Ready for Autonomy

We designed Stretch for autonomous operation. It comes with a calibrated robot model (URDF) that is well-aligned to 3D camera images, and open source calibration code in Python that you can customize. ROS integration simplifies the use of existing ROS packages for autonomy, including the ROS navigation stack. We also provide demo code to help you get started.

The Python demo code gives examples of

• 3D mapping, localization, and navigation

• Fast planning to reach locations in a 3D map

• Surface segmentation and object grasping

• Contact detection for surface cleaning, drawer opening, and writing

• Holding out objects to people using deep neural networks for body pose estimation