Stretch 3
Hello Robot Stretch 3 · Hello Robot
- 7
- 1.41 m
- 24.5 kg
- 1.5 kg
- 520 mm
- 0.6 m/s
- 30 Hz
- Onboard Li-ion
- ~2 h active use
- NVIDIA Jetson Orin Nano
- Wi-Fi 6, USB-C, ROS 2 stretch_ros2
Actuators
5Joints and end effectors that produce the action vector recorded in datasets.
Telescoping arm
×1Belt-driven prismatic
520 mm extension
Lift
×1Ball-screw prismatic
1.1 m vertical travel
Dex Wrist 3
×3Rotary wrist
yaw, pitch, roll
Gripper
×1Compliant two-finger
soft grasping
Differential base
×2Wheeled drive
0.6 m/s
Motors & drives
2The drive units inside those joints, with torque and reduction details.
Stepper motors with encoders
Hybrid stepper
lift, arm and base, current-limited compliance
Dynamixel wrist servos
Smart servo
Dex Wrist 3 and gripper
Sensors
4Observation streams available to a policy running on this platform.
Intel RealSense D435if
Depth camera
head pan-tilt, IR-cut variant
Wrist camera
RGB fisheye
added in Stretch 3
RPLIDAR A1
2D LiDAR
base navigation
Base IMU
9-axis
odometry fusion
Lightweight mobile manipulator designed for real homes; used in DobbE and BEHAVIOR-style in-home datasets.
Data recorded on this hardware
Resolving related models, datasets and papers…
Mobile Robot datasets in the catalog
Real-world IndexedRT-1 Robot Action Dataset
Source: Google DeepMind Robotics
- 130K
- 17.4K
- 1
Real-world IndexedBC-Z Zero-Shot Task Generalization
Source: Google DeepMind Robotics
- 39K
- 218.6
- 1
Real-world IndexedDobb-E: Homes of New York
Source: NYU General-purpose Robotics & AI Lab
- 5.6K
- 13
- 1
Real-world IndexedSACSoN Social Navigation
Source: UC Berkeley RAIL
- 4.0K
- 75
- 2