Hardware / Mobile Robot

Stretch 3

Hello Robot Stretch 3 · Hello Robot

Robot profile & datasets Open in knowledge graph Vendor page

DEGREES OF FREEDOM: 7
HEIGHT: 1.41 m
MASS: 24.5 kg
PAYLOAD: 1.5 kg
REACH: 520 mm
TOP SPEED: 0.6 m/s
CONTROL RATE: 30 Hz

POWER: Onboard Li-ion
RUNTIME: ~2 h active use
ONBOARD COMPUTE: NVIDIA Jetson Orin Nano
INTERFACES: Wi-Fi 6, USB-C, ROS 2 stretch_ros2

Actuators

Joints and end effectors that produce the action vector recorded in datasets.

Telescoping arm

×1

Belt-driven prismatic

520 mm extension

Lift

×1

Ball-screw prismatic

1.1 m vertical travel

Dex Wrist 3

×3

Rotary wrist

yaw, pitch, roll

Gripper

×1

Compliant two-finger

soft grasping

Differential base

×2

Wheeled drive

0.6 m/s

Motors & drives

The 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

Observation 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…