marker_link_collision_apex_aruco_marker_link" file="meshes/meshes\apex_aruco_marker_link.STL" />
<mesh name="apex_aruco_marker_link_apex_aruco_marker_link" file="meshes/meshes\apex_aruco_marker_link.STL" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
</asset>

<actuator />

<visual>
<rgba haze="0.15 0.25 0.35 1" />
</visual>
</mujoco>
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4 changes: 2 additions & 2 deletions stretch4_mujoco/models/scene_stretch4.xml
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Expand Up @@ -2,6 +2,6 @@
<statistic center="0 0 .75" extent="1.2" meansize="0.05"/>

<include file="room_scene/room_scene.xml"/>
<include file="stretch_4/stretch_4_dynamic.xml"/>
<include file="table.xml"/>
<!-- <include file="stretch_4/stretch_4_dynamic.xml"/> -->
<include file="s4_docking_station/docking_station.xml"/>
</mujoco>
3 changes: 2 additions & 1 deletion stretch4_mujoco/mujoco_server.py
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Expand Up @@ -432,7 +432,8 @@ def __init__(
if model is None:
model = MjModel.from_xml_path(scene_xml_path)

change_start_pose(model, name="stretch4", translation=start_translation, rotation_quat=start_rotation_quat)
if start_translation is not None or start_rotation_quat is not None:
change_start_pose(model, name="stretch4", translation=start_translation, rotation_quat=start_rotation_quat)

self.mjmodel = model

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