Consolidate all current environments and configs

README.md

@@ -36,7 +36,7 @@ pip install --upgrade pip
 # Install a CUDA-enabled PyTorch
 pip install -U torch==2.7.0 torchvision==0.22.0 --index-url https://download.pytorch.org/whl/cu128
 # Install the Isaac Lab packages along with Isaac Sim:
-pip install "isaaclab[isaacsim,all]==2.3.0" --extra-index-url https://pypi.nvidia.com
+python -m pip install "isaaclab[isaacsim,all]==2.3.2.post1" --extra-index-url https://pypi.nvidia.com
 ```
 For advanced installation options, refer to [installation guide](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation/index.html).
 

scripts/run_workflow.py

@@ -47,13 +47,16 @@
     default="out/videos",
     help="Directory to save recorded videos (default: out/videos).",
 )
+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()
 
 if args_cli.record_video and args_cli.headless and not args_cli.enable_cameras:
     parser.error("--record_video in headless mode requires --enable_cameras (the RTX renderer must be loaded for frame capture).")
 
 # Launch omniverse app
+# Forward the complete parsed launcher configuration so --livestream reaches WebRTC.
 app_launcher = AppLauncher(args_cli)
 simulation_app = app_launcher.app
 
@@ -79,6 +82,8 @@ 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:
@@ -155,7 +160,8 @@ 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
             if args_cli.record_video:
                 video_path = os.path.join(
                     args_cli.video_dir, f"{task_slug}_{workflow_slug}_ep{episode_count}_{run_ts}.mp4"

source/matterix/matterix/envs/matterix_base_env_cfg.py

@@ -64,7 +64,7 @@ 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/__init__.py

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

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_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_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 +6,20 @@
 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_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,
+    test_ticket0c_small_vessel,
+)
 
 ##
 # Register Gym environments.
@@ -39,6 +52,15 @@
     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",
@@ -47,3 +69,66 @@
     },
     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,
+)
+
+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,
+)