Stretch Simulation

Is it possible to set up Stretch in simulation without the actual robot having arrived?
I tried to follow the Run the new robot installation script but it asks for serial number, and I don’t have that yet.

Hi @pappbo, welcome to the Stretch community forum! Yes, there are a few simulators available. Check out this thread for more details:

If you’re looking for an easy simulator to get started with, I’d recommend the Mujoco simulation: