Stretch Simulation

[bshah]

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

Stretch2 - Gazebo + MoveIt?

Hi @roboor, thanks for following up here. @ebeowulf and I chatted over video call about his question, and I’ll try to summarize our conversation here. To the question about Stretch simulators, there are a few available: Hello Robot maintains a Gazebo Classic simulation of Stretch in this ROS 1 package. The experience of interfacing with Gazebo’s Stretch is different than with a real Stretch. There’s a few reasons for this, including difference in drivers and simulation quirks, but the result i…

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

mujoco_menagerie/hello_robot_stretch at main · hello-binit/mujoco_menagerie