Stretch 3

Three Years of Customer Feedback

One Great New Robot

We listened to our community to create a new Stretch that’s better than ever.

  • Improved Dexterity

    DexWrist 3 included

    Dex Teleop Kit accessory

    ArUco markers for fingertip control

    Increased gripper aperture

    Increased payload of 2kg

  • Improved Perception

    Intel D405 RGBD camera on the gripper

    Head-mounted wide-angle RGB camera

    Fingertip pose via ArUco markers

    Improved IR filtering with the Intel D435if

    High accuracy base IMU

  • Improved Software

    ROS 2 with Ubuntu 22.04 fully supported

    2x to 3x more computation (NUC 12) [1, 2]

    Enhanced navigation with Nav2

    Enhanced tutorials and documentation

    Python demos with no ROS required

  • Web Teleop

    Preinstalled accessible web interface

    Manipulate objects from across the world

    Autonomous navigation functions

    Fully configurable layout

    Fully open source code

  • Embodied AI Support

    External GPU support

    WiFi access point accessory

    Python demos of large AI models

    Demo of realtime control with YOLOv8

    Demo of realtime control with ForceSight

  • More Robust & Easier to Use

    Hardened electrical system

    FCC compliance

    Reduced edges and corners

    Slowly descending lift when powered off

    Single-button exchange of tools

Enhanced Software

ROS 2, Dexterous Teleoperation, and more…

  • ROS 2 is now out of beta and ships standard with Stretch!

  • Stretch 3 moves to 22.04 from 20.04

  • Stretch 3 ships with a completely redesigned Stretch Web Interface. Leveraging the new gripper depth camera and head navigation cameras, Stretch can now ‘manipulate from anywhere’ out of the box.

  • Thanks to our collaboration with Meta OVMM, Stretch 3 includes reference code (and a WiFi access point accessory) to simplify the process of running large models on a remote GPU.

  • We’ve developed great reference code for teleoperating one (or two!) Stretch robots in real-time for dexterous data collection.

  • Stretch 3 supports ROS2 Nav2, improving navigation performance!

  • We’ve refactored our tutorials and documentation to make it easier for new users to get up to speed.

  • We’ve rewritten our collision avoidance system to provide fast and reliable safe stop of joints before the robot collides with itself.

Enhanced Hardware

Greater Dexterity. Additional Sensing. More Compute.

  • Previously an accessory, the DexWrist is now part of the standard Stretch product. Completely redesigned, we’ve improved the robustness and made it smoother and safer to work with.

  • Stretch 3 includes a 140 degree FOV RGB camera as part of the pan-tilt unit, allowing for greater situational awareness while teleoperating the robot.

  • The completely redesigned Stretch Gripper 3 includes a Intel RealSense D405 depth camera, making eye-in-hand manipulation a breeze.

  • The new DexWrist3 includes a manual quick connect. Users can now detach the gripper and attach their custom tools with the push of a button.

  • The Dexterous Teleop Kit is a new accessory that allows for users to control their Stretch in real-time for dexterous data collection.

  • The WiFi Access Point is a new accessory. Tested and preconfigured at the factory for Stretch, it is now simple to connect your Stretch to a remote GPU or laptop.

  • Stretch 3 includes an electronic brake on the lift actuator. No more trying to catch the arm on power-down! It will now descend slowly, improving the user experience and safety.

  • The new Stretch Gripper 3 includes ArUco markers on each finger. This enables the gripper’s D405 camera to accurately estimate the position and orientation of each fingertip in realtime. This can be used for fast and accurate manipulation as shown in new open source demos.

  • The new Stretch Gripper 3 includes an Aruco tag on the gripper body itself. This allows for more accurate eye-to-hand calibration and real time tracking of the gripper from the head camera.

  • Stretch 3 moves to the RealSense D435if from the D435i, adding an IR filter to the sensor. This improves the depth sensing quality.

  • Stretch 3 is FCC Class A compliant and has hardened electronics.

  • Stretch 3 has a significant computational upgrade with 2x to 3x more computation (NUC 12) [1 , 2]. For example, the Intel Core i5-1240P has 12 physical cores versus the Intel Core i5-8257U’s 4 physical cores, which is especially well suited to the parallelizable processing used in robotics.

  • The Stretch Gripper 3 opens 40% wider than prior Stretch grippers, enabling it to grasp larger objects.

  • With Stretch 3 we have moved to aluminum construction of the telescoping arm, improving the quality.

  • Stretch 3 has a complete redesign of the electronics to improve EMC and ESD immunity. In addition, all developer ports have been enhanced to be robust to user shorts and overloads.

  • The Stretch 3 base IMU (BNO085) is more accurate and features on-board sensor fusion, allowing for higher quality and faster pose estimates.

Feature Comparison

Subsystem Feature Stretch 3 Stretch 2 Stretch RE1
Hardware FCC Class A Compliant Image Image
Telescoping arm material Aluminum Aluminum/Carbon Fiber Carbon Fiber
Lift Motor E-brake Image Image Image
Sensors Base IMU BNO085 FXOS8700 + FXAS21002 FXOS8700 + FXAS21002
Depth Camera D435if D435i D435i
Gripper D405 depth camera Image Image Image
Overhead wide angle RGB camera Image Image Image
End of Arm DexWrist3 Image Image Image
Gripper Body Aruco Tag Image Image Image
Gripper Fingertip Aruco Image Image Image
Extended grasp aperture Image Image Image
Tool Quick Connect Image Image Image
Compute Computer NUC-12 NUC-8 NUC-8
CPU Intel i5-1240P Intel i5-8259U Intel i5-8259U
Computer SSD 512GB 512GB 512GB
Computer RAM 16GB 16GB 16GB
RAM speed DDR4-3200 DDR4-2400 DDR4-2400