Welcome to the GitHub for Hello Robot.
Here you will find open-source code for the Stretch 4 mobile manipulator as well as for the Stretch 3 and older versions of the robot.
The Stretch 4 software ecosystem is organized into a multi-layered stack designed to transition seamlessly from low-level hardware control to high-level autonomous behaviors.
- Hardware & Drivers (The Foundation): At the lowest level,
stretch4_bodyandstretch_firmwarehandle direct communication with the robot's motors and sensors. This layer manages the 9-DOF movement, including the omnidirectional base, telescoping arm, and 3-axis wrist. - Perception & Modeling: To "see" the world, Stretch 4 utilizes specialized drivers like
stretch4_pyhesai_wrapperfor its dual 3D Lidars andstretch4_rgbdfor enhanced depth sensing. The robot’s physical dimensions and kinematic constraints are defined instretch4_urdf, which is essential for motion planning. - Simulation: Before deploying to physical hardware, the
stretch4_mujocostack allows developers to test algorithms in a high-fidelity physics environment. - Middleware & Application (The Interface): High-level control is primarily managed through
stretch4_ros2, providing a standardized interface for navigation and manipulation. Interfaces likestretch4_web_teleopenable remote operation via a browser, whilestretch4_grasping_demoshowcases integrated AI capabilities using VLMs and visual servoing.
The following table summarizes some of the key public repositories dedicated to the Stretch 4 platform.
| Repository | Description | Primary Language |
|---|---|---|
stretch4_body |
Core Python SDK to interact with the Stretch 4 hardware and low-level joints. | Python |
stretch4_ros2 |
The primary ROS 2 driver and package suite for autonomous operation. | Python |
stretch4_urdf |
Unified Robot Description Format (URDF) files for the Stretch 4 mobile manipulator. | Python/XML |
stretch4_mujoco |
Official simulation stack built on the MuJoCo physics engine. | Python |
stretch4_web_teleop |
Accessible, web-based interface for remote teleoperation. | TypeScript |
stretch4_grasping_demo |
AI-powered demo utilizing VLMs and object tracking for visual servoing. | Python |
stretch4_rgbd |
Methods to enhance and process RGB-D imagery from onboard cameras. | Python |
stretch4_pyhesai_wrapper |
Python wrapper for the Hesai JT128 3D hemispherical LiDARs. | C++ / 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 |
Note: Stretch 4 is currently intended for research, development, and laboratory use. It has not yet been certified for FCC Class A compliance.
The naming convention for Stretch 3 repositories typically follows a stretch_* or stretch_re* format, distinguishing them from the newer stretch4_* specific repos.
Significant repositories include
| Repository | Description |
|---|---|
| stretch_ai | High-level intelligence suite for grasping, navigation, and LLM agents. |
| stretch_body | The core Python SDK for interacting with RE1, RE2, and Stretch 3 hardware. |
| stretch_ros2 | Official support for ROS 2 Humble, including Nav2 and teleop demos. |
| stretch_firmware | Arduino-based firmware for the robot's motor controllers and IMU boards. |
| stretch_web_interface | A redesigned browser-based interface for remote "manipulation from anywhere". |