# What is the recommended way of using stretch 3 in mujoco python binding?

**URL:** <https://forum.hello-robot.com/t/what-is-the-recommended-way-of-using-stretch-3-in-mujoco-python-binding/981>\
**Category:** Ask\
**Created:** [May 15, 2024, 2:29pm UTC](https://forum.hello-robot.com/t/what-is-the-recommended-way-of-using-stretch-3-in-mujoco-python-binding/981 "2024-05-15T14:29:33Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![kkatodus](https://avatars.discourse-cdn.com/v4/letter/k/838e76/32.png) [@kkatodus](https://forum.hello-robot.com/u/kkatodus)\
**Post date:** [May 15, 2024, 2:29pm UTC](https://forum.hello-robot.com/t/what-is-the-recommended-way-of-using-stretch-3-in-mujoco-python-binding/981/1 "2024-05-15T14:29:33Z")

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Hi! I have been trying to have a stretch 3 model working in a mujoco environment but I realized that the stretch 3 is not on mujoco\_menagerie. I have been trying to convert the urdf version to the mujoco compatible state by using the `./compile` provided by mujoco and also some other things to convert `.dae` files to `.stl` files and also converting `.xacro` files to `.urdf` files. I got it to load inside mujoco but I cannot get any actuators to work within the mujoco sim(see screenshot).

What is the recommended way to get stretch 3 working inside mujoco?

 ![Screenshot from 2024-05-15 16-28-40](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/1a9f8bc03faa425205c592505a8cb25b54200fd5.png)

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**Author:** ![Mohamed\_Fazil](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/mohamed_fazil/32/261_2.png) [@Mohamed\_Fazil](https://forum.hello-robot.com/u/Mohamed_Fazil)\
**Post date:** [May 16, 2024, 1:44am UTC](https://forum.hello-robot.com/t/what-is-the-recommended-way-of-using-stretch-3-in-mujoco-python-binding/981/2 "2024-05-16T01:44:09Z")

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Hi @kkatodus, Thank you so much for your interest and efforts in porting the Stretch 3 model to Mujoco Menagerie. We previously ported Stretch RE2 to Mujoco, which has [reference XML definitions for the actuators and model](https://github.com/hello-binit/mujoco_menagerie/blob/main/hello_robot_stretch/stretch.xml), which you can use. Additionally, you would have add additional revolute joints for the Wrist-pitch and Wrist Roll joints. Further, we plan to add Stretch 3 to Mujoco soon, and I will update you when it is ready.

Also, looking at your visualization, it seems like you have the collision and ground links that come with the stretch\_urdf repository. You can manually cherry-pick and remove them from the URDF file.

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [July 8, 2024, 7:17pm UTC](https://forum.hello-robot.com/t/what-is-the-recommended-way-of-using-stretch-3-in-mujoco-python-binding/981/3 "2024-07-08T19:17:13Z")

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Hey @kkatodus, FYI, Mujoco support for Stretch 3 was released in this repo a few weeks ago: [Stretch Mujoco](https://github.com/hello-robot/stretch_mujoco). There’s sample code as well.

 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/85f684a1757a3e9a7c8a31ba8488a8414fd0ad88.jpeg)

It’s also in the process of being merged into the Mujoco Menagerie (the [PR](https://github.com/google-deepmind/mujoco_menagerie/pull/67) is in-review as of July 8th).