Add vial-plate and 14.8 Fisherbrand vial testing environment

source/matterix_assets/matterix_assets/labware/__init__.py

@@ -8,3 +8,5 @@
 ##
 
 from .beakers import *
+from .vials import *
+from .vialplates import *

source/matterix_assets/matterix_assets/labware/vialplates.py

@@ -0,0 +1,49 @@
+# Copyright (c) 2022-2026, The Matterix Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Configuration and data paths for the promoted 3_5 vial holder."""
+
+import json
+from pathlib import Path
+
+from isaaclab.sensors import OffsetCfg
+from isaaclab.utils import configclass
+
+from matterix_assets import MATTERIX_ASSETS_DATA_DIR
+
+from ..matterix_rigid_object import MatterixRigidObjectCfg
+
+VIALPLATE_3_5_DATA_DIR = f"{MATTERIX_ASSETS_DATA_DIR}/labware/vialplate_3_5"
+VIALPLATE_3_5_USD_PATH = f"{VIALPLATE_3_5_DATA_DIR}/3_5_vialplate_free_standing_frames.usda"
+VIALPLATE_3_5_FRAME_CONTRACT_PATH = f"{VIALPLATE_3_5_DATA_DIR}/holder-hole-frame-contract.json"
+
+
+def _load_holder_hole_frames() -> dict[str, OffsetCfg]:
+    """Load the public 15-hole frame family from the promoted contract."""
+    contract = json.loads(Path(VIALPLATE_3_5_FRAME_CONTRACT_PATH).read_text(encoding="utf-8"))
+    frames = contract.get("frames")
+    if not isinstance(frames, list) or len(frames) != 15:
+        raise ValueError("promoted vial-holder frame contract must contain exactly 15 frames")
+    orientation = tuple(float(value) for value in contract["frame_orientation_wxyz"])
+    return {
+        frame["name"]: OffsetCfg(pos=tuple(float(value) for value in frame["position_m"]), rot=orientation)
+        for frame in frames
+    }
+
+
+VIALPLATE_3_5_HOLE_FRAMES = _load_holder_hole_frames()
+
+
+@configclass
+class VIALPLATE_3_5_CFG(MatterixRigidObjectCfg):
+    """Dynamic 15-well holder with the promoted frame-bearing USD payload."""
+
+    prim_path = "{ENV_REGEX_NS}/RigidObjects_Labware"
+    usd_path = VIALPLATE_3_5_USD_PATH
+    scale = (1.0, 1.0, 1.0)
+    mass = 0.070350472
+    activate_contact_sensors = True
+    frames = VIALPLATE_3_5_HOLE_FRAMES
+    semantic_tags = [("class", "vial_holder"), ("asset", "3_5_vialplate")]

source/matterix_assets/matterix_assets/labware/vials.py

@@ -0,0 +1,37 @@
+# Copyright (c) 2022-2026, The Matterix Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+# Configuration for the self-modelled Fisherbrand 03-339-21F reference vial.
+
+from isaaclab.sensors import OffsetCfg
+from isaaclab.utils import configclass
+
+from matterix_assets import MATTERIX_ASSETS_DATA_DIR
+
+from ..matterix_rigid_object import MatterixRigidObjectCfg
+
+FISHERBRAND_03_339_21F_DATA_DIR = (
+    f"{MATTERIX_ASSETS_DATA_DIR}/labware/fisherbrand_03-339-21f"
+)
+FISHERBRAND_03_339_21F_USD_PATH = (
+    f"{FISHERBRAND_03_339_21F_DATA_DIR}/fisherbrand_03-339-21f_z_up_fixed.usda"
+)
+FISHERBRAND_03_339_21F_FRAME_OFFSETS = {
+    "grasp": OffsetCfg(pos=(0.0, 0.0, 0.0649)),
+    "pre_grasp": OffsetCfg(pos=(0.0, 0.0, 0.1649)),
+    "post_grasp": OffsetCfg(pos=(0.0, 0.0, 0.1649)),
+}
+
+
+@configclass
+class FISHERBRAND_03_339_21F_CFG(MatterixRigidObjectCfg):
+    # Dynamic closed Fisherbrand 03-339-21F vial configuration.
+
+    prim_path = "{ENV_REGEX_NS}/RigidObjects_Labware"
+    usd_path = FISHERBRAND_03_339_21F_USD_PATH
+    scale = (1.0, 1.0, 1.0)
+    mass = 0.017734
+    activate_contact_sensors = True
+    frames = FISHERBRAND_03_339_21F_FRAME_OFFSETS
+    semantic_tags = [("class", "vial"), ("asset", "fisherbrand_03-339-21f")]

source/matterix_tasks/matterix_tasks/test_dev_tasks/__init__.py

@@ -6,7 +6,7 @@
 import gymnasium as gym
 import os
 
-from . import test_franka_beaker_lift, test_franka_beakers, test_particle_systems, test_semantics_heat_transfer
+from . import test_franka_beaker_lift, test_franka_beakers, test_franka_vialplate, test_particle_systems, test_semantics_heat_transfer
 
 ##
 # Register Gym environments.
@@ -39,6 +39,15 @@
     disable_env_checker=True,
 )
 
+gym.register(
+    id="Matterix-Test-Vialplate-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_vialplate.FrankaVialplateEnvTestCfg,
+    },
+    disable_env_checker=True,
+)
+
 gym.register(
     id="Matterix-Test-Semantics-Heat-Transfer-Franka-v1",
     entry_point="matterix.envs:MatterixBaseEnv",