Implementation:Haosulab ManiSkill RoboCasaMicrowave

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

Overview

Concrete tool for creating microwave fixtures in RoboCasa kitchen environments, supporting door open/close simulation and start/stop button interaction.

Description

The Microwave class extends Fixture to represent a kitchen microwave with interactive capabilities. It tracks an internal _turned_on state and provides methods for:

Door state management -- set_door_state(min, max, env, rng) sets the microwave door opening between min and max percentages (0.0 to 1.0). The door uses a hinge joint (microjoint) with a range of 0 to pi/2 radians, with a negative sign convention (left door hinge).
State retrieval -- get_door_state(env) returns a dictionary mapping "door" to a normalized percentage of how open the door is.
Button interaction -- update_state(env) checks if the robot gripper is pressing the start or stop buttons. The microwave turns on only when the door is closed and the start button is pressed; opening the door or pressing stop turns it off.
Gripper distance check -- gripper_button_far(env, button, th) checks whether the gripper is far from a specified button ("start_button" or "stop_button").
Properties -- handle_name and door_name return the fully qualified names for the door handle and door body.

Usage

Used in RoboCasa kitchen scenes for microwave manipulation tasks. Typically placed on counter surfaces or in housing cabinets.

Code Reference

Source Location

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

Signature

class Microwave(Fixture):
    def __init__(self, xml="fixtures/microwaves/orig_microwave", name="microwave",
                 *args, **kwargs): ...
    def set_door_state(self, min, max, env, rng): ...
    def get_door_state(self, env) -> dict: ...
    def get_state(self) -> dict: ...
    def update_state(self, env): ...
    def gripper_button_far(self, env, button, th=0.15) -> bool: ...
    @property
    def handle_name(self) -> str: ...
    @property
    def door_name(self) -> str: ...
    @property
    def nat_lang(self) -> str: ...

Import

from mani_skill.utils.scene_builder.robocasa.fixtures.microwave import Microwave

I/O Contract

Method	Input	Output	Description
`set_door_state`	`min: float`, `max: float`, `env`, `rng`	None	Sets door opening between min% and max% (0.0-1.0)
`get_door_state`	`env`	`dict {"door": float}`	Returns normalized door opening percentage
`get_state`	None	`dict {"turned_on": bool}`	Returns whether the microwave is on
`update_state`	`env`	None	Updates on/off state based on gripper button contact
`gripper_button_far`	`env`, `button: str`, `th: float`	`bool`	True if gripper is farther than threshold from button

Usage Examples

microwave = Microwave(
    scene=scene,
    xml="fixtures/microwaves/orig_microwave",
    name="kitchen_microwave",
)
microwave.set_pos([0.5, 0.3, 1.2])
microwave.build(scene_idxs=[0])

# Check microwave state
state = microwave.get_state()
print(state["turned_on"])  # False

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