kitchen_scene.xml

<mujoco model="stretch3_kitchen">
  <!-- Authored kitchen with a Hello Robot Stretch 3. The robot is the MuJoCo Menagerie
       hello_robot_stretch_3 model attached verbatim from stretch.xml (meshes and all); this file
       owns the room, the furniture, the props, and where the robot stands. Contact stays enabled
       on structural furniture so the same scene serves the catalog preview and a navigation or
       manipulation gym; the finite floor plane is the nav boundary.
       Attachment ignores the child's <option>, so the simulator settings the Menagerie model was
       tuned with are restated here. -->
  <compiler angle="radian" autolimits="true"/>

  <option integrator="implicitfast" impratio="10" cone="elliptic" noslip_iterations="3">
    <flag multiccd="enable"/>
  </option>

  <visual>
    <headlight diffuse="0.55 0.55 0.55" ambient="0.32 0.32 0.34" specular="0.1 0.1 0.1"/>
    <global offwidth="1280" offheight="720" azimuth="150" elevation="-25"/>
    <quality shadowsize="4096"/>
  </visual>

  <default>
    <default class="furniture">
      <geom contype="1" conaffinity="1" condim="3"/>
      <!-- Decorative trim: rendered but contact-free, so a future gym never pays broadphase
           for burner disks, handles, or cabinets above the robot's reach envelope. -->
      <default class="trim">
        <geom contype="0" conaffinity="0"/>
      </default>
    </default>
    <default class="prop">
      <geom contype="1" conaffinity="1" condim="4" friction="0.9 0.02 0.001"/>
    </default>
  </default>

  <asset>
    <model name="stretch3" file="stretch.xml"/>
    <material name="floor_oak" rgba="0.58 0.47 0.35 1"/>
    <material name="wall_plaster" rgba="0.87 0.85 0.80 1"/>
    <material name="cabinet_sage" rgba="0.42 0.48 0.44 1"/>
    <material name="cabinet_cream" rgba="0.80 0.77 0.70 1"/>
    <material name="worktop_stone" rgba="0.22 0.22 0.23 1" specular="0.4" shininess="0.4"/>
    <material name="steel" rgba="0.68 0.70 0.72 1" specular="0.5" shininess="0.5" reflectance="0.2"/>
    <material name="steel_dark" rgba="0.35 0.36 0.38 1" specular="0.4" shininess="0.4"/>
    <material name="cooktop_glass" rgba="0.10 0.10 0.11 1" specular="0.5" shininess="0.6"/>
    <material name="table_walnut" rgba="0.45 0.33 0.22 1"/>
    <material name="ceramic_white" rgba="0.92 0.91 0.88 1"/>
    <material name="mug_blue" rgba="0.25 0.45 0.62 1"/>
    <material name="apple_red" rgba="0.72 0.15 0.12 1"/>
    <material name="cracker_amber" rgba="0.78 0.52 0.20 1"/>
  </asset>

  <worldbody>
    <light pos="0 0.8 2.35" dir="0 0 -1" directional="false" diffuse="0.7 0.7 0.65"/>
    <light pos="1.6 -1.0 2.3" dir="-0.3 0.3 -1" diffuse="0.45 0.45 0.45"/>
    <light pos="-1.8 -0.4 2.3" dir="0.3 0.1 -1" diffuse="0.4 0.4 0.4"/>

    <!-- Room shell: 4.8 m x 3.8 m. The finite plane is the nav boundary. -->
    <geom name="floor" type="plane" size="2.4 1.9 0.1" material="floor_oak" class="furniture"/>
    <geom name="wall_north" type="box" pos="0 1.95 1.25" size="2.5 0.05 1.25"
      material="wall_plaster" class="furniture"/>
    <geom name="wall_south" type="box" pos="0 -1.95 1.25" size="2.5 0.05 1.25"
      material="wall_plaster" class="furniture"/>
    <geom name="wall_west" type="box" pos="-2.45 0 1.25" size="0.05 1.9 1.25"
      material="wall_plaster" class="furniture"/>
    <geom name="wall_east" type="box" pos="2.45 0 1.25" size="0.05 1.9 1.25"
      material="wall_plaster" class="furniture"/>

    <!-- Counter run along the north wall: base cabinets on a recessed toe kick. -->
    <geom name="counter_base" type="box" pos="-0.9 1.6 0.465" size="1.5 0.3 0.375"
      material="cabinet_sage" class="furniture"/>
    <geom name="counter_kick" type="box" pos="-0.9 1.62 0.045" size="1.46 0.26 0.045"
      material="steel_dark" class="furniture"/>
    <!-- Worktop in four segments so the sink is a real opening, not an engraving. -->
    <geom name="counter_top_left" type="box" pos="-1.46 1.585 0.86" size="0.96 0.325 0.02"
      material="worktop_stone" class="furniture"/>
    <geom name="counter_top_right" type="box" pos="0.32 1.585 0.86" size="0.3 0.325 0.02"
      material="worktop_stone" class="furniture"/>
    <geom name="counter_top_front" type="box" pos="-0.24 1.324 0.86" size="0.26 0.064 0.02"
      material="worktop_stone" class="furniture"/>
    <geom name="counter_top_back" type="box" pos="-0.24 1.861 0.86" size="0.26 0.049 0.02"
      material="worktop_stone" class="furniture"/>

    <!-- Sink: recessed basin + faucet, right half of the counter run. -->
    <geom name="sink_basin_floor" type="box" pos="-0.25 1.6 0.72" size="0.22 0.19 0.01"
      material="steel" class="furniture"/>
    <geom name="sink_wall_front" type="box" pos="-0.25 1.4 0.795" size="0.22 0.012 0.085"
      material="steel" class="furniture"/>
    <geom name="sink_wall_back" type="box" pos="-0.25 1.8 0.795" size="0.22 0.012 0.085"
      material="steel" class="furniture"/>
    <geom name="sink_wall_left" type="box" pos="-0.48 1.6 0.795" size="0.012 0.21 0.085"
      material="steel" class="furniture"/>
    <geom name="sink_wall_right" type="box" pos="-0.02 1.6 0.795" size="0.012 0.21 0.085"
      material="steel" class="furniture"/>
    <geom name="faucet_riser" type="cylinder" pos="-0.25 1.83 0.99" size="0.018 0.11"
      material="steel" class="trim"/>
    <geom name="faucet_spout" type="capsule" fromto="-0.25 1.83 1.09 -0.25 1.68 1.05"
      size="0.014" material="steel" class="trim"/>

    <!-- Induction cooktop + range hood, left half of the counter run. -->
    <geom name="cooktop" type="box" pos="-1.55 1.58 0.885" size="0.29 0.26 0.006"
      material="cooktop_glass" class="furniture"/>
    <geom name="burner_fl" type="cylinder" pos="-1.70 1.46 0.892" size="0.075 0.002"
      material="steel_dark" class="trim"/>
    <geom name="burner_fr" type="cylinder" pos="-1.40 1.46 0.892" size="0.075 0.002"
      material="steel_dark" class="trim"/>
    <geom name="burner_bl" type="cylinder" pos="-1.70 1.70 0.892" size="0.075 0.002"
      material="steel_dark" class="trim"/>
    <geom name="burner_br" type="cylinder" pos="-1.40 1.70 0.892" size="0.075 0.002"
      material="steel_dark" class="trim"/>
    <geom name="hood_duct" type="box" pos="-1.55 1.75 2.2" size="0.12 0.12 0.3"
      material="steel" class="trim"/>
    <geom name="hood_canopy" type="box" pos="-1.55 1.62 1.85" size="0.30 0.28 0.05"
      material="steel" class="trim"/>

    <!-- Upper cabinets flank the hood along the north wall, above the robot's reach. -->
    <geom name="upper_cab_left" type="box" pos="-2.15 1.72 1.85" size="0.25 0.18 0.35"
      material="cabinet_cream" class="trim"/>
    <geom name="upper_cab_right" type="box" pos="-0.45 1.72 1.85" size="0.75 0.18 0.35"
      material="cabinet_cream" class="trim"/>
    <geom name="upper_cab_handle_l" type="capsule" fromto="-2.05 1.545 1.62 -1.95 1.545 1.62"
      size="0.008" material="steel_dark" class="trim"/>
    <geom name="upper_cab_handle_r" type="capsule" fromto="-0.60 1.545 1.62 -0.50 1.545 1.62"
      size="0.008" material="steel_dark" class="trim"/>

    <!-- Fridge in the north-west corner, door seam + handles proud of the face. -->
    <geom name="fridge_body" type="box" pos="-2.05 1.05 0.925" size="0.36 0.4 0.925"
      material="steel" class="furniture"/>
    <geom name="fridge_seam" type="box" pos="-1.686 1.05 1.1" size="0.002 0.38 0.004"
      material="steel_dark" class="trim"/>
    <geom name="fridge_handle_top" type="capsule" fromto="-1.67 0.72 1.75 -1.67 0.72 1.25"
      size="0.012" material="steel_dark" class="trim"/>
    <geom name="fridge_handle_bot" type="capsule" fromto="-1.67 0.72 1.02 -1.67 0.72 0.55"
      size="0.012" material="steel_dark" class="trim"/>

    <!-- Island with an overhanging worktop; central obstacle for future navigation. -->
    <geom name="island_base" type="box" pos="0.35 -0.15 0.44" size="0.6 0.375 0.44"
      material="cabinet_sage" class="furniture"/>
    <geom name="island_top" type="box" pos="0.35 -0.15 0.9" size="0.66 0.425 0.02"
      material="worktop_stone" class="furniture"/>

    <!-- Dining table + two chairs by the east wall. -->
    <geom name="table_top" type="box" pos="1.85 -1.0 0.73" size="0.45 0.4 0.02"
      material="table_walnut" class="furniture"/>
    <geom name="table_leg1" type="cylinder" pos="1.48 -1.32 0.355" size="0.025 0.355"
      material="table_walnut" class="furniture"/>
    <geom name="table_leg2" type="cylinder" pos="2.22 -1.32 0.355" size="0.025 0.355"
      material="table_walnut" class="furniture"/>
    <geom name="table_leg3" type="cylinder" pos="1.48 -0.68 0.355" size="0.025 0.355"
      material="table_walnut" class="furniture"/>
    <geom name="table_leg4" type="cylinder" pos="2.22 -0.68 0.355" size="0.025 0.355"
      material="table_walnut" class="furniture"/>
    <geom name="chair1_seat" type="box" pos="1.85 -0.45 0.44" size="0.19 0.18 0.02"
      material="table_walnut" class="furniture"/>
    <geom name="chair1_back" type="box" pos="1.85 -0.28 0.72" size="0.19 0.02 0.26"
      material="table_walnut" class="furniture"/>
    <geom name="chair1_legs" type="box" pos="1.85 -0.45 0.21" size="0.16 0.15 0.21"
      material="steel_dark" class="furniture"/>
    <geom name="chair2_seat" type="box" pos="1.85 -1.62 0.44" size="0.19 0.18 0.02"
      material="table_walnut" class="furniture"/>
    <geom name="chair2_back" type="box" pos="1.85 -1.79 0.72" size="0.19 0.02 0.26"
      material="table_walnut" class="furniture"/>
    <geom name="chair2_legs" type="box" pos="1.85 -1.62 0.21" size="0.16 0.15 0.21"
      material="steel_dark" class="furniture"/>

    <!-- Trash bin at the counter's east end. -->
    <geom name="bin" type="cylinder" pos="0.85 1.65 0.3" size="0.14 0.3"
      material="steel_dark" class="furniture"/>

    <!-- Free objects: manipulation candidates for future tasks. -->
    <body name="mug" pos="0.55 -0.05 0.955">
      <freejoint name="mug_free"/>
      <geom name="mug_body" type="cylinder" size="0.04 0.045" material="mug_blue" class="prop"
        mass="0.3"/>
    </body>
    <body name="apple" pos="0.15 -0.3 0.955">
      <freejoint name="apple_free"/>
      <geom name="apple_body" type="sphere" size="0.035" material="apple_red" class="prop"
        mass="0.15"/>
    </body>
    <body name="cracker_box" pos="-0.85 1.55 0.99" euler="0 0 0.4">
      <freejoint name="cracker_free"/>
      <geom name="cracker_body" type="box" size="0.03 0.055 0.105" material="cracker_amber"
        class="prop" mass="0.4"/>
    </body>
    <body name="bowl" pos="1.75 -0.95 0.775">
      <freejoint name="bowl_free"/>
      <geom name="bowl_body" type="cylinder" size="0.075 0.025" material="ceramic_white"
        class="prop" mass="0.35"/>
    </body>


    <!-- The Stretch 3 itself: attached, not re-authored. The frame is where it stands. -->
    <frame pos="0.45 0.7 0.005" quat="0.7071 0 0 0.7071">
      <attach model="stretch3" prefix=""/>
    </frame>
  </worldbody>
</mujoco>