Mujoco Simulation Asset Integration

January 26, 2026

Here's a basic demonstration of manipulation using assets from 3 sources: AWS Small House (the scene), MuJoCo Scanned Objects (the porcelain plate), Stretch 3 (the robot). All three sources are open-source and can be found on github.

I ported the AWS Small House from Gazebo/ROS (DAE) to Mujoco-style visual assets and added some simple collision geometries for the floor and the kitchen counter.

Notable Tech

  • https://github.com/aws-robotics/aws-robomaker-small-house-world

  • https://github.com/kevinzakka/mujoco_scanned_objects

  • https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch_3

Mujoco Port of AWS Small House (Gazebo/ROS)

Figures 1 and 2 below show a comparison of the official AWS Small House and my Mujoco Port of the same. At this point in time, the Mujoco scene contains nearly all of the original visuals. Lighting could be better, but seems good enough for the purpose of functional scene usage. The collision models in the official repo weren’t quite what I was looking for, so I decided to also integrate high-fidelity objects from the MuJoCo Scanned Objects repo.

Figure 1: Official AWS Small House

(snapshot from github)

Figure 2: Mujoco Port of AWS Small House

(snapshot from run-time simulation)