> 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/readme.md).

# Stretch Docs

<figure><img src="/files/iN6vFh03nEB5vXOS56pl" alt=""><figcaption></figcaption></figure>

***

## Overview

Looking to learn about Stretch 4? You've come to the right place.

{% hint style="info" %}

### Documentation for Stretch 3 | 2 | RE1  has moved!

<a href="http://docs-arch.hello-robot.com/0.3/" class="button primary" data-icon="user-robot">Stretch 3 Docs</a><a href="http://docs-arch.hello-robot.com/0.2/" class="button primary" data-icon="robot">Stretch 2 | RE1 Docs</a>
{% endhint %}

### Ask an Agent

The Stretch Docs Agent (via GitBook) can answer questions about the documentation.

<button type="button" class="button primary" data-action="ask" data-icon="openai">Stretch Docs Agent</button>

The Stretch Code Agent ( via Hello Robot, BETA) can answer more complex questions about the code, etc.&#x20;

<a href="https://hello-robot.com/stretch-code-agent/" class="button primary" data-icon="openai">Stretch Code Agent</a>

### Coding Agent Integration

Simply point your AI agent to the `llms-full.txt` URL or configure your local environment to reference it so your AI can code with full knowledge of our system parameters, hardware subsystems, and API layers.:

* Curated Layout Index: `[https://docs.hello-robot.com/llms.txt](https://docs.hello-robot.com/llms.txt)`
* Full Content Bundle (Recommended for RAG/Context): `[https://docs.hello-robot.com/llms-full.txt](https://docs.hello-robot.com/llms-full.txt)`

### Other Resources

The Stretch 4 documentation is spread across numerous Git repositories. This Stretch Docs site provides an organized view of this information. In addition, you can learn more at these resources:

<a href="https://hello-robot.com/" class="button secondary" data-icon="robot">Hello Robot</a><a href="https://forum.hello-robot.com" class="button secondary" data-icon="discourse">Stretch User Forum</a><a href="https://github.com/hello-robot" class="button secondary" data-icon="square-github">GitHub Repos</a>

{% hint style="info" %}
**This site is still under development.** If you don't see what you need, email us at <support@hello-robot.com>.
{% endhint %}

<br>

***

## Getting Started

<table data-view="cards"><thead><tr><th></th><th></th><th></th><th data-hidden data-card-target data-type="content-ref"></th><th data-hidden data-card-cover data-type="image">Cover image</th></tr></thead><tbody><tr><td><h4><i class="fa-leaf" style="color:$primary;">:leaf:</i></h4></td><td><strong>Day One Guide</strong></td><td>New to Stretch? Start here!</td><td><a href="/spaces/uTx8TzaS8I2gAGGLrfm0">/spaces/uTx8TzaS8I2gAGGLrfm0</a></td><td><a href="/files/JTYDEiLUcY7RODUspbQt">/files/JTYDEiLUcY7RODUspbQt</a></td></tr><tr><td><h4><i class="fa-head-side-gear" style="color:$primary;">:head-side-gear:</i></h4></td><td><strong>Hardware Guide</strong></td><td>Learn about hardware specifications, use, and care.</td><td><a href="/spaces/5az5ocOmcIzrlNNAT5eH">/spaces/5az5ocOmcIzrlNNAT5eH</a></td><td><a href="/files/QCzjbqk9QZAi6RdI3yZ0">/files/QCzjbqk9QZAi6RdI3yZ0</a></td></tr><tr><td><h4><i class="fa-terminal" style="color:$primary;">:terminal:</i></h4></td><td><strong>Safety Guide</strong></td><td>Learn best practices for safe operation</td><td><a href="/spaces/Fw3I6nfQuCkv1r6I5Ty9">/spaces/Fw3I6nfQuCkv1r6I5Ty9</a></td><td><a href="/files/poRtTgYXf39I6YUI86To">/files/poRtTgYXf39I6YUI86To</a></td></tr></tbody></table>

***

<br>

{% columns %}
{% column width="50%" %}

<div align="left"><figure><img src="/files/Iaqk0KE6p94O1rWS7VKm" alt=""><figcaption></figcaption></figure></div>

{% endcolumn %}

{% column width="50%" valign="middle" %}

## Working with Stretch

Learn the basics —  like keeping the robot charged, logging data, and contrlling the joints.
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{% endcolumns %}

<details>

<summary><i class="fa-gears" style="color:$primary;">:gears:</i> General Use</summary>

<table data-header-hidden><thead><tr><th data-type="content-ref"></th><th></th></tr></thead><tbody><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/J0NLvY6STlFIOesvIifs">/spaces/A7odvp6Q3OcylK96Pt41/pages/J0NLvY6STlFIOesvIifs</a></td><td>Unboxing your new Stretch</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/y1tPSiwM7A9JRJpOGler">/spaces/A7odvp6Q3OcylK96Pt41/pages/y1tPSiwM7A9JRJpOGler</a></td><td>How to keep your battery charged and healthy</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/LApYW3VeICngbcdLKQw5">/spaces/A7odvp6Q3OcylK96Pt41/pages/LApYW3VeICngbcdLKQw5</a></td><td>How to re-pack your Stretch for return shipping or transporting in a car.</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/Rsb21zltdXGCVGpA7aQT">/spaces/A7odvp6Q3OcylK96Pt41/pages/Rsb21zltdXGCVGpA7aQT</a></td><td>How to develop on Stretch remotely</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/HHaMKgOgLUj2I6U9N5PN">/spaces/A7odvp6Q3OcylK96Pt41/pages/HHaMKgOgLUj2I6U9N5PN</a></td><td>Configuring the Stretch LAN, etc</td></tr></tbody></table>

</details>

<details>

<summary><i class="fa-camera" style="color:$primary;">:camera:</i> Sensor Basics</summary>

<table data-header-hidden><thead><tr><th data-type="content-ref"></th><th></th></tr></thead><tbody><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/qx6xw5qVWUMKDCqh19Sg">/spaces/A7odvp6Q3OcylK96Pt41/pages/qx6xw5qVWUMKDCqh19Sg</a></td><td>How to access the RGB cameras </td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/GO8gRv4ebEZab8OWxMLa">/spaces/A7odvp6Q3OcylK96Pt41/pages/GO8gRv4ebEZab8OWxMLa</a></td><td>How to access the dual 3D Lidars</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/kkqX8KxZ2iM0b7gftFQL">/spaces/A7odvp6Q3OcylK96Pt41/pages/kkqX8KxZ2iM0b7gftFQL</a></td><td>How to access the base laser-line sensor array</td></tr></tbody></table>

</details>

<details>

<summary><i class="fa-gear" style="color:$primary;">:gear:</i> Motion Basics</summary>

<table data-header-hidden><thead><tr><th data-type="content-ref"></th><th></th></tr></thead><tbody><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/JRnFNmlNA301A26Fso62">/spaces/A7odvp6Q3OcylK96Pt41/pages/JRnFNmlNA301A26Fso62</a></td><td>How to program simple joint motions</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/LevKhpFqocY4j2VQFEoP">/spaces/A7odvp6Q3OcylK96Pt41/pages/LevKhpFqocY4j2VQFEoP</a></td><td>Common CLI tools for joint motion</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/ZU17sizHE5uEbIczKtAu">/spaces/A7odvp6Q3OcylK96Pt41/pages/ZU17sizHE5uEbIczKtAu</a></td><td>Ways to adjust the motion characteristics</td></tr></tbody></table>

</details>

<details>

<summary><i class="fa-gamepad-modern" style="color:$primary;">:gamepad-modern:</i> Teleoperation</summary>

<table data-header-hidden><thead><tr><th data-type="content-ref"></th><th></th></tr></thead><tbody><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/826wuxDKQ5m9HMLTZt3J">/spaces/A7odvp6Q3OcylK96Pt41/pages/826wuxDKQ5m9HMLTZt3J</a></td><td>Telop via the mobile phone controller</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/YHLQYSelRBPe5Pmu0Goq">/spaces/A7odvp6Q3OcylK96Pt41/pages/YHLQYSelRBPe5Pmu0Goq</a></td><td>Teleop via the gamepad controller</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/0ZXgTaokHBYxLX5qzhFR">/spaces/A7odvp6Q3OcylK96Pt41/pages/0ZXgTaokHBYxLX5qzhFR</a></td><td>Teleop via the puppet controller</td></tr></tbody></table>

</details>

<details>

<summary><i class="fa-map" style="color:$primary;">:map:</i> Navigation</summary>

<table data-header-hidden><thead><tr><th data-type="content-ref"></th><th></th></tr></thead><tbody><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/1WBZGXnGyedBumTw8Zo5">/spaces/A7odvp6Q3OcylK96Pt41/pages/1WBZGXnGyedBumTw8Zo5</a></td><td>Quick start mapping and navigation</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/iwslVDpH8IEM7fipZYRZ">/spaces/A7odvp6Q3OcylK96Pt41/pages/iwslVDpH8IEM7fipZYRZ</a></td><td>Tutorial on working with the Nav2 system</td></tr><tr><td></td><td></td></tr></tbody></table>

</details>

<details>

<summary><i class="fa-layer-plus" style="color:$primary;">:layer-plus:</i> Common Tasks</summary>

<table data-header-hidden><thead><tr><th data-type="content-ref"></th><th></th></tr></thead><tbody><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/rfWX1lFJJGj9RKd7LZro">/spaces/A7odvp6Q3OcylK96Pt41/pages/rfWX1lFJJGj9RKd7LZro</a></td><td>How to change the end-of-arm tool</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/r8DR4vz5jm6cg55CLbdk">/spaces/A7odvp6Q3OcylK96Pt41/pages/r8DR4vz5jm6cg55CLbdk</a></td><td>How to log status data from the server</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/XIWgBhrbecu71LnWD9J5">/spaces/A7odvp6Q3OcylK96Pt41/pages/XIWgBhrbecu71LnWD9J5</a></td><td>Understanding the base frames</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/Zvl5ThEwcpuR5lAYTdNg">/spaces/A7odvp6Q3OcylK96Pt41/pages/Zvl5ThEwcpuR5lAYTdNg</a></td><td>How to manage the robot model</td></tr><tr><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/Ua7GaMDFoxXrkmT0qAWw">/spaces/A7odvp6Q3OcylK96Pt41/pages/Ua7GaMDFoxXrkmT0qAWw</a></td><td>Working with ArUCo IDs</td></tr><tr><td></td><td></td></tr></tbody></table>

</details>

***

## Demos and Tutorials

We are still developing exciting new demos and tutorials for Stretch 4. Check back periodically for new documentation.

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td><strong>Data Collection with Puppet Teleop</strong></td><td>Learn how to use the puppet tool to collect on-robot manipulation data</td><td><a href="/files/akl2IRfMEskRNrIrOaSW">/files/akl2IRfMEskRNrIrOaSW</a></td><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/0ZXgTaokHBYxLX5qzhFR">/spaces/A7odvp6Q3OcylK96Pt41/pages/0ZXgTaokHBYxLX5qzhFR</a></td></tr><tr><td><strong>VLM Based Grasping</strong></td><td>Learn how to use a the Molmo2 Vision Language Model to grasp objects</td><td data-object-fit="fill"><a href="/files/nJG9rvqKeFNIYcpPYanw">/files/nJG9rvqKeFNIYcpPYanw</a></td><td><a href="/spaces/9DmMukkLxY3zG5WEzi3S">/spaces/9DmMukkLxY3zG5WEzi3S</a></td></tr><tr><td><strong>Sense and Follow People</strong></td><td>Learn how to do real-time human pose detection and use that to have Stretch follow people.</td><td><a href="/files/hg7LJdffP9fgKypx9ann">/files/hg7LJdffP9fgKypx9ann</a></td><td><a href="/spaces/VDRzQppzRi0RGMCHcT0O">/spaces/VDRzQppzRi0RGMCHcT0O</a></td></tr><tr><td><strong>Flying Gripper Control</strong></td><td>Learn how to use the Jacobian to control the robot from the tool frame</td><td><a href="/files/FVSfbBYePrQBXSoZic31">/files/FVSfbBYePrQBXSoZic31</a></td><td><a href="/spaces/HfMeDcxEWF9hyYdOhtvN">/spaces/HfMeDcxEWF9hyYdOhtvN</a></td></tr><tr><td><strong>Hybrid Marker Demo</strong></td><td>Learn how to integrate the reflective ArUco markers into a real-time controller</td><td><a href="/files/q0S5NcyuUKe3A8d5Wjxz">/files/q0S5NcyuUKe3A8d5Wjxz</a></td><td><a href="/spaces/i6YjBUfk6eBB9NOVUrrA">/spaces/i6YjBUfk6eBB9NOVUrrA</a></td></tr><tr><td><strong>Navigation University</strong></td><td>Learn the details of working with Nav2 and Stretch 4</td><td><a href="/files/lIToytEe8Tlpg5lyGkMH">/files/lIToytEe8Tlpg5lyGkMH</a></td><td><a href="/spaces/A7odvp6Q3OcylK96Pt41/pages/iwslVDpH8IEM7fipZYRZ">/spaces/A7odvp6Q3OcylK96Pt41/pages/iwslVDpH8IEM7fipZYRZ</a></td></tr></tbody></table>

***

<br>

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<figure><picture><source srcset="/files/ELD4Hb054gfoQWXavwV5" media="(prefers-color-scheme: dark)"><img src="/files/sWtfRnCR18rMy0YMjyIA" alt=""></picture><figcaption></figcaption></figure>
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## Explore the Open Source Software Stack

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

The [Hello Robot GitHub ](https://github.com/hello-robot)page provide an overview of the key repositories. Each repository is intended to be self-documenting through its internal README.md and other Markdown files.

<a href="https://github.com/hello-robot" class="button primary" data-icon="code">Explore the Code</a>&#x20;
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{% endcolumns %}

***

<br>

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<h2 align="center">Join the community of 100s of developers</h2>

Join our the Stretch community to post questions, get help, and share resources with over 100s of like-minded developers.

<a href="https://forum.hello-robot.com" class="button primary" data-icon="discourse">Join the Forum</a>&#x20;
{% endcolumn %}

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<figure><picture><source srcset="/files/pClFTUZ1xv2TJymG4KWL" media="(prefers-color-scheme: dark)"><img src="/files/7iHgbg4penRLIofqv1Al" alt="" width="188"></picture><figcaption></figcaption></figure>
{% endcolumn %}
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&#x20;


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://docs.hello-robot.com/readme.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.