# Hello Robot Docs

## Home

- [Stretch Docs](https://docs.hello-robot.com/readme.md)

## Stretch 4 Quick Start Guide

- [Quick Start Guide](https://docs.hello-robot.com/stretch-4-quick-start-guide/quick-start-guide.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Setting Up Stretch](https://docs.hello-robot.com/stretch-4-quick-start-guide/setting-up-stretch.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Robot Overview](https://docs.hello-robot.com/stretch-4-quick-start-guide/robot-overview.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Writing Code for Stretch](https://docs.hello-robot.com/stretch-4-quick-start-guide/writing-code-for-stretch.md)
- [Demo - Mapping and Navigation](https://docs.hello-robot.com/stretch-4-quick-start-guide/demo-mapping-and-navigation.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Demo - Web Teleoperation](https://docs.hello-robot.com/stretch-4-quick-start-guide/demo-web-teleoperation.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Additional Resources](https://docs.hello-robot.com/stretch-4-quick-start-guide/additional-resources.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.

## Stretch 4 Safety Guide

- [Stretch 4 Safety Guide](https://docs.hello-robot.com/stretch-4-safety-guide/stretch-4-safety-guide.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.

## Stretch 4 Hardware Guide

- [Stretch 4 Hardware Guide](https://docs.hello-robot.com/stretch4-hardware-guide/stretch-4-hardware-guide.md)

## stretch4\_ros2

- [README](https://docs.hello-robot.com/stretch4-ros2-repo/readme.md)
- [hello\_helpers](https://docs.hello-robot.com/stretch4-ros2-repo/hello_helpers.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/hello_helpers/license.md)
- [Overview](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_core.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_core/license.md)
- [stretch\_core filter configuration](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_core/config.md)
- [stretch\_deep\_perception](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_deep_perception.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_deep_perception/license.md)
- [stretch\_description](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_description.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_description/license.md)
- [stretch\_nav2](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_nav2.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_nav2/license.md)
- [Stretch Python Bridge](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_python_bridge.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_python_bridge/license.md)
- [Stretch Simulation in ROS2](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_simulation.md)
- [LICENSE](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_simulation/license.md)
- [Docker Setup for Stretch Simulation with Nvidia GPU Support](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_simulation/readme_docker.md)
- [Setting up Stretch Simulation](https://docs.hello-robot.com/stretch4-ros2-repo/stretch_simulation/readme_setup.md)

## stretch4\_body

- [Introduction](https://docs.hello-robot.com/stretch4-body-repo/readme.md)
- [Core Architecture](https://docs.hello-robot.com/stretch4-body-repo/core-framework/primer_core.md)
- [Robot Client API](https://docs.hello-robot.com/stretch4-body-repo/core-framework/primer_robot_client.md)
- [Robot Parameters](https://docs.hello-robot.com/stretch4-body-repo/core-framework/primer_robot_params.md)
- [Server Behaviors](https://docs.hello-robot.com/stretch4-body-repo/behaviors-and-safety/primer_behaviors.md)
- [Self-Collision](https://docs.hello-robot.com/stretch4-body-repo/behaviors-and-safety/primer_self_collision.md)
- [Hardware Subsystems](https://docs.hello-robot.com/stretch4-body-repo/subsystems-and-hardware/primer_subsystems.md)
- [End-Of-Arm (EOA)](https://docs.hello-robot.com/stretch4-body-repo/subsystems-and-hardware/primer_end_of_arm.md)
- [Cameras](https://docs.hello-robot.com/stretch4-body-repo/subsystems-and-hardware/primer_cameras.md)
- [Line Sensors](https://docs.hello-robot.com/stretch4-body-repo/subsystems-and-hardware/primer_line_sensor.md)
- [Gamepad Teleop](https://docs.hello-robot.com/stretch4-body-repo/teleoperation/primer_gamepad_teleop.md)
- [Puppet Teleop](https://docs.hello-robot.com/stretch4-body-repo/teleoperation/primer_puppet_teleop.md)

## stretch4\_web\_teleop

- [README](https://docs.hello-robot.com/stretch-4-web-teleop/readme.md)
- [LICENSE](https://docs.hello-robot.com/stretch-4-web-teleop/license.md)
- [WEBRTC\_PROJECT\_LICENSE](https://docs.hello-robot.com/stretch-4-web-teleop/webrtc_project_license.md)
- [src](https://docs.hello-robot.com/stretch-4-web-teleop/src.md)
- [Primer: Operator Page](https://docs.hello-robot.com/stretch-4-web-teleop/src/primer_operator.md)
- [Primer: Robot Page](https://docs.hello-robot.com/stretch-4-web-teleop/src/primer_robot.md)
- [Software Architecture](https://docs.hello-robot.com/stretch-4-web-teleop/src/primer_software_architecture.md)
- [pages](https://docs.hello-robot.com/stretch-4-web-teleop/src/pages.md)
- [operator](https://docs.hello-robot.com/stretch-4-web-teleop/src/pages/operator.md)
- [tsx](https://docs.hello-robot.com/stretch-4-web-teleop/src/pages/operator/tsx.md)
- [Firebase](https://docs.hello-robot.com/stretch-4-web-teleop/src/pages/operator/tsx/storage_handler.md)

## stretch4\_urdf

- [Overview](https://docs.hello-robot.com/stretch4_urdf/readme.md)
- [Changelog](https://docs.hello-robot.com/stretch4_urdf/changelog.md)
- [LICENSE](https://docs.hello-robot.com/stretch4_urdf/license.md)
- [Stretch URDF Standardization Conventions](https://docs.hello-robot.com/stretch4_urdf/urdf_conventions.md)
- [stretch4\_urdf](https://docs.hello-robot.com/stretch4_urdf/stretch4_urdf.md)
- [URDF Batch Organization](https://docs.hello-robot.com/stretch4_urdf/stretch4_urdf/batches.md)
- [URDF Calibration](https://docs.hello-robot.com/stretch4_urdf/stretch4_urdf/calibration.md)
- [SE4\_tools](https://docs.hello-robot.com/stretch4_urdf/stretch4_urdf/se4_tools.md)
- [End Effector Tools for Stretch](https://docs.hello-robot.com/stretch4_urdf/stretch4_urdf/se4_tools/end_effectors.md)

## stretch4\_mujoco

- [Overview](https://docs.hello-robot.com/stretch4_mujoco/readme.md)
- [docs](https://docs.hello-robot.com/stretch4_mujoco/docs.md)
- [Using the Mujoco Simulator with Stretch](https://docs.hello-robot.com/stretch4_mujoco/docs/architecture.md)
- [stretch4\_mujoco](https://docs.hello-robot.com/stretch4_mujoco/stretch4_mujoco.md)
- [models](https://docs.hello-robot.com/stretch4_mujoco/stretch4_mujoco/models.md)
- [A room with four walls and a ceiling.](https://docs.hello-robot.com/stretch4_mujoco/stretch4_mujoco/models/room_scene.md)
- [Stretch 4 MJCF and URDF](https://docs.hello-robot.com/stretch4_mujoco/stretch4_mujoco/models/stretch_4.md)

## stretch4\_flying\_gripper

- [Stretch 4 Flying Gripper Control](https://docs.hello-robot.com/stretch4_flying_gripper/readme.md)
- [LICENSE](https://docs.hello-robot.com/stretch4_flying_gripper/license.md)

## stretch4\_human\_perception

- [Stretch 4 Human Perception](https://docs.hello-robot.com/stretch4_human_perception/readme.md)

## stretch4\_hybrid\_marker\_demo

- [stretch4\_hybrid\_marker\_demo](https://docs.hello-robot.com/stretch4_hybrid_marker_demo/readme.md)

## stretch4\_grasping\_demo

- [Stretch 4 Grasping Demo](https://docs.hello-robot.com/stretch4_grasping_demo/readme.md)
- [LICENSE](https://docs.hello-robot.com/stretch4_grasping_demo/license.md)

## stretch4\_compliant\_gripper

- [Stretch 4 Gripper Modeling and Control](https://docs.hello-robot.com/stretch4_compliant_gripper/readme.md)
- [LICENSE](https://docs.hello-robot.com/stretch4_compliant_gripper/license.md)

## stretch4\_install

- [README](https://docs.hello-robot.com/stretch4_install/readme.md)
- [docs](https://docs.hello-robot.com/stretch4_install/docs.md)
- [Adding a New User](https://docs.hello-robot.com/stretch4_install/docs/add_new_user.md)
- [Configuring the BIOS](https://docs.hello-robot.com/stretch4_install/docs/configure_bios.md)
- [Contributing to Stretch Install](https://docs.hello-robot.com/stretch4_install/docs/contributing.md)
- [Ubuntu 24.04 Installation](https://docs.hello-robot.com/stretch4_install/docs/install_ubuntu_24.04.md)
- [Upgrading your Operating System](https://docs.hello-robot.com/stretch4_install/docs/robot_install.md)
- [Updating your ROS Workspace](https://docs.hello-robot.com/stretch4_install/docs/ros_workspace.md)

## stretch4\_rgbd

- [Stretch 4 Emulated RGB-D](https://docs.hello-robot.com/stretch4_rgbd/readme.md)

## stretch4\_pyhesai\_wrapper

- [README](https://docs.hello-robot.com/stretch4_pyhesai_wrapper/readme.md)

## stretch4\_dual\_lidar\_calibration

- [Stretch Dual Lidar Calibration](https://docs.hello-robot.com/stretch4_dual_lidar_calibration/readme.md)

## stretch4\_docs

- [README](https://docs.hello-robot.com/stretch4_docs/readme.md)
- [Getting Started](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started.md)
- [Quick Start Guide](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/quick-start-guide.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Setting Up Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/setting-up-stretch.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Robot Overview](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/robot-overview.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Demo - Mapping and Navigation](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/demo-mapping-and-navigation.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Demo - Web Teleoperation](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/demo-web-teleoperation.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Writing Code for Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/writing-code-for-stretch.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [Additional Resources](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/getting-started/additional-resources.md): This documentation is currently in beta. Please proceed carefully, and if you run into issues or need additional information, reach out to Hello Robot directly for support.
- [General Use](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/general_use.md)
- [Keeping Stretch Charged](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/general_use/keeping-stretch-charged.md)
- [Unboxing Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/general_use/unboxing-stretch4.md)
- [Connecting to Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/general_use/connecting-to-stretch.md)
- [Networking Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/general_use/networking-stretch.md)
- [Packing and Transporting](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/general_use/packing_and_transporting.md)
- [Sensor Basics](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/sensor_basics.md)
- [Accessing the Cameras](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/sensor_basics/accessing-the-cameras.md)
- [Accessing the Lidars](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/sensor_basics/accessing-the-lidars.md)
- [Accessing the Line Sensors](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/sensor_basics/accessing-the-line-sensors.md)
- [Motion Basics](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/motion_basics.md)
- [Homing and Stowing](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/motion_basics/homing-and-stowing.md)
- [Scripting Joint Motion](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/motion_basics/scripting-joint-motion.md)
- [Motion CLI Tools](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/motion_basics/motion-cli-tools.md)
- [Tuning Joint Motion](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/motion_basics/motion-configuration.md)
- [Teleoperation](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/teleoperation.md)
- [Stretch Mobile Teleop](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/teleoperation/stretch-mobile-teleop.md)
- [Stretch Gamepad Teleop](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/teleoperation/stretch-gamepad-teleop.md)
- [Stretch Puppet Teleop](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/teleoperation/stretch-puppet-teleop.md)
- [Mapping and Navigation with Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/navigation.md)
- [Navigating with Stretch](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/navigation/navigating_with_stretch.md)
- [Common Tasks](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/common_tasks.md)
- [Logging Data](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/common_tasks/logging-data.md)
- [Changing Tools](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/common_tasks/changing-tools.md)
- [Base Frame Conventions](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/common_tasks/base-frame-convention-and-wheel-odom.md)
- [Working with the Robot Model](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/common_tasks/working-with-stretch-robot-model.md)
- [List of ArUco and ChArUco IDs](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/common_tasks/list-of-aruco.md)
- [Navigation University](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u.md)
- [Moving the Robot](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/moving-the-robot.md)
- [Creating a Map](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/create-a-map.md)
- [Global Planning](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/global-planning.md)
- [Localization](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/localization.md)
- [Local Planning with DWB](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/local-planning-dwb.md)
- [Local Planning with MPPI](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/local-planning-mppi.md)
- [Navigation Coordination](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/nav_u/navigation-coordination.md)
- [Developer Basics](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/developer-basics.md)
- [Creating Routine Applications](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/developer-basics/creating-routine-applications.md)
- [Working with AI Agents](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/developer-basics/working-with-ai-agents.md)
- [Setting up the MCP Tools](https://docs.hello-robot.com/stretch4_docs/working-with-stretch/developer-basics/setting-up-the-mcp-tools.md)
- [Hardware Guide](https://docs.hello-robot.com/stretch4_docs/guides/hardware-guide.md)


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