# Robot Reachability Function **URL:** \ **Category:** Ask\ **Created:** [November 9, 2023, 10:14pm UTC](https://forum.hello-robot.com/t/robot-reachability-function/844 "2023-11-09T22:14:09Z")\ **Posts on this page:** 1\ **Showing post:** 4
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [November 16, 2023, 7:20pm UTC](https://forum.hello-robot.com/t/robot-reachability-function/844/4 "2023-11-16T19:20:00Z")
Hi @moore.dr, I recommend taking a look at this thread on Stretch’s dynamics: > [@Physical aspects of the Robot for Simulation](https://forum.hello-robot.com/t/physical-aspects-of-the-robot-for-simulation/792#velocities-11): > > Hi Stretch Community, We have been working towards supporting research works that use Stretch in a simulation environment and groups trying to achieve close-to-real dynamics of the real robot. Therefore, we have gathered information on accurate Mass parameters, Forces/torques, and velocity parameters for the Lift, Arm, Base, and Wrist Yaw joints. Masses and Inertial Values We now have an accurate itemized breakdown of all the masses and inertial values specific to each link mentioned in our UR… Specifically, the section titled “[Velocities](https://forum.hello-robot.com/t/physical-aspects-of-the-robot-for-simulation/792#velocities-11)” would be helpful in determine how far the mobile base can turn or travel in a given time horizon, and how far the manipulator could travel in a given time horizon. Whether the robot could reach a target goal in a time horizon would depend on how the robot moved to achieve the goal. --- _[View the full topic](https://forum.hello-robot.com/t/robot-reachability-function/844)._