namenu/stretch3-kitchen-scene

Stretch 3 kitchen — MuJoCo scene

A residential kitchen staged around a Hello Robot Stretch 3: counter run with a recessed sink, induction cooktop and hood, fridge, island, dining set, and free props. The robot is the MuJoCo Menagerie hello_robot_stretch_3 model, redistributed unmodified — meshes, joint ranges, actuator gains, telescope couplings and all — attached into the scene and placed with a frame transform.

import mujoco
model = mujoco.MjModel.from_xml_path("kitchen_scene.xml")   # 178 geoms, 85 meshes, nq 55, nu 10

Path	What it is
kitchen_scene.xml	The scene: room, furniture, props, and where the robot stands
stretch.xml	The Menagerie robot, verbatim
assets/	The mesh and texture set it refers to
UPSTREAM_NOTICE	What is upstream, at which commit, and what was added
LICENSE	Apache-2.0, from upstream

The mobile base keeps its free joint, so the scene is usable for navigation as well as manipulation; structural furniture has contact enabled, decorative trim does not, and the finite floor plane is the boundary.

Published as a pinned asset reference for Strata: an environment entry names a commit of this repository instead of carrying the bytes, so the scene, the simulator stack, and the environment code are versioned separately and a host fetches the scene only when it needs to run it.