Implementation:Haosulab ManiSkill RoboCasaSink

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

Overview

Concrete tool for creating sink fixtures in RoboCasa kitchen environments, supporting handle-based water flow simulation and spout orientation tracking.

Description

The Sink class extends Fixture to represent a kitchen sink with interactive handle and water simulation. It is typically embedded as an interior object within a Counter fixture.

Key features:

Handle joint -- A rotational joint (handle_joint) that controls the water flow. Water is considered "on" when the handle rotation is between 0.40 and pi radians.
Spout joint -- A separate rotational joint (spout_joint) that controls the direction the spout faces: "left" (pi to 2*pi - pi/6), "right" (pi/6 to pi), or "center".
Water visualization -- update_state(env) toggles the water site's alpha (visibility) based on the handle state. Water appears at alpha 0.5 when on, 0.0 when off.
State control -- set_handle_state(env, rng, mode) programmatically sets the handle to "on", "off", or "random" states.
State retrieval -- get_handle_state(env) returns a dictionary with handle_joint angle, water_on boolean, spout_joint angle, and spout orientation string.
Lazy properties -- handle_joint and water_site are cached after first XML lookup.

Usage

Used in RoboCasa kitchen scenes for sink manipulation tasks. Typically placed inside a counter via the counter's interior_obj parameter.

Code Reference

Source Location

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

Signature

class Sink(Fixture):
    def __init__(self, scene: ManiSkillScene, xml="fixtures/sink.xml", name="sink",
                 *args, **kwargs): ...
    def update_state(self, env): ...
    def set_handle_state(self, env, rng, mode="on"): ...
    def get_handle_state(self, env) -> dict: ...
    @property
    def handle_joint(self): ...
    @property
    def water_site(self): ...
    @property
    def nat_lang(self) -> str: ...

Import

from mani_skill.utils.scene_builder.robocasa.fixtures.sink import Sink

I/O Contract

Method	Input	Output	Description
`set_handle_state`	`env, rng, mode`	None	Sets handle to "on" (0.40-0.50), "off" (0.0), or "random"
`get_handle_state`	`env`	`dict`	Returns handle_joint, water_on, spout_joint, spout_ori
`update_state`	`env`	None	Toggles water site visibility based on handle angle

Return dictionary from get_handle_state:

Key	Type	Description
`handle_joint`	`float`	Current angle of the handle joint (radians)
`water_on`	`bool`	True if water is flowing (handle between 0.40 and pi)
`spout_joint`	`float`	Current angle of the spout joint (radians)
`spout_ori`	`str`	Spout direction: "left", "right", or "center"

Usage Examples

sink = Sink(scene=scene, name="kitchen_sink")
# Embed in a counter
counter = Counter(scene=scene, name="sink_counter", interior_obj=sink)

# Control sink state
sink.set_handle_state(env, rng, mode="on")
state = sink.get_handle_state(env)
print(state["water_on"])   # True
print(state["spout_ori"])  # "center"

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