> For the complete documentation index, see [llms.txt](https://docs.hello-robot.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.hello-robot.com/stretch-4-quick-start-guide/additional-resources.md).

# Additional Resources

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.

### :speech\_balloon: Forum <a href="#forum" id="forum"></a>

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](https://forum.hello-robot.com/) 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.

### :computer: GitHub <a href="#github" id="github"></a>

Nearly all the code we write for Stretch is open-source and freely available on our [Hello Robot GitHub](https://github.com/hello-robot). 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](https://mujoco.org/) 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`](https://github.com/hello-robot/stretch4_kinematics)                 | Kinematics and task-space control library for Stretch 4                 | Python |
| ------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------- | ------ |
| [`stretch4_grasping_demo`](https://github.com/hello-robot/stretch4_grasping_demo)           | AI-powered demo utilizing VLMs and object tracking for visual servoing. | Python |
| [`stretch4_hybrid_marker_demo`](https://github.com/hello-robot/stretch4_hybrid_marker_demo) | LiDAR-reflective material + visible light ArUco marker demo.            | Python |
| [`stretch4_rgbd`](https://github.com/hello-robot/stretch4_rgbd)                             | Methods to enhance and process RGB-D imagery from onboard cameras.      | Python |
| [`stretch4_human_perception`](https://github.com/hello-robot/stretch4_human_perception)     | Specialized tools to enable the robot to perceive and track humans.     | Python |
| [`stretch4_compliant_gripper`](https://github.com/hello-robot/stretch4_compliant_gripper)   | Modeling and control code for the standard Stretch 4 compliant gripper. | Python |

### :people\_holding\_hands: Community Updates <a href="#community-updates" id="community-updates"></a>

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!

### :wrench: 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.

<br>


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://docs.hello-robot.com/stretch-4-quick-start-guide/additional-resources.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.