Version
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
Safety
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 |
Tutorials
| 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. |
Hardware
| 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 |
Software
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 |
Version
This is version 0.1 of the Stretch User Documentation.
License
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.