Stretch 3®

A Fully Integrated Mobile Manipulator

Available now for $24,950

Manipulate from anywhere using a web browser
Interact with people using a lightweight body
Reach the places that matter in homes
Go outside the lab, it weighs only 24.5kg.
Everything included: a gripper, a computer, sensors, and software
Reference demos for autonomy and Embodied AI

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Product Specification

2Kg Payload

Weight 24.5 Kg

Size 33x34x141 cm

2-5 Hour Runtime

ROS 2 and Python SDK

Download the Datasheet

Open source
Autonomy demos
Calibrated URDF
Teleoperation	Gamepad / Web / Dexterous
Base	Differential drive
Manipulator Degrees of Freedom (DOF)	7 total 2 DOF Base 1 DOF Vertical lift 1 DOF Telescoping arm 3 DOF Wrist
Other Degrees of Freedom (DOF)	1 DOF gripper 2 DOF head
Wrist kinematics	Yaw / Pitch / Roll
Gripper	Compliant grabber
Gripper RGBD camera
Pan-tilt head RGBD camera
Navigation laser
Microphone array
Integrated computer

Friendly

The compact 33x34cm footprint allows it to navigate the clutter and tight passages of real homes.
Weighing just 54 lbs., you can easily roll Stretch out of the way or put it into the back of your car.
Stretch’s low mass and contact sensitivity allows it to operate around people with increased safety

Open

All of Stretch’s code is accessible on GitHub. In addition, its active user community shares much of their work with open source licensing.
Stretch has a vibrant Embodied AI community that often share their data, models, and code (including Open-X Embodiment and RT-X by DeepMind). We continue to invest in Stretch being a part of the open source AI & robotics ecosystem.
Stretch has one of the world’s largest user communities for indoor mobile manipulation. It spans academia and industry with publications regualrly appearing at conferences such as ICRA, IROS, CoRL, HRI, and NeurIPS.

Dexterous

Stretch has a large dexterous workspace that includes the floor, across a coffee table, and to the back of a cabinet.
The dexterous end-of-arm includes a compact Yaw-Pitch-Roll wrist, a compliant gripper, and a RGBD depth camera
The Dex Teleop kit allows for data collection for truly dexterous tasks (including bimanual tasks with two Stretch)

Manipulate from Anywhere

Manipulate objects across a home or across the world

The outcome of a three year collaboration between UW researchers and the Robots for Humanity project, the Web Teleop interface allows for eyes-off control with an accessible web interface.

The web interface allows you to manually drive the base, arm, and gripper around while monitoring up to three camera feeds
(Under development)
Remote operators will soon be able to launch autonomous behaviors with a click of a button. Behaviors will include grasping of simple objects and navigation to a point in a map.
Driven by inclusive design, the Web Interface can be easily reconfigured and extended to support a diverse range of users.

Ready for Autonomy

Out of the Box Demos

Stretch was designed for autonomous operation. It supports both ROS 2 and pure Python and includes demo code for autonomous perception, navigation, manipulation, and planning.

The Stretch open-source software includes autonomy demos in both ROS 2 and Python.
Stretch comes with a calibrated robot model (URDF) that is well-aligned to 3D camera images, including open source calibration tools that make it simple to recalibrate as needed.
Stretch can support computationally intensive models through an remote GPU via WiFi or Ethernet. We include reference code, including using YOLOV8.

See the full videos

Ready for Teleoperation

Three choices for manual robot control

Stretch includes three teleoperation interfaces, allowing for rapid:

Wizard-of-Oz demonstrations
Collect training data
Remotely manage a home or facility

Gamepad Teleop is a fast and intuitive way to control Stretch using an XBox-style controller.
The Web Teleop interface allows for remote manipulation and navigation from anywhere in the world.
The Dex Teleop Kit allows for direct eyes-on control of the full 6 DOF pose of the Stretch end-effector in real time.

Leverage the Power of ROS 2

Stretch includes demo code to run Deep Learning perception modules such as face detection, human pose estimation, and object detection.
Stretch supports the ROS 2 Nav2 interface as well as integration of 3D depth data and Octomap.
Stretch has preliminary support for MoveIt 2, our own whole-body grasping controller (FUNMAP), as well as grasping demos.
We include extensive tutorials for both ROS 2 beginners and advanced users.

A Pure Python Experience

Development made simple and fast

The Stretch Body package allows you to interact directly with the robot sensors, actuators, and controllers from a simple-to-learn SDK.
We continue to develop new pure Python demos for Stretch, including for Dex Teleop, Fast Unified Navigation Manipulation and Planning (FUNMAP), and Dynamic Grasping.
The Python SDK includes numerous tutorials for robotics beginners as well as advanced users.

Getting Started with Stretch is a Snap

Community Forum

Engage with the Stretch Community.
Get help from Hello Robot Support.

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Hello Robot GitHub

Explore the Stretch open source software.
Reference designs, autonomy demos, and more.

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Stretch Docs

Quick start guides, tutorials, and user manuals.

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Stretch Videos

See more of what Stretch can do. User tutorials, community work, and more.

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Stretch Tool Share

Open source designs to build your own custom peripherals for Stretch.

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