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_assets/test/test_promoted_vialplate_assets.py

@@ -0,0 +1,75 @@
+# Copyright (c) 2022-2026, The Matterix Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Static checks for the promoted vial and holder payloads."""
+
+import hashlib
+import json
+from pathlib import Path
+
+
+MATTERIX_ROOT = Path(__file__).resolve().parents[3]
+DATA_ROOT = MATTERIX_ROOT / "source/matterix_assets/data/labware"
+VIAL_ROOT = DATA_ROOT / "fisherbrand_03-339-21f"
+HOLDER_ROOT = DATA_ROOT / "vialplate_3_5"
+TASK_PATH = MATTERIX_ROOT / "source/matterix_tasks/matterix_tasks/test_dev_tasks/test_franka_vialplate.py"
+
+
+def test_promoted_payloads_have_complete_static_contract():
+    """Verify files, frame count, hashes, licenses, and official-only task paths."""
+    required_files = [
+        VIAL_ROOT / "fisherbrand_03-339-21f_z_up_fixed.usda",
+        VIAL_ROOT / "files/fisherbrand_03-339-21f_z_up_fixed_mesh.usda",
+        VIAL_ROOT / "files/Fisherbrand_Vial_Z_UP_FIXED.usdc",
+        VIAL_ROOT / "provenance/LICENSE.asset.txt",
+        VIAL_ROOT / "provenance/NOTICE.md",
+        VIAL_ROOT / "provenance/provenance.yaml",
+        HOLDER_ROOT / "3_5_vialplate_free_standing.usda",
+        HOLDER_ROOT / "3_5_vialplate_free_standing_frames.usda",
+        HOLDER_ROOT / "files/3_5_vialplate_free_standing_mesh.usda",
+        HOLDER_ROOT / "holder-hole-frame-contract.json",
+        HOLDER_ROOT / "provenance/LICENSE.asset.txt",
+        HOLDER_ROOT / "provenance/NOTICE.md",
+        HOLDER_ROOT / "provenance/asset_metadata.yaml",
+        HOLDER_ROOT / "provenance/license_record_draft.txt",
+    ]
+    missing = [str(path) for path in required_files if not path.is_file()]
+    assert not missing, f"missing promoted payload files: {missing}"
+
+    contract_path = HOLDER_ROOT / "holder-hole-frame-contract.json"
+    contract = json.loads(contract_path.read_text(encoding="utf-8"))
+    frames = contract["frames"]
+    assert len(frames) == 15
+    assert len({frame["name"] for frame in frames}) == 15
+    selection = contract["initial_dynamic_vial_set"]
+    assert selection["pick_vial"] == "hole_middle_center"
+    assert len(selection["witness_vials"]) == 3
+
+    metadata = (HOLDER_ROOT / "provenance/asset_metadata.yaml").read_text(encoding="utf-8")
+    assert "original_license: Public Domain" in metadata
+    assert "package_license: CC0-1.0-Universal" in metadata
+    assert hashlib.sha256(contract_path.read_bytes()).hexdigest() in metadata
+
+    holder_license = (HOLDER_ROOT / "provenance/license_record_draft.txt").read_text(encoding="utf-8")
+    assert "https://3d.nih.gov/entries/3DPX-000429" in holder_license
+    assert "Public Domain" in holder_license
+    assert "CC BY 4.0" not in holder_license
+    assert "Pending" not in holder_license
+
+    vial_provenance = (VIAL_ROOT / "provenance/provenance.yaml").read_text(encoding="utf-8")
+    assert "asset_status: promoted_to_official_matterix_data" in vial_provenance
+    assert "canonical_visual_source_relative_path: not_packaged_in_official_data" in vial_provenance
+    assert "creation_method: user_authored_self_modelled_from_official_specification_and_dimensions" in vial_provenance
+    assert "license_status: CC0-1.0-Universal" in vial_provenance
+    assert "manufacturer_cad_or_texture_copied: false" in vial_provenance
+
+    vial_notice = (VIAL_ROOT / "provenance/NOTICE.md").read_text(encoding="utf-8")
+    assert "This promoted Matterix asset" in vial_notice
+    assert "The candidate is" not in vial_notice
+
+    task = TASK_PATH.read_text(encoding="utf-8")
+    assert "MATTERIX_PHASE_B_ASSETS_ROOT" not in task
+    assert "MATTERIX_VIAL_USD" not in task
+    assert "asset_workbench/phase_b_candidates" not in task

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",