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Mobile manipulator · Research and development

Stretch 4

Reality level : Paper announcement · Proof: statements only, with no demonstration and no sale observed. See the rule

Useful for: Education and programming · Research and development

by Hello Robot

Key facts

The Stretch 4 is a mobile manipulator from Hello Robot, intended for research and education. It is 160 cm tall and carries a camera and a LiDAR. It has a public SDK, a Python API and is compatible with ros2.

Height
1.6 m
Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Height / Footprint160 cm Height / 45 cm Diameter”
Weight
46 kg
Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Total Weight46 kg / 33 kg ballast off for transport”
Payload
2.5 kg
Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Arm extended. Original text: “Payload (Arm extended)2.5 kg”

Arm extended.

Reach
52 cm
Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. horizontal telescopic arm extension beyond the base, fully extended. Original text: “The arm telescopes horizontally, extending from 0 m to 0.52 m (21.6 inches) beyond the base.”

Horizontal telescopic arm extension beyond the base, fully extended.

Not disclosed price, battery life, availability in France

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Overview

Stretch 4 is a mobile manipulator from Hello Robot. It is intended for research and education, including programming. According to the manufacturer, it moves on wheels.

According to the manufacturer, the robot stands 160 cm tall. Its telescopic arm has a reach of 52 cm: this is the horizontal extension beyond the base, at maximum extension. The hand is modular. For perception, the manufacturer lists a camera and a LiDAR. The onboard computer is a NUC.

Also according to the manufacturer, Stretch 4 navigates autonomously using a ROS 2 navigation stack. Teleoperation is possible. The manufacturer announces a public SDK, and an official SDK exists. A Python API is available through a package in the Stretch 4 ROS 2 repository. The robot is compatible with ROS 2, and the Jazzy version is supported. For simulation, the manufacturer provides an official 3D model, and the robot can be simulated in MuJoCo.

RB-Y1 also moves on wheels and has a public SDK, like Stretch 4. Its height is given as 1,400 mm, against 160 cm for Stretch 4 according to the manufacturer. Its onboard computer is a real-time control PC (Robot PC), separate from the user's application PC (User PC), whereas Stretch 4 carries a NUC. To go further: compare Stretch 4 and RB-Y1.

TIAGo shares with Stretch 4 its wheeled locomotion, the LiDAR and the official 3D model for simulation. The details are in the comparison between Stretch 4 and TIAGo.

Specifications

11 verified specifications · updated on

Stretch 4, specifications and levels of evidence
SpecificationStretch 4Level of evidence
Height1.6 mOriginal text: “160 cm Height”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Height / Footprint160 cm Height / 45 cm Diameter”
Weight46 kgClaimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Total Weight46 kg / 33 kg ballast off for transport”
Locomotion typeWheeledOriginal text: “triangular holonomic omnibase”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. Original text: “Stretch SE4 has a triangular holonomic omnibase — three holonomic closed-loop stepper motors each driving one omnidirectional wheel.”
Payload2.5 kgClaimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Arm extended. Original text: “Payload (Arm extended)2.5 kg”
Reach52 cmOriginal text: “0.52 m (21.6 inches)”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. horizontal telescopic arm extension beyond the base, fully extended. Original text: “The arm telescopes horizontally, extending from 0 m to 0.52 m (21.6 inches) beyond the base.”
Hand typeModularOriginal text: “custom end-of-arm tools”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 2 October 2026. Original text: “Stretch 4 supports dynamic user-defined custom end-of-arm tools.”
Autonomous navigationYes, Navigation stack built on Nav2Original text: “Navigation stack built on Nav2”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. ROS 2 navigation stack stretch_nav2. Original text: “Navigation stack built on Nav2”
Teleoperation supportedYes, Web teleopOriginal text: “Web teleop”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “Web teleop (See [https://docs.hello-robot.com/stretch4\_docs/working-with-stretch/getting-started/demo-web-teleoperation]”
CameraYes, head cameras / gripper cameraOriginal text: “head cameras / gripper camera”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “for the head cameras and `ros2 launch stretch_core gripper_camera.launch.py` for the gripper camera.”
LiDARYes, Start LidarsOriginal text: “Start Lidars”Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “Start Lidars: `ros2 launch stretch_core dual_hesai.launch.py`”
Onboard computeNUCClaimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. Original text: “a background stretch_body_server process running a 100 Hz control loop on the NUC”

Do you have a source? Tell us

Claimed by the manufacturerReported by a news outletIndependent test observed or measuredNo: confirmed absence · Not disclosed: no source

Program this robot

Verified on

Programmable: yes (Python, ROS 2).

Accessible from the intermediate level. To start: Python SDK. To go further: ROS.

SDK and languages

Public SDK
Yes Reported · TechCrunchReported. TechCrunch (Robotics), published 22 September 2026. Original text: “The company says the new generation was shaped by six years of customer feedback and comes with a full-stack, open source software platform for researchers and…”Yes Reported · TechCrunchReported. TechCrunch (Robotics), published 22 September 2026. Original text: “comes with a full-stack, open source software platform for researchers and developers working on robotics and embodied AI”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 2 October 2026. Original text: “python3 -m pip install -U hello-robot-stretch4-body”Yes Reported · TechCrunchReported. TechCrunch (Robotics), published 22 September 2026. Original text: “comes with a full-stack, open source software platform for researchers and developers working on robotics and embodied AI”Yes Reported · TechCrunchReported. TechCrunch (Robotics), published 22 September 2026. Original text: “The company says the new generation was shaped by six years of customer feedback and comes with a full-stack, open source software platform for researchers and…”Yes Reported · TechCrunchReported. TechCrunch (Robotics), published 22 September 2026. Original text: “comes with a full-stack, open source software platform for researchers and developers working on robotics and embodied AI”Yes Reported · TechCrunchReported. TechCrunch (Robotics), published 22 September 2026. Original text: “The company says the new generation was shaped by six years of customer feedback and comes with a full-stack, open source software platform for researchers and…”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Open source ROS 2 and Python SDK”
Official SDK
stretch4_body Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. Original text: “The stretch4_body package is pre-installed on every Stretch SE4.”stretch4_body Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 2 October 2026. Original text: “The `stretch4_body` repository contains the core Python software stack that allows developers to interact with the hardware of Stretch 4 robots.”
Python API
Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. Original text: “Python (Stretch 4 Body) is the low-level direct interface to the robot hardware.”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Open source ROS 2 and Python SDK”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. stretch_python_bridge package from the Stretch 4 ROS 2 repository. Original text: “A high-level Python API that abstracts away rclpy”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 2 October 2026. Original text: “The `stretch4_body` repository contains the core Python software stack that allows developers to interact with the hardware of Stretch 4 robots.”

ROS 2

ROS compatibility
ROS 2 Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), accessed 28 September 2026. Original text: “Open source ROS 2 and Python SDK”ROS 2 Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “This repository holds ROS 2 Jazzy packages for the Stretch 4 mobile manipulator from Hello Robot Inc.”ROS 2 Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. Original text: “Stretch SE4 ships with ROS 2 Jazzy and a full driver stack.”ROS 2 Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. ROS2 simulation package stretch_simulation (manufacturer's stretch4_ros2 repository). Original text: “You can use this simulation in ROS2 using the [`stretch_simulation` package]”ROS 2 Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 19 September 2026. robot description (URDF) package exportable for use in ROS2. Original text: “exporting for use in other programs (e.g. ROS2, pinocchio)”
Supported ROS 2 distributions
Jazzy Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 16 July 2026. Original text: “Stretch SE4 ships with ROS 2 Jazzy and a full driver stack.”Jazzy Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “This repository holds ROS 2 Jazzy packages for the Stretch 4 mobile manipulator from Hello Robot Inc.”

Simulation

Official simulation model
Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “Stretch 4 MJCF and URDF”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “Simulation of Stretch 4, built on [Stretch4 Mujoco]”
MuJoCo simulation
Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “This repo provides a simulation stack for Stretch 4, built on [MuJoCo]”Yes Claimed by the manufacturerClaimed by the manufacturer. Hello Robot (pages produit officielles), published 1 October 2026. Original text: “Simulation of Stretch 4, built on [Stretch4 Mujoco]”

Official code

  • hello-robot/stretch4_body · Official SDK

    Licence not recognised automatically · 2 stars · Python · Active, last updated 02/10/2026

    Python API for the Stretch 4 robot

  • hello-robot/stretch4_ros2 · ROS 2 packages

    Licence not recognised automatically · 5 stars · Python · Active, last updated 01/10/2026

    ROS 2 packages for the Stretch 4 robot

  • hello-robot/stretch4_mujoco · Simulation model

    BSD-3-Clause-Clear · 4 stars · Python · Active, last updated 01/10/2026

    A simulation stack for Stretch 4, built on MuJoCo.

  • hello-robot/stretch4_urdf · Simulation model

    Licence not recognised automatically · 3 stars · Python · Active, last updated 19/09/2026

    URDF for the Stretch 4 mobile manipulator from Hello Robot Inc.

  • hello-robot/stretch4_examples · Official examples

    MIT · 0 stars · Python · Active, last updated 07/07/2026

    Example snippets of code showing how to jog joints, read sensors, and more.

See the 8 other repositories

  • hello-robot/stretch4_multi_teleop_demo · Official examples

    Apache-2.0 · 0 stars · Python · Active, last updated 22/09/2026

    Multi-input teleoperation to any node that listens to a sensor_msgs/Joy message

  • hello-robot/stretch4_install · Other official repository

    Licence not recognised automatically · 4 stars · Shell · Active, last updated 01/10/2026

    Install scripts for the Stretch 4 robot from Hello Robot Inc.

  • hello-robot/stretch4_kinematics · Other official repository

    Licence not recognised automatically · 3 stars · Python · Active, last updated 21/09/2026

  • hello-robot/stretch4_nav_webapp · Other official repository

    Licence not recognised automatically · 1 stars · JavaScript · Active, last updated 24/09/2026

    Web UI for Stretch 4 mapping, map editing, and navigation

  • hello-robot/stretch4_pyhesai_wrapper · Other official repository

    Apache-2.0 · 1 stars · Python · Active, last updated 01/10/2026

    This repository provides a Python wrapper for the Hesai JT128 3D hemispherical LiDAR used by the Stretch 4 mobile manipulator from Hello Robot Inc.

  • hello-robot/stretch4_web_teleop · Other official repository

    Apache-2.0 · 1 stars · TypeScript · Active, last updated 01/10/2026

    Accessible Web-Based Teleop Interface for Stretch 4

  • hello-robot/stretch4_compliant_gripper · Other official repository

    Apache-2.0 · 0 stars · Python · Active, last updated 30/09/2026

    Code for modeling and controlling the standard Stretch 4 compliant gripper from Hello Robot Inc.

  • hello-robot/stretch4_flying_gripper · Other official repository

    Apache-2.0 · 0 stars · Python · Active, last updated 28/09/2026

    This repository provides gamepad control of the robot's gripper using the gripper's coordinate system. At each time step, the controller uses a Jacobian found via a specialized URDF to set the joint velocities using weighted damped pseudo-inverse control.

Figures read on GitHub on 02/10/2026.

News about this robot

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Photo to come

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Sourced comparisons : Stretch 4 vs REEM-C · Stretch 4 vs RB-Y1 · Stretch 4 vs T-HR3 · Stretch 4 vs WidowX

Cite this sheet

Plain citation

“Stretch 4”, Vuntum, updated 28 September 2026, https://vuntum.com/en/robots/hello-robot-stretch-4

APA format

Vuntum. (2026, September 28). Stretch 4. https://vuntum.com/en/robots/hello-robot-stretch-4

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