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This is version 0.1 of the Stretch User Documentation. It is written with the following system configuration in mind:

Resource Description
Model Stretch RE1
OS Ubuntu 18.04
ROS Melodic
Python Python2
Stretch Body '<=0.2

You can access documentation suitable for newer configurations (eg Ubuntu 20.04, ROS Noetic) here


WARNING: The Stretch RE1 is a potentially dangerous robot. All users must carefully read the Stretch Safety Guide prior to using the robot.

Resource Description
Stretch Safety Guide Safety guide for users of the Stretch RE1
Stretch Best Practices - Powered Off Video How to work with Stretch when its power is off
Stretch Best Practices - Powered On Video How to work with Stretch when its power is on

Quick Start

Resource Description
Stretch Unboxing Video How to unpack your new Stretch
Stretch Quick Start Guide Getting started - Xbox Teleoperation Demo and beyond
Stretch Troubleshooting Guide Solutions to common issues
Stretch Network Setup Guide to network setup for working with Stretch untethered


Resource Description
Working with Robot Parameters Learn how to query, set, and manage robot parameters.
Working with Dynamixel Servos Learn how to use various tools to manage Dynamixel servos
Changing End of Arm Tools Learn how to configure the Stretch software interfaces to support other tools
Extending the Wrist DOF Learn how to integrate additional DOF to the End of Arm
Working with the Wrist Expansion Header Learn how to integrate custom hardware on to the expansion header in the wrist.


Resource Description
Stretch Hardware User Guide Specification and functional description of the Stretch RE1 Hardware
Stretch Dex Wrist User Guide Installing, configuring, and working with the Stretch Dex Wrist
Stretch Battery Maintenance Guide Guide to Care for and Charge the Stretch Batteries
Stretch Tool Share Open resource to share designs and code for end-of-arm tools


Body Interface

Resource Description
Stretch Body Guide Guide to the low level Python interface to the Stretch hardware
Stretch Body API Reference API reference for the Stretch Body python module.
Stretch Firmware Guide Guide to updating the Stretch Firmware
Stretch Installation Guide Guide to installing a new user and managing the Stretch installation
Stretch Factory Tools Guide to factory tools for hardware calibration and introspection

ROS Interface

We provide ROS-related code for the Stretch RE1 mobile manipulator, including a ROS node that interfaces to the robot, calibration code, and demonstrations of various autonomous robot capabilities.

Resource Description
stretch_ros repository on GitHub Repository with ROS-related code for Stretch

Other Tools

Resource Description
Stretch Web Interface Repository with code to allow a user to operate a Stretch through a web browser


This is version 0.1 of the Stretch User Documentation.


This documentation is only to be used for an authentic Stretch RE1 robot produced and sold by Hello Robot Inc.

All Hello Robot stretch_docs related materials are released under the Creative Commons Attribution-NoDerivatives 4.0 International (CC BY-ND 4.0) license.

The Stretch RE1 has patents pending.