This repository adds preliminary support for Stretch on Isaac Sim.
To use Stretch in Isaac Sim, simply use MJCF Importer and import models/stretch.xml into your simulation. To open MJCF Importer, navigate to Isaac Utils -> Workflows -> MJCF Importer. Or alternatively, you can directly use models/stretch.usd. Note that support for base lidar is a work in progress.
All the enhancements/missing features/Bugfixes are tracked by Issues filed. Please feel free to file an issue if you would like to report bugs or request a feature addition.
The assets in this repository contain significant contributions and efforts from Kevin Zakka and Google Deepmind, along with others in Hello Robot Inc. who helped us in modeling Stretch in Isaac Sim. Thank you for your contributions.