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Setup guide for Stretch RE1

Install Ubuntu

  1. Download the Ubuntu 20.04 desktop image and flash it to a USB drive using Etcher.
  2. Connect the USB drive, monitor, keyboard, and mouse to the robot.
  3. Power on the robot. At the BIOS screen, press F10 to open the boot menu and select the USB drive.
  4. Complete the installation by following the official Install Ubuntu 20.04 guide.

Run the robot installation script

  1. Open a terminal and install dependencies:
 sudo apt update
 sudo apt install git zip
  1. Restore the robot's calibration data in your home folder (~/). You need a directory named stretch-re1-<XXXX>, where <XXXX> is your robot's serial number.
  2. Clone the stretch_install repository and run the script:
 cd ~/
 git clone https://github.com/hello-robot/stretch_install
 cd stretch_install
 git pull
 ./stretch_new_robot_install.sh

The script takes 20–30 minutes to complete.

Reference: Run the new robot installation script

Post-install steps

  1. Reboot the robot before continuing so all install changes take effect, then apply the stretch_body bugfix for Python 3.8:
 cd ~/
 git clone https://github.com/hello-robot/stretch_body.git
 cd stretch_body
 git checkout bugfix/remove-list-annotation-for-py38
 git pull
 cd body
 python3 -m pip install -e .
  1. Run migration and firmware tools:
 RE1_migrate_params.py
 RE1_migrate_contacts.py
 REx_firmware_updater.py --install

Reference: Post install steps

Troubleshooting

  • If URDF or visualization tools fail with a pycollada error:
pip install pycollada==0.8
  • To verify hardware communication:
REx_dynamixel_id_scan.py /dev/hello-dynamixel-wrist
REx_discover_hello_devices.py --list

Home procedure and system check

Home the robot, then run the system check:

stretch_robot_home.py
stretch_system_check.py

stretch_robot_home.py must complete successfully before running motion tests in [tests/](tests/).

Expected result: hardware, firmware, and Python packages report Pass. See example terminal output and complete homing procedure video from a successful homing and system check.

VNC viewer setup

Use these steps on the robot to enable screen sharing over VNC.

  1. Install Vino
sudo apt update
sudo apt install vino
  1. Enable screen sharing**

Open Settings → Sharing:

  1. Turn Sharing on.
  2. Open Screen Sharing.
  3. Enable Screen sharing.
  4. Enable Remote control.
  5. Set a VNC password.
  6. Disable encryption requirement**

Some VNC clients cannot connect when encryption is required. Run:

gsettings set org.gnome.Vino require-encryption false
  1. Get the robot IP address**

On the robot, run:

hostname -I

Use the first IP address shown to connect from your VNC viewer.