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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 =… See the full description on the dataset page: https://huggingface.co/datasets/namenu/stretch3-kitchen-scene.

sourceHugging Faceapache-2.0updated 2mo agoView on Hugging Face

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Dataset Card

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.

python

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.