Implementation:Haosulab ManiSkill RoboCasaHandles

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

Overview

Concrete tool for creating handle fixtures (bar, boxed, and knob styles) that attach to cabinet and drawer panels in RoboCasa kitchen environments.

Description

This module defines a hierarchy of handle classes that are procedurally generated and attached to cabinet panels. Handles are composed of cylinder and box primitives arranged to form the desired handle shape.

Handle is the abstract base class extending MujocoObject. It loads a base XML template for the handle type, then procedurally adjusts component positions and sizes based on the parent panel dimensions (panel_w, panel_h). It manages texture application via SAPIEN render materials and supports both vertical (for cabinets) and horizontal (for drawers) orientations.

Handle types:

BarHandle -- A cylindrical bar with two connector cylinders on top and bottom. The handle length auto-adjusts if the panel is too small. Components: "handle" (main bar), "handle_connector_top", "handle_connector_bottom".
BoxedHandle -- A rectangular bar handle with box-shaped connectors. Similar auto-adjustment logic. Uses box visual/collision shapes instead of cylinders.
KnobHandle -- A small cylindrical knob protruding from the panel surface. The simplest handle type with a single cylinder component.

Each handle subclass implements _create_handle() which computes positions and sizes for each component based on the panel dimensions and orientation, then updates the actor builder's collision and visual records accordingly.

Usage

Handles are instantiated automatically by CabinetPanel._add_handle() when building cabinets. The handle type is selected based on the handle_type parameter passed through the cabinet configuration.

Code Reference

Source Location

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

Signature

class Handle(MujocoObject):
    def __init__(self, scene, name, xml, panel_w, panel_h,
                 texture="textures/metals/bright_metal.png",
                 orientation="vertical", length=None): ...
    @abc.abstractmethod
    def _get_components(self): ...
    @abc.abstractmethod
    def _create_handle(self): ...
    def _set_texture(self): ...

class BarHandle(Handle):
    def __init__(self, length=0.24, handle_pad=0.04, *args, **kwargs): ...

class BoxedHandle(Handle):
    def __init__(self, length=0.24, handle_pad=0.04, *args, **kwargs): ...

class KnobHandle(Handle):
    def __init__(self, handle_pad=0.07, *args, **kwargs): ...

Import

from mani_skill.utils.scene_builder.robocasa.fixtures.handles import (
    Handle, BarHandle, BoxedHandle, KnobHandle
)

I/O Contract

Parameter	Type	Description
`scene`	`ManiSkillScene`	The simulation scene
`name`	`str`	Unique handle name
`xml`	`str`	Path to MJCF XML template for the handle type
`panel_w`	`float`	Width of the parent panel
`panel_h`	`float`	Height of the parent panel
`texture`	`str`	Path to metal texture for the handle
`orientation`	`str`	"vertical" (cabinets) or "horizontal" (drawers)
`length`	`float`	Desired handle length; auto-adjusted if panel is too small

Usage Examples

# Typically created internally by CabinetPanel._add_handle()
handle = BarHandle(
    scene=scene,
    name="cabinet_handle",
    panel_w=0.3,
    panel_h=0.5,
    orientation="vertical",
    length=0.24,
    texture="textures/metals/bright_metal.png",
)

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