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This is your jumping off point for Stretch tutorials, hardware manuals, and APIs.

Please contact us at if you don't find what you're looking for. We wish you success in your development journey with Stretch!

New to Stretch?

We recommend you follow the Getting to Know Stretch Tutorials.

Please take the time to learn safe and best practices in operating Stretch.

The Stretch robot can potentially be dangerous if used without caution. All users must carefully read the Stretch Safety Guide prior to using the robot.

Where to Find Things

All of the documentation is accessible and searchable via the navigation menu on this site. Alternatively, you can view the markdown hosted on at the Hello Robot GitHub portal.

In addition, it is worth spending some time on the following sites:

Resource Description
Stretch Community Repository for community shared code
Stretch Forum Discourse User Forum


This is version 0.2 of the Stretch User Documentation. It is written with the following system configuration in mind:

Resource Description
Model Stretch RE1 or Stretch 2
OS Ubuntu 20.04
ROS Noetic and Melodic
Python Python3
Stretch Body '>=0.4

You can access prior documentation suitable for older configurations (eg Ubuntu 18.04, ROS Melodic) here. If you are on an older version and would like to upgrade the robot, follow the Ubuntu 20.04 upgrade guide or contact support.


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

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

All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks. The Stretch robots are covered by U.S. Patent 11,230,000 and other patents pending.