Stretch Docs

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Overview

Looking to learn about Stretch 4? You've come to the right place.

Documentation for Stretch 3 | 2 | RE1 has moved!

Stretch 3 DocsStretch 2 | RE1 Docs

Ask an Agent

The Stretch Docs Agent (via GitBook) can answer questions about the documentation.

Agent Endpoint

Agents can connect to this endpoint to browse and query Stretch 4 documentation. Use it in any MCP-compatible client.

https://docs.hello-robot.com/~gitbook/mcp

Claude Code CLI

Open a terminal and run this command to register your site as a user-scoped MCP server in Claude Code.

claude mcp add gitbook-documentation --scope user --transport http https://docs.hello-robot.com/~gitbook/mcp

Claude can call into the Hello Robot documentation server directly when answering questions or exploring your docs.

Codex CLI

Open a terminal and run this command to add your site as an MCP server in Codex.

codex mcp add gitbook-documentation --url https://docs.hello-robot.com/~gitbook/mcp

Codex can keep your docs available alongside the rest of your local development tools.

Antigravity

Antigravity handles remote MCP hosting using a global or workspace configuration file.

1. Inside Antigravity, open the command palette (Cmd/Ctrl+Shift+P), type mcp, and select Antigravity: Manage MCP Servers.
2. Click View raw config to open the mcp_config.json configuration file.
3. Paste the following configuration snippet inside your mcpServers object:

{
  "mcpServers": {
    "hello-robot-docs": {
      "serverUrl": "https://docs.hello-robot.com/~gitbook/mcp"
    }
  }
}

⚠️ Important: Google Antigravity uses serverUrl as its configuration key, not url or httpUrl like other IDEs. If you change this key, the environment will throw an initialization error.

1. Save the file and return to the MCP server manager interface. Click Refresh to activate the tools.

Other Resources

The Stretch 4 documentation is spread across numerous Git repositories. This Stretch Docs site provides an organized view of this information. In addition, you can learn more at these resources:

Hello RobotStretch User ForumGitHub Repos

This site is still under development. If you don't see what you need, email us at [e-mail].

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Getting Started

Day One Guide

New to Stretch? Start here!

Hardware Guide

Learn about hardware specifications, use, and care.

Safety Guide

Learn best practices for safe operation

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Working with Stretch

Learn the basics — like keeping the robot charged, logging data, and contrlling the joints.

Getting Started

Quick Start Guide	Recommended all new users start here with Stretch - safety info, basics, and gamepad teleoperation
Setting Up Stretch	Connect to Stretch and set it up for successful development
Robot Overview	Explore Stretch's joints and sensors
Demo - Mapping and Navigation	Map a room and navigate autonomously using Nav2
Demo - Web Teleoperation	Control Stretch from a phone or PC
Writing Code for Stretch	Software development basics for Stretch
Additional Resources	Get some support, or share your work with the community

General Use

Unboxing Stretch	Unboxing your new Stretch
Keeping Stretch Charged	How to keep your battery charged and healthy
Packing and Transporting	How to re-pack your Stretch for return shipping or transporting in a car.
Connecting to Stretch	How to develop on Stretch remotely
Networking Stretch	Configuring the Stretch LAN, etc

Sensor Basics

Accessing the Cameras	How to access the RGB cameras
Accessing the Lidars	How to access the dual 3D Lidars
Accessing the Line Sensors	How to access the base laser-line sensor array

Motion Basics

Scripting Joint Motion	How to program simple joint motions
Motion CLI Tools	Common CLI tools for joint motion
Tuning Joint Motion	Ways to adjust the motion characteristics

Teleoperation

Stretch Mobile Teleop	Telop via the mobile phone controller
Stretch Gamepad Teleop	Teleop via the gamepad controller
Stretch Puppet Teleop	Teleop via the puppet controller

Navigation

Navigating with Stretch	Quick start mapping and navigation
Navigation University	Tutorial on working with the Nav2 system

Common Tasks

Changing Tools	How to change the end-of-arm tool
Logging Data	How to log status data from the server
Base Frame Conventions	Understanding the base frames
Working with the Robot Model	How to manage the robot model
List of ArUco and ChArUco IDs	Working with ArUCo IDs

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Demos and Tutorials

We are still developing exciting new demos and tutorials for Stretch 4. Check back periodically for new documentation.

Data Collection with Puppet Teleop

Learn how to use the puppet tool to collect on-robot manipulation data

VLM Based Grasping

Learn how to use a the Molmo2 Vision Language Model to grasp objects

Sense and Follow People

Learn how to do real-time human pose detection and use that to have Stretch follow people.

Flying Gripper Control

Learn how to use the Jacobian to control the robot from the tool frame

Hybrid Marker Demo

Learn how to integrate the reflective ArUco markers into a real-time controller

Navigation University

Learn the details of working with Nav2 and Stretch 4

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Explore the Open Source Software Stack

The Stretch 4 software is organized into a multi-layered stack designed to transition seamlessly from low-level hardware control to high-level autonomous behaviors.

The Hello Robot GitHub page provide an overview of the key repositories. Each repository is intended to be self-documenting through its internal README.md and other Markdown files.

Explore the Code

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Join the community of 100s of developers

Join our the Stretch community to post questions, get help, and share resources with over 100s of like-minded developers.

Join the Forum