Implementation:Haosulab ManiSkill RoboCasaSceneBuilder

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

Overview

Concrete tool for building complete RoboCasa kitchen scenes in ManiSkill, orchestrating fixture placement, object spawning, and scene initialization from YAML layout configurations.

Description

The RoboCasaSceneBuilder (extending SceneBuilder) is the main orchestrator for constructing RoboCasa kitchen environments. It is ported from the RoboCasa project and adapted for ManiSkill's SAPIEN-based simulation.

The builder maintains a registry of all supported fixture types in the FIXTURES dictionary, mapping string names to classes: hinge_cabinet, single_cabinet, open_cabinet, panel_cabinet, housing_cabinet, drawer, counter, stove, stovetop, oven, microwave, hood, sink, fridge, dishwasher, wall, floor, box, accessory, coffee_machine, toaster, window, framed_window, and more.

Key functionality:

Scene loading -- Reads YAML layout files from the scene registry to determine fixture types, positions, sizes, and configurations.
Fixture creation -- Instantiates fixture objects (cabinets, counters, sinks, stoves, etc.) with appropriate styles, textures, and handles.
Fixture stacking -- Uses FixtureStack to create vertical arrangements of cabinets and panels.
Group transforms -- Supports grouped fixture rotation and positioning for kitchen island and L-shaped layouts.
Walls and floors -- Creates structural elements (walls, floors, backings) with textured surfaces.
Windows -- Places decorative windows on walls.
Object placement -- Uses SequentialCompositeSampler and UniformRandomSampler to place kitchen objects on surfaces.
Robot initialization -- Configures robot start poses based on the kitchen layout, with per-robot front-facing size adjustments.

The builder supports parallel environments, building the same or different kitchen layouts across multiple simulation instances simultaneously.

The FIXTURES_INTERIOR dictionary identifies fixtures that are embedded inside other fixtures (e.g., sinks inside counters) and should not use the standard positioning system.

Usage

Used as the scene builder for all RoboCasa-based kitchen manipulation tasks in ManiSkill.

Code Reference

Source Location

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

Signature

FIXTURES = dict(
    hinge_cabinet=HingeCabinet, single_cabinet=SingleCabinet,
    open_cabinet=OpenCabinet, panel_cabinet=PanelCabinet,
    housing_cabinet=HousingCabinet, drawer=Drawer,
    counter=Counter, stove=Stove, stovetop=Stovetop, oven=Oven,
    microwave=Microwave, hood=Hood, sink=Sink, fridge=Fridge,
    dishwasher=Dishwasher, wall=Wall, floor=Floor, box=Box,
    accessory=Accessory, coffee_machine=CoffeeMachine, toaster=Toaster,
    window=Window, framed_window=FramedWindow, stool=Stool,
    # ...
)

FIXTURES_INTERIOR = dict(
    sink=Sink, stovetop=Stovetop, accessory=Accessory, wall_accessory=WallAccessory
)

class RoboCasaSceneBuilder(SceneBuilder):
    def __init__(self, env, ...): ...
    def build(self, ...): ...
    def initialize(self, env_idx, ...): ...

Import

from mani_skill.utils.scene_builder.robocasa.scene_builder import RoboCasaSceneBuilder

I/O Contract

Method	Input	Output	Description
`build`	Layout YAML configs, scene style	Populated scene with fixtures and structural elements	Constructs the full kitchen scene
`initialize`	`env_idx`	Robot and object poses set	Initializes/resets the scene for a new episode

Key data structures:

Attribute	Type	Description
`FIXTURES`	`dict`	Maps fixture name strings to fixture classes
`FIXTURES_INTERIOR`	`dict`	Fixtures that attach to other fixtures
`ROBOT_FRONT_FACING_SIZE`	`dict`	Robot-specific front-facing area sizes

Usage Examples

# Used by RoboCasa-based environments
scene_builder = RoboCasaSceneBuilder(env)
scene_builder.build(build_config_idxs=[0] * env.num_envs)
scene_builder.initialize(env_idx=torch.arange(env.num_envs))

# Access placed fixtures
fixtures = scene_builder.scene_fixtures
counters = [f for f in fixtures.values() if isinstance(f, Counter)]

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