Add six rigid-labware test environments

scripts/run_workflow.py

@@ -40,11 +40,14 @@
     help="Environment/task name.",
 )
 parser.add_argument("--workflow", type=str, default="pickup_beaker", help="Name of the workflow to run.")
+parser.add_argument("--record_path", type=str, default=None, help="Optional unique HDF5 recorder path for this run.")
+parser.add_argument("--episodes", type=int, default=0, help="Stop after this many episodes; 0 keeps the existing continuous behavior.")
 AppLauncher.add_app_launcher_args(parser)
 args_cli = parser.parse_args()
 
 # Launch omniverse app
-app_launcher = AppLauncher(headless=args_cli.headless)
+# Forward the complete parsed launcher configuration so --livestream reaches WebRTC.
+app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
 """Rest everything else."""
@@ -66,6 +69,8 @@ def main():
         num_envs=args_cli.num_envs,
         use_fabric=not args_cli.disable_fabric,
     )
+    if args_cli.record_path is not None:
+        env_cfg.record_path = args_cli.record_path
 
     # Validate workflow exists
     if not hasattr(env_cfg, "workflows") or not env_cfg.workflows:
@@ -133,6 +138,8 @@ def main():
                     sm.print_status(step=step_count, episode=episode_count)
 
             sm.print_status(step=step_count, episode=episode_count)
+            if args_cli.episodes > 0 and episode_count >= args_cli.episodes:
+                break
 
     env.close()
 

source/matterix/matterix/envs/matterix_base_env_cfg.py

@@ -63,7 +63,7 @@ class MatterixBaseEnvCfg:
 
     sim: SimulationCfg = SimulationCfg(
         render=RenderCfg(
-            carb_settings={"rtx_translucency_enabled": True, "rtx_raytracing_fractionalCutoutOpacity": True}
+            carb_settings={"rtx_translucency_enabled": True}
         )
     )
     """Physics simulation configuration. Default is SimulationCfg()."""

source/matterix_assets/matterix_assets/labware/rigid_labware_batch1_local_only.py

@@ -0,0 +1,78 @@
+# Copyright (c) 2022-2026, The Matterix Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""LOCAL-ONLY configs for the six Batch 1 labware checkpoint candidates.
+
+These configs are test-environment plumbing. The reusable USD payloads live in
+the Matterix_assets data submodule; the capped payloads are spawned as generic
+USD scene assets by their dedicated checkpoint environments because each has
+two rigid bodies joined by a fixed joint.
+"""
+
+import json
+import os
+
+from matterix_assets import MATTERIX_ASSETS_DATA_DIR
+from matterix.managers.semantics.primitive_semantics import IsInContactPhysicsCfg
+
+from isaaclab.utils import configclass
+
+from ..matterix_rigid_object import MatterixRigidObjectCfg
+
+
+default_prim_path = "{ENV_REGEX_NS}/RigidObjects_Labware"
+
+CORNING_4980_50_MASS_KG = 0.0305
+CORNING_4980_250_MASS_KG = 0.1122
+
+
+def _load_frames(slug: str) -> dict[str, tuple[float, float, float]]:
+    """Load authored interface frames from the staged payload."""
+    path = os.path.join(MATTERIX_ASSETS_DATA_DIR, "labware", slug, "frames.json")
+    with open(path) as handle:
+        contract = json.load(handle)
+    frames = contract.get("frames")
+    if not isinstance(frames, dict) or not frames:
+        raise ValueError(f"{path} carries no frames")
+    missing = {"grasp", "pre_grasp", "post_grasp"} - set(frames)
+    if missing:
+        raise ValueError(f"{path} is missing required frames: {sorted(missing)}")
+    return {name: tuple(offset) for name, offset in frames.items()}
+
+
+@configclass
+class CORNING_4980_50_LOCAL_ONLY_CFG(MatterixRigidObjectCfg):
+    """Corning PYREX 4980-50, 50 mL narrow-mouth Erlenmeyer flask."""
+
+    prim_path = default_prim_path
+    usd_path = f"{MATTERIX_ASSETS_DATA_DIR}/labware/corning-4980-50/corning-4980-50-inst.usda"
+    scale = (1.0, 1.0, 1.0)
+    mass = CORNING_4980_50_MASS_KG
+    activate_contact_sensors = True
+    frames = _load_frames("corning-4980-50")
+    semantic_tags = [("class", "flask")]
+    semantics = [
+        IsInContactPhysicsCfg(
+            filter_prim_paths_expr=["robot/panda_leftfinger", "robot/panda_rightfinger"]
+        )
+    ]
+
+
+@configclass
+class CORNING_4980_250_LOCAL_ONLY_CFG(MatterixRigidObjectCfg):
+    """Corning PYREX 4980-250, 250 mL narrow-mouth Erlenmeyer flask."""
+
+    prim_path = default_prim_path
+    usd_path = f"{MATTERIX_ASSETS_DATA_DIR}/labware/corning-4980-250/corning-4980-250-inst.usda"
+    scale = (1.0, 1.0, 1.0)
+    mass = CORNING_4980_250_MASS_KG
+    activate_contact_sensors = True
+    frames = _load_frames("corning-4980-250")
+    semantic_tags = [("class", "flask")]
+    semantics = [
+        IsInContactPhysicsCfg(
+            filter_prim_paths_expr=["robot/panda_leftfinger", "robot/panda_rightfinger"]
+        )
+    ]

source/matterix_tasks/matterix_tasks/test_dev_tasks/__init__.py

@@ -6,7 +6,18 @@
 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_rigid_labware_duran_100,
+    test_franka_rigid_labware_duran_500,
+    test_franka_rigid_labware_falcon_15,
+    test_franka_rigid_labware_falcon_50,
+    test_franka_rigid_labware_flask_50,
+    test_franka_rigid_labware_flask_250,
+    test_particle_systems,
+    test_semantics_heat_transfer,
+)
 
 ##
 # Register Gym environments.
@@ -47,3 +58,57 @@
     },
     disable_env_checker=True,
 )
+
+gym.register(
+    id="Matterix-Test-Rigid-Labware-Flask-50-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_rigid_labware_flask_50.FrankaRigidLabwareFlask50EnvTestCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Matterix-Test-Rigid-Labware-Flask-250-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_rigid_labware_flask_250.FrankaRigidLabwareFlask250EnvTestCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Matterix-Test-Rigid-Labware-Duran-100-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_rigid_labware_duran_100.FrankaRigidLabwareDuran100EnvTestCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Matterix-Test-Rigid-Labware-Duran-500-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_rigid_labware_duran_500.FrankaRigidLabwareDuran500EnvTestCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Matterix-Test-Rigid-Labware-Falcon-15-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_rigid_labware_falcon_15.FrankaRigidLabwareFalcon15EnvTestCfg,
+    },
+    disable_env_checker=True,
+)
+
+gym.register(
+    id="Matterix-Test-Rigid-Labware-Falcon-50-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_franka_rigid_labware_falcon_50.FrankaRigidLabwareFalcon50EnvTestCfg,
+    },
+    disable_env_checker=True,
+)

source/matterix_tasks/matterix_tasks/test_dev_tasks/capped_labware_checkpoints.py

@@ -0,0 +1,137 @@
+"""Shared helpers for capped DURAN and Falcon visual checkpoints.
+
+The capped payloads are intentionally spawned as generic USD assets.  Each USD
+contains two rigid bodies joined by a ``PhysicsFixedJoint`` and does not expose
+an articulation root, so it must not be registered as a ``RigidObject``.
+"""
+
+import torch
+
+from matterix.envs import MatterixBaseEnvCfg, mdp
+from matterix_assets import MATTERIX_ASSETS_DATA_DIR, MatterixStaticObjectCfg
+from matterix_assets.infrastructure.tables import TABLE_SEATTLE_INST_Cfg
+from matterix_assets.robots import FRANKA_PANDA_HIGH_PD_IK_CFG
+
+from matterix.managers import EventManagerCfg
+from matterix_sm import CloseGripperCfg, MoveRelativeCfg, OpenGripperCfg
+from matterix_sm.primitive_actions.move_to_pose import MoveToPoseCfg
+from matterix_sm.robot_action_spaces import FRANKA_IK_ACTION_SPACE
+
+import isaaclab.envs.mdp as isaaclab_mdp
+from isaaclab.managers import EventTermCfg as EventTerm
+from isaaclab.managers import ObservationGroupCfg as ObsGroup
+from isaaclab.managers import ObservationTermCfg as ObsTerm
+from isaaclab.utils import configclass
+
+
+@configclass
+class EventCfg(EventManagerCfg):
+    """Reset events for a capped labware checkpoint."""
+
+    reset_scene_to_default = EventTerm(
+        func=isaaclab_mdp.reset_scene_to_default,
+        mode="reset",
+    )
+
+
+@configclass
+class ObservationManagerCfg:
+    """Robot observations used by the hard-coded visual manipulation sequence."""
+
+    @configclass
+    class ArticulationsGroup(ObsGroup):
+        robot__root_world_pos = ObsTerm(func=mdp.root_world_pos, params={"asset_name": "robot"})
+        robot__root_world_quat = ObsTerm(func=mdp.root_world_quat, params={"asset_name": "robot"})
+        robot__joint_pos = ObsTerm(func=mdp.joint_pos, params={"asset_name": "robot"})
+        robot__joint_vel = ObsTerm(func=mdp.joint_vel, params={"asset_name": "robot"})
+        robot__ee_world_pos = ObsTerm(func=mdp.ee_world_pos, params={"asset_name": "robot"})
+        robot__ee_world_quat = ObsTerm(func=mdp.ee_world_quat, params={"asset_name": "robot"})
+        robot__gripper_pos = ObsTerm(func=mdp.gripper_pos, params={"asset_name": "robot"})
+
+        def __post_init__(self):
+            self.enable_corruption = False
+            self.concatenate_terms = False
+
+    articulations: ArticulationsGroup = ArticulationsGroup()
+
+
+def capped_payload_cfg(slug: str, pos: tuple[float, float, float]) -> MatterixStaticObjectCfg:
+    """Build a generic scene asset for one two-body capped USD payload."""
+    return MatterixStaticObjectCfg(
+        usd_path=f"{MATTERIX_ASSETS_DATA_DIR}/labware/{slug}/{slug}-inst.usda",
+        pos=pos,
+        scale=(1.0, 1.0, 1.0),
+    )
+
+
+def capped_pick_and_place(
+    vessel_pos: tuple[float, float, float],
+    pre_grasp_z: float,
+    grasp_z: float,
+    agent: str = "robot",
+):
+    """Return the visual checkpoint sequence for one fixed-jointed payload."""
+    x, y, z = vessel_pos
+    return [
+        OpenGripperCfg(agent_assets=agent, action_space_info=FRANKA_IK_ACTION_SPACE),
+        MoveToPoseCfg(
+            agent_assets=agent,
+            target_positions=torch.tensor([[x, y, z + pre_grasp_z]]),
+            action_space_info=FRANKA_IK_ACTION_SPACE,
+        ),
+        MoveToPoseCfg(
+            agent_assets=agent,
+            target_positions=torch.tensor([[x, y, z + grasp_z]]),
+            action_space_info=FRANKA_IK_ACTION_SPACE,
+        ),
+        CloseGripperCfg(agent_assets=agent, action_space_info=FRANKA_IK_ACTION_SPACE),
+        MoveRelativeCfg(
+            agent_assets=agent,
+            position_offset=(0.0, 0.0, 0.1),
+            orientation_offset=None,
+            action_space_info=FRANKA_IK_ACTION_SPACE,
+        ),
+        MoveToPoseCfg(
+            agent_assets=agent,
+            target_positions=torch.tensor([[x, y, z + grasp_z + 0.005]]),
+            action_space_info=FRANKA_IK_ACTION_SPACE,
+        ),
+        OpenGripperCfg(agent_assets=agent, action_space_info=FRANKA_IK_ACTION_SPACE),
+        MoveRelativeCfg(
+            agent_assets=agent,
+            position_offset=(0.0, 0.0, 0.15),
+            orientation_offset=None,
+            action_space_info=FRANKA_IK_ACTION_SPACE,
+        ),
+    ]
+
+
+def capped_env_fields(
+    slug: str,
+    vessel_pos: tuple[float, float, float],
+    pre_grasp_z: float,
+    grasp_z: float,
+    workflow_name: str,
+    description: str,
+) -> dict:
+    """Return common config fields for a one-asset capped checkpoint."""
+    return {
+        "env_spacing": 10.0,
+        "objects": {
+            "capped_labware": capped_payload_cfg(slug, vessel_pos),
+            "table": TABLE_SEATTLE_INST_Cfg(pos=(0.5, 0, 0)),
+        },
+        "articulated_assets": {
+            "robot": FRANKA_PANDA_HIGH_PD_IK_CFG(pos=(0.0, 0, 0)),
+        },
+        "gripper_joint_names": ["panda_finger_joint1", "panda_finger_joint2"],
+        "observations": ObservationManagerCfg(),
+        "events": EventCfg(),
+        "record_path": "datasets/dataset.hdf5",
+        "workflows": {
+            workflow_name: {
+                "description": description,
+                "actions": capped_pick_and_place(vessel_pos, pre_grasp_z, grasp_z),
+            }
+        },
+    }

source/matterix_tasks/matterix_tasks/test_dev_tasks/test_franka_rigid_labware_duran_100.py

@@ -0,0 +1,20 @@
+"""Dedicated physical checkpoint for the DURAN 100 mL capped bottle."""
+
+from matterix.envs import MatterixBaseEnvCfg
+from isaaclab.utils import configclass
+
+from .capped_labware_checkpoints import capped_env_fields
+
+
+@configclass
+class FrankaRigidLabwareDuran100EnvTestCfg(MatterixBaseEnvCfg):
+    """One-environment-per-asset DURAN 100 mL visual checkpoint."""
+
+    locals().update(capped_env_fields(
+        slug="dwk-218012458",
+        vessel_pos=(0.55, 0.0, 0.0),
+        pre_grasp_z=0.145,
+        grasp_z=0.075,
+        workflow_name="pick_and_place_duran_100",
+        description="Pick up and place the fixed-jointed DURAN 100 mL GL45 bottle",
+    ))

source/matterix_tasks/matterix_tasks/test_dev_tasks/test_franka_rigid_labware_duran_500.py

@@ -0,0 +1,20 @@
+"""Dedicated physical checkpoint for the DURAN 500 mL capped bottle."""
+
+from matterix.envs import MatterixBaseEnvCfg
+from isaaclab.utils import configclass
+
+from .capped_labware_checkpoints import capped_env_fields
+
+
+@configclass
+class FrankaRigidLabwareDuran500EnvTestCfg(MatterixBaseEnvCfg):
+    """One-environment-per-asset DURAN 500 mL visual checkpoint."""
+
+    locals().update(capped_env_fields(
+        slug="dwk-218014459",
+        vessel_pos=(0.55, 0.0, 0.0),
+        pre_grasp_z=0.231,
+        grasp_z=0.145,
+        workflow_name="pick_and_place_duran_500",
+        description="Pick up and place the fixed-jointed DURAN 500 mL GL45 bottle",
+    ))