> For the complete documentation index, see [llms.txt](https://docs.hello-robot.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.hello-robot.com/stretch4_urdf/changelog.md).

# Changelog

The changes between releases of Stretch 4 URDF are documented here.

## [2026.10.20](https://pypi.org/project/hello-robot-stretch4-urdf/2026.10.20)

* V2 of standard gripper (#65)
* `get_joint_velocity_limits()` util (#57)
* URDF joint velocity and effort limits populated from robot params during preprocessing
* Add utilities for new user tools. `process_new_user_tool <tool_dir>` replaces `stretch_add_user_tool` CLI
* IMU links for the LiDARs (#63)
* Removed incorrect masses for cameras, lidars, and docking station (#55)
* Fix for origin of merged arm links (#64)

## [2026.08.21](https://pypi.org/project/hello-robot-stretch4-urdf/2026.8.21)

* Collision mesh for new calibration board
* Custom tools via `stretch_add_user_tool` CLI
* Documentation for new user tools API

## [2026.07.31](https://pypi.org/project/hello-robot-stretch4-urdf/2026.7.31)

* Updated head camera sensor link frames to all share the same orientation with z pointing up
* Corrected the center camera's optical frame to match the OAK-FFC-IMX378 W sensor orientation
* Split mesh for arm link 0 from mesh for lift link
* Tune tablet collision mesh

## [2026.07.08](https://pypi.org/project/hello-robot-stretch4-urdf/2026.7.8)

* Add docking station URDF
* Add `get_tranform()` method to get TF between 2 links
* Organize preprocessing scripts and deps
* Improve fetching of calibrated URDF

## [2026.07.02](https://pypi.org/project/hello-robot-stretch4-urdf/2026.7.2)

* Fix to head collision mesh
* Fix to link name in gripper
* Fix to line sensor link name

## [2026.06.25](https://pypi.org/project/hello-robot-stretch4-urdf/2026.6.25)

* Bugfix for outputting urdf to a nonexistant folder - calls os.mkdir
* Methods to generate planar\_ik\_urdf, make\_rotary\_ik\_urdf, make\_translation\_ik\_urdf
* Generate calibrated URDFs
* Cleanup URDF post processing and optical frames
* Bugfix for is stretch4\_body isn't installed
* Simplify dependencies
* Improved docs in README

## [2026.05.27](https://pypi.org/project/hello-robot-stretch4-urdf/2026.5.27)

* Bugfix for generating URDF with nil tool
* Bugfix for permission error
* Util function to read joint limits from URDF

## [2026.05.14](https://pypi.org/project/hello-robot-stretch4-urdf/2026.5.14)

Bugfix to include the .obj meshes in the release

## [2026.05.12](https://pypi.org/project/hello-robot-stretch4-urdf/2026.5.12)

The initial release of this description repository. It contains the URDF and meshes for the "francis" batch.


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