Changelog

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

2026.08.21

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

2026.07.31

• 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

• 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

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

2026.06.25

• 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

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

2026.05.14

Bugfix to include the .obj meshes in the release

2026.05.12

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