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<p><img alt="" src="images/stretch_banner.png" /></p>
<h1 id="safety">Safety</h1>
<p><strong>WARNING: The Stretch RE1 is a potentially dangerous robot. All users must carefully read the <a href="robot_safety_guide/">Stretch Safety Guide</a> prior to using the robot.</strong></p>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="robot_safety_guide/">Stretch Safety Guide</a></td>
<td>Safety guide for users of the Stretch RE1</td>
</tr>
<tr>
<td><a href="https://youtu.be/mQdOGEksdYM">Stretch Best Practices - Powered Off Video</a></td>
<td>How to work with Stretch when its power is off</td>
</tr>
<tr>
<td><a href="https://youtu.be/iEaapHNfEWA">Stretch Best Practices - Powered On Video</a></td>
<td>How to work with Stretch when its power is on</td>
</tr>
</tbody>
</table>
<h1 id="quick-start">Quick Start</h1>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="https://youtu.be/O-6VrqqGlig">Stretch Unboxing Video</a></td>
<td>How to unpack your new Stretch</td>
</tr>
<tr>
<td><a href="quick_start_guide/">Stretch Quick Start Guide</a></td>
<td>Getting started - Xbox Teleoperation Demo and beyond</td>
</tr>
<tr>
<td><a href="troubleshooting_guide/">Stretch Troubleshooting Guide</a></td>
<td>Solutions to common issues</td>
</tr>
<tr>
<td><a href="untethered_operation/">Stretch Network Setup</a></td>
<td>Guide to network setup for working with Stretch untethered</td>
</tr>
</tbody>
</table>
<h1 id="tutorials">Tutorials</h1>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="parameters_tutorial/">Working with Robot Parameters</a></td>
<td>Learn how to query, set, and manage robot parameters.</td>
</tr>
<tr>
<td><a href="dynamixel_tutorial/">Working with Dynamixel Servos</a></td>
<td>Learn how to use various tools to manage Dynamixel servos</td>
</tr>
<tr>
<td><a href="tool_change_tutorial/">Changing End of Arm Tools</a></td>
<td>Learn how to configure the Stretch software interfaces to support other tools</td>
</tr>
<tr>
<td><a href="https://github.com/hello-robot/stretch_body/tree/master/tutorial/extending_wrist_dof">Extending the Wrist DOF</a></td>
<td>Learn how to integrate additional DOF to the End of Arm</td>
</tr>
<tr>
<td><a href="https://github.com/hello-robot/stretch_firmware/blob/master/tutorial/README.md">Working with the Wrist Expansion Header</a></td>
<td>Learn how to integrate custom hardware on to the expansion header in the wrist.</td>
</tr>
</tbody>
</table>
<h1 id="hardware">Hardware</h1>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="hardware_user_guide/">Stretch Hardware User Guide</a></td>
<td>Specification and functional description of the Stretch RE1 Hardware</td>
</tr>
<tr>
<td><a href="dex_wrist_user_guide/">Stretch Dex Wrist User Guide</a></td>
<td>Installing, configuring, and working with the Stretch Dex Wrist</td>
</tr>
<tr>
<td><a href="battery_maintenance_guide/">Stretch Battery Maintenance Guide</a></td>
<td>Guide to Care for and Charge the Stretch Batteries</td>
</tr>
<tr>
<td><a href="https://github.com/hello-robot/stretch_tool_share">Stretch Tool Share</a></td>
<td>Open resource to share designs and code for end-of-arm tools</td>
</tr>
</tbody>
</table>
<h1 id="software">Software</h1>
<h3 id="body-interface">Body Interface</h3>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="stretch_body_guide/">Stretch Body Guide</a></td>
<td>Guide to the low level Python interface to the Stretch hardware</td>
</tr>
<tr>
<td><a href="stretch_body_api/">Stretch Body API Reference</a></td>
<td>API reference for the Stretch Body python module.</td>
</tr>
<tr>
<td><a href="https://github.com/hello-robot/stretch_firmware/blob/master/README.md">Stretch Firmware Guide</a></td>
<td>Guide to updating the Stretch Firmware</td>
</tr>
<tr>
<td><a href="https://github.com/hello-robot/stretch_install/blob/master/README.md">Stretch Installation Guide</a></td>
<td>Guide to installing a new user and managing the Stretch installation</td>
</tr>
<tr>
<td><a href="https://github.com/hello-robot/stretch_factory/blob/master/README.md">Stretch Factory Tools</a></td>
<td>Guide to factory tools for hardware calibration and introspection</td>
</tr>
</tbody>
</table>
<h3 id="ros-interface">ROS Interface</h3>
<p>We provide ROS-related code for the Stretch RE1 mobile manipulator, including a ROS node that interfaces to the robot, calibration code, and demonstrations of various autonomous robot capabilities. </p>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/hello-robot/stretch_ros">stretch_ros repository on GitHub</a></td>
<td>Repository with ROS-related code for Stretch</td>
</tr>
</tbody>
</table>
<h3 id="other-tools">Other Tools</h3>
<table>
<thead>
<tr>
<th>Resource</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td><a href="https://github.com/hello-robot/stretch_web_interface">Stretch Web Interface</a></td>
<td>Repository with code to allow a user to operate a Stretch through a web browser</td>
</tr>
</tbody>
</table>
<h1 id="license">License</h1>
<p>This documentation is only to be used for an authentic Stretch RE1 robot produced and sold by Hello Robot Inc. </p>
<p>All Hello Robot <a href="https://github.com/hello-robot/stretch_docs">stretch_docs</a> related materials are released under the <a href="https://creativecommons.org/licenses/by-nd/4.0">Creative Commons Attribution-NoDerivatives 4.0 International (CC BY-ND 4.0)</a> license.</p>
<p>The Stretch RE1 has patents pending.</p>
</article>
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