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Add hyperlinks to Stretch 4 repositories in README #2

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38 changes: 19 additions & 19 deletions profile/README.md
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Expand Up @@ -13,10 +13,10 @@ Here you will find open-source code for the **Stretch 4** mobile manipulator as

The Stretch 4 software ecosystem is organized into a multi-layered stack designed to transition seamlessly from low-level hardware control to high-level autonomous behaviors.

1. **Hardware & Drivers (The Foundation):** At the lowest level, `stretch4_body` and `stretch_firmware` handle direct communication with the robot's motors and sensors. This layer manages the 9-DOF movement, including the omnidirectional base, telescoping arm, and 3-axis wrist.
2. **Perception & Modeling:** To "see" the world, Stretch 4 utilizes specialized drivers like `stretch4_pyhesai_wrapper` for its dual 3D Lidars and `stretch4_rgbd` for enhanced depth sensing. The robot’s physical dimensions and kinematic constraints are defined in `stretch4_urdf`, which is essential for motion planning.
3. **Simulation:** Before deploying to physical hardware, the `stretch4_mujoco` stack allows developers to test algorithms in a high-fidelity physics environment.
4. **Middleware & Application (The Interface):** High-level control is primarily managed through `stretch4_ros2`, providing a standardized interface for navigation and manipulation. Interfaces like `stretch4_web_teleop` enable remote operation via a browser, while `stretch4_grasping_demo` showcases integrated AI capabilities using VLMs and visual servoing.
1. **Hardware & Drivers (The Foundation):** At the lowest level, [`stretch4_body`](https://github.com/hello-robot/stretch4_body) and [`stretch_firmware`](https://github.com/hello-robot/stretch_firmware) handle direct communication with the robot's motors and sensors. This layer manages the 9-DOF movement, including the omnidirectional base, telescoping arm, and 3-axis wrist.
2. **Perception & Modeling:** To "see" the world, Stretch 4 utilizes specialized drivers like [`stretch4_pyhesai_wrapper`](https://github.com/hello-robot/stretch4_pyhesai_wrapper) for its dual 3D Lidars and [`stretch4_rgbd`](https://github.com/hello-robot/stretch4_rgbd) for enhanced depth sensing. The robot's physical dimensions and kinematic constraints are defined in [`stretch4_urdf`](https://github.com/hello-robot/stretch4_urdf), which is essential for motion planning.
3. **Simulation:** Before deploying to physical hardware, the [`stretch4_mujoco`](https://github.com/hello-robot/stretch4_mujoco) stack allows developers to test algorithms in a high-fidelity physics environment.
4. **Middleware & Application (The Interface):** High-level control is primarily managed through [`stretch4_ros2`](https://github.com/hello-robot/stretch4_ros2), providing a standardized interface for navigation and manipulation. Interfaces like [`stretch4_web_teleop`](https://github.com/hello-robot/stretch4_web_teleop) enable remote operation via a browser, while [`stretch4_grasping_demo`](https://github.com/hello-robot/stretch4_grasping_demo) showcases integrated AI capabilities using VLMs and visual servoing.

---

Expand All @@ -26,16 +26,16 @@ The following table summarizes some of the key public repositories dedicated to

| Repository | Description | Primary Language |
| --- | --- | --- |
| `stretch4_body` | Core Python SDK to interact with the Stretch 4 hardware and low-level joints. | Python |
| `stretch4_ros2` | The primary ROS 2 driver and package suite for autonomous operation. | Python |
| `stretch4_urdf` | Unified Robot Description Format (URDF) files for the Stretch 4 mobile manipulator. | Python/XML |
| `stretch4_mujoco` | Official simulation stack built on the MuJoCo physics engine. | Python |
| `stretch4_web_teleop` | Accessible, web-based interface for remote teleoperation. | TypeScript |
| `stretch4_grasping_demo` | AI-powered demo utilizing VLMs and object tracking for visual servoing. | Python |
| `stretch4_rgbd` | Methods to enhance and process RGB-D imagery from onboard cameras. | Python |
| `stretch4_pyhesai_wrapper` | Python wrapper for the Hesai JT128 3D hemispherical LiDARs. | C++ / Python |
| `stretch4_human_perception` | Specialized tools to enable the robot to perceive and track humans. | Python |
| `stretch4_compliant_gripper` | Modeling and control code for the standard Stretch 4 compliant gripper. | Python |
| [`stretch4_body`](https://github.com/hello-robot/stretch4_body) | Core Python SDK to interact with the Stretch 4 hardware and low-level joints. | Python |
| [`stretch4_ros2`](https://github.com/hello-robot/stretch4_ros2) | The primary ROS 2 driver and package suite for autonomous operation. | Python |
| [`stretch4_urdf`](https://github.com/hello-robot/stretch4_urdf) | Unified Robot Description Format (URDF) files for the Stretch 4 mobile manipulator. | Python/XML |
| [`stretch4_mujoco`](https://github.com/hello-robot/stretch4_mujoco) | Official simulation stack built on the MuJoCo physics engine. | Python |
| [`stretch4_web_teleop`](https://github.com/hello-robot/stretch4_web_teleop) | Accessible, web-based interface for remote teleoperation. | TypeScript |
| [`stretch4_grasping_demo`](https://github.com/hello-robot/stretch4_grasping_demo) | AI-powered demo utilizing VLMs and object tracking for visual servoing. | Python |
| [`stretch4_rgbd`](https://github.com/hello-robot/stretch4_rgbd) | Methods to enhance and process RGB-D imagery from onboard cameras. | Python |
| [`stretch4_pyhesai_wrapper`](https://github.com/hello-robot/stretch4_pyhesai_wrapper) | Python wrapper for the Hesai JT128 3D hemispherical LiDARs. | C++ / Python |
| [`stretch4_human_perception`](https://github.com/hello-robot/stretch4_human_perception) | Specialized tools to enable the robot to perceive and track humans. | Python |
| [`stretch4_compliant_gripper`](https://github.com/hello-robot/stretch4_compliant_gripper) | Modeling and control code for the standard Stretch 4 compliant gripper. | Python |

---

Expand All @@ -49,10 +49,10 @@ Significant repositories include

| Repository | Description |
| --- | --- |
| **stretch_ai** | High-level intelligence suite for grasping, navigation, and LLM agents. |
| **stretch_body** | The core Python SDK for interacting with RE1, RE2, and Stretch 3 hardware. |
| **stretch_ros2** | Official support for ROS 2 Humble, including Nav2 and teleop demos. |
| **stretch_firmware** | Arduino-based firmware for the robot's motor controllers and IMU boards. |
| **stretch_web_interface** | A redesigned browser-based interface for remote "manipulation from anywhere". |
| [`stretch_ai`](https://github.com/hello-robot/stretch_ai) | High-level intelligence suite for grasping, navigation, and LLM agents. |
| [`stretch_body`](https://github.com/hello-robot/stretch_body) | The core Python SDK for interacting with RE1, RE2, and Stretch 3 hardware. |
| [`stretch_ros2`](https://github.com/hello-robot/stretch_ros2) | Official support for ROS 2 Humble, including Nav2 and teleop demos. |
| [`stretch_firmware`](https://github.com/hello-robot/stretch_firmware) | Arduino-based firmware for the robot's motor controllers and IMU boards. |
| [`stretch_web_interface`](https://github.com/hello-robot/stretch_web_interface) | A redesigned browser-based interface for remote "manipulation from anywhere". |