Add six-vessel grasp, lift, and placement environment

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_sm/matterix_sm/primitive_actions/move_relative.py

@@ -53,6 +53,7 @@ def __init__(
         timeout: float = None,
         position_threshold: float = None,
         orientation_threshold: float = None,
+        settling_time: float = 0.05,
         action_space_info: ActionSpaceInfo | None = None,
     ):
         """
@@ -75,6 +76,7 @@ def __init__(
             timeout=timeout,
             position_threshold=position_threshold,
             orientation_threshold=orientation_threshold,
+            settling_time=settling_time,
             action_space_info=action_space_info,
         )
 
@@ -176,5 +178,6 @@ def from_cfg(cls, cfg: MoveRelativeCfg):
             timeout=cfg.timeout,
             position_threshold=cfg.position_threshold,
             orientation_threshold=cfg.orientation_threshold,
+            settling_time=cfg.settling_time,
             action_space_info=cfg.action_space_info,
         )

source/matterix_tasks/matterix_tasks/test_dev_tasks/__init__.py

@@ -6,7 +6,13 @@
 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_particle_systems,
+    test_semantics_heat_transfer,
+    test_ticket0c_small_vessel,
+)
 
 ##
 # Register Gym environments.
@@ -47,3 +53,12 @@
     },
     disable_env_checker=True,
 )
+
+gym.register(
+    id="Matterix-Ticket0c-Small-Vessel-Franka-v1",
+    entry_point="matterix.envs:MatterixBaseEnv",
+    kwargs={
+        "env_cfg_entry_point": test_ticket0c_small_vessel.Ticket0CSmallVesselEnvCfg,
+    },
+    disable_env_checker=True,
+)