Stretch Docs
Overview
Looking to learn about Stretch 4? You've come to the right place.
Documentation for Stretch 3 | 2 | RE1 has moved!
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
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.
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 handles remote MCP hosting using a global or workspace configuration file.
Inside Antigravity, open the command palette (
Cmd/Ctrl+Shift+P), typemcp, and select Antigravity: Manage MCP Servers.Click View raw config to open the
mcp_config.jsonconfiguration file.Paste the following configuration snippet inside your
mcpServersobject:
⚠️ Important: Google Antigravity uses
serverUrlas its configuration key, noturlorhttpUrllike other IDEs. If you change this key, the environment will throw an initialization error.
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 support@hello-robot.com.
Getting Started
Getting Started
Recommended all new users start here with Stretch - safety info, basics, and gamepad teleoperation
Connect to Stretch and set it up for successful development
Explore Stretch's joints and sensors
Map a room and navigate autonomously using Nav2
Control Stretch from a phone or PC
Software development basics for Stretch
Get some support, or share your work with the community
General Use
Unboxing your new Stretch
How to keep your battery charged and healthy
How to re-pack your Stretch for return shipping or transporting in a car.
How to develop on Stretch remotely
Configuring the Stretch LAN, etc
Sensor Basics
How to access the RGB cameras
How to access the dual 3D Lidars
How to access the base laser-line sensor array
Motion Basics
How to program simple joint motions
Common CLI tools for joint motion
Ways to adjust the motion characteristics
Teleoperation
Telop via the mobile phone controller
Teleop via the gamepad controller
Teleop via the puppet controller
Common Tasks
How to change the end-of-arm tool
How to log status data from the server
Understanding the base frames
How to manage the robot model
Working with ArUCo IDs
Demos and Tutorials
We are still developing exciting new demos and tutorials for Stretch 4. Check back periodically for new documentation.
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.
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.
