Implementation:Haosulab ManiSkill RoboCasaAccessories

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Scene_Building
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool providing accessory and miscellaneous fixture classes for RoboCasa kitchen environments, including coffee machines, toasters, stools, and wall-mounted accessories.

Description

This module defines several accessory fixture classes used for decorative and functional objects in RoboCasa kitchens:

Accessory -- Base class for all accessories/miscellaneous objects. Extends Fixture with duplicate_collision_geoms=False. Serves as the parent for specific accessory types.

CoffeeMachine -- A coffee machine accessory that supports simulated coffee pouring. Features:

_turned_on state tracking
update_state() checks if the robot gripper is pressing the start button to toggle the machine on
Coffee liquid sites that become visible when the machine is turned on
check_receptacle_placement_for_pouring() to verify a mug is placed under the pour spout
gripper_button_far() distance check helper

Toaster -- Simple toaster accessory with a natural language property returning "toaster".

Stool -- Simple stool accessory with a natural language property returning "stool".

WallAccessory -- Base class for wall-mounted accessories (outlets, clocks, paintings, lights). Features:

Attaches to a Wall object and computes its position based on wall side (back, front, left, right)
Adjustable protrusion parameter controlling how far the accessory extends from the wall
Automatic rotation alignment based on the wall's orientation
Special handling for light fixtures (pre-rotated by 90 degrees)

Usage

Used by the RoboCasa scene builder to populate kitchen scenes with decorative and functional accessories. Referenced in the FIXTURES registry as "accessory", "coffee_machine", "toaster", "stool", and "wall_accessory".

Code Reference

Source Location

Repository: Haosulab_ManiSkill
File: mani_skill/utils/scene_builder/robocasa/fixtures/accessories.py

Signature

class Accessory(Fixture):
    def __init__(self, scene, xml, name, pos=None, *args, **kwargs): ...

class CoffeeMachine(Accessory):
    def __init__(self, *args, **kwargs): ...
    def get_reset_regions(self, *args, **kwargs) -> dict: ...
    def get_state(self) -> dict: ...
    def update_state(self, env): ...
    def check_receptacle_placement_for_pouring(self, env, obj_name, xy_thresh=0.04) -> bool: ...
    def gripper_button_far(self, env, th=0.15) -> bool: ...
    @property
    def nat_lang(self) -> str: ...

class Toaster(Accessory): ...
class Stool(Accessory): ...

class WallAccessory(Fixture):
    def __init__(self, scene, xml, name, pos, attach_to=None, protrusion=0.02, *args, **kwargs): ...
    def _place_accessory(self): ...

Import

from mani_skill.utils.scene_builder.robocasa.fixtures.accessories import (
    Accessory, CoffeeMachine, Toaster, Stool, WallAccessory
)

I/O Contract

Class	Key Parameters	Description
`Accessory`	`xml, name, pos`	Base accessory loaded from MJCF
`CoffeeMachine`	inherited	Interactive coffee machine with pour simulation
`WallAccessory`	`attach_to (Wall)`, `protrusion (float)`	Mounts on a wall, auto-positions based on wall side

Usage Examples

# Create a wall-mounted clock
clock = WallAccessory(
    scene=scene,
    xml="fixtures/accessories/clock.xml",
    name="kitchen_clock",
    pos=[1.0, None, 2.0],
    attach_to=back_wall,
    protrusion=0.02,
)

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