Additional Resources

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.

While we hope the documentation found here gets you successfully started developing with your robot, there are a number of other resources worth noting that provide additional information and ways to interact with Stretch and the larger Hello Robot community.

💬 Forum

Stretch has a diverse and vibrant user community, and one of our goals at Hello Robot is to help our customers connect, collaborate, and share with one another. To this end, we have created a public Hello Robot Forum where you can ask questions, post about your work, request support, or search an archive of resolved issues. Our engineers regularly read and respond to threads here.

💻 GitHub

Nearly all the code we write for Stretch is open-source and freely available on our Hello Robot GitHub. Feel free to browse through the repos or dig deeper into the code. For information on how to contribute to Stretch software, see the [Contribution Guide].

Simulating Stretch

Stretch 4 is simulated in Google Deepmind's MuJoCo using stretch4_mujoco: https://github.com/hello-robot/stretch4_mujoco

You can also control Stretch 4's stretch4_mujoco in ROS2 using the stretch_simulation ROS2 package: https://github.com/hello-robot/stretch4_ros2/tree/jazzy/stretch_simulation

Additional Demos

There are many demos that are published to GitHub that are not shipped on the robot. Typically, you would clone these demos to your robot's ~/repos directory and follow the instructions in the README to set them up.

stretch4_kinematics	Kinematics and task-space control library for Stretch 4	Python
stretch4_grasping_demo	AI-powered demo utilizing VLMs and object tracking for visual servoing.	Python
stretch4_hybrid_marker_demo	LiDAR-reflective material + visible light ArUco marker demo.	Python
stretch4_rgbd	Methods to enhance and process RGB-D imagery from onboard cameras.	Python
stretch4_human_perception	Specialized tools to enable the robot to perceive and track humans.	Python
stretch4_compliant_gripper	Modeling and control code for the standard Stretch 4 compliant gripper.	Python

🧑‍🤝‍🧑 Community Updates

We love to help spread the work about the great work our community is constantly publishing! Every month, we publish a [Stretch Community Update] with some highlights of the recent research done by Stretch customers on our website, mailing list and social media. When you have work that is ready to make public, [let us know] and we'll make sure it's seen by our community!

🔧 Get Some Support

If you've run into a hardware problem, need urgent assistance, or just can't find the answer to your questions and want to chat directly with a Hello Robot engineer, please feel free to contact us directly at support [at] hello-robot.com. We love talking to Stretch users, and your feedback helps us improve the product for all our users.