stretch_tutorial

Minimal Python scripts to drive a Hello Robot Stretch 3 using the cure skills library over ZeroMQ.

Setup

Terminal 1 — Start driver on the robot

ssh stretch-se3-3099.local -l hello-robot
# password: hello2020
cd Desktop/stretch3-zmq/
uv run python -m stretch3_zmq.driver --config config.yaml

Terminal 2 — Set up your machine

bash setup.sh
source .venv/bin/activate

setup.sh handles the GitHub LFS budget issue by cloning with GIT_LFS_SKIP_SMUDGE=1 and installing all deps.

Running

python navigate.py

Edit navigate.py to change the target location. Available locations (medicine, water, patient, origin) are defined in config.yaml.

Available Skills

from cure.skills.navigate import navigate_skill
from cure.skills.grasp import grasp_skill
from cure.skills.speak import speak_skill, wait_for_speech_completion
from cure.skills.listen import listen_skill
from cure.skills.handover import handover_skill
from cure.config import update_config, Config

update_config(Config.from_yaml("config.yaml"))

navigate_skill("patient")
success = grasp_skill("medicine")

See CLAUDE.md for architecture details and the ZeroMQ port map.