MatteriX

Towards a Digital Twin for Robotics-Assisted Chemistry Lab Automation

MatteriX Team,
publication at ...
Code Documentation arXiv (Coming Soon)

Overview

Matterix is a multi-scale, GPU-accelerated robotic simulation framework designed to create high-fidelity digital twins. Demonstrated for chemistry lab automation, it reduces reliance on costly real-world experiments. Built on NVIDIA Isaac Sim and Isaac Lab, it integrates realistic physics simulation and photorealistic rendering with a modular GPU-accelerated semantics engine to model robotic manipulation, powder and liquid dynamics, device functionalities, heat transfer, and chemical reaction kinetics across different levels of abstraction. The framework enables rapid prototyping and testing of automated workflows in silico, with demonstrated sim-to-real transfer capabilities and open-source asset libraries.

Key Features

Multi-Scale Simulation

Extends NVIDIA Isaac Sim's physics engine with a semantics engine for multi-scale workflow simulation. Includes heat transfer and chemical kinetics, with extensible architecture for other domains.

GPU-Parallelized Semantics Engine

Models logical states and continuous behaviors across abstraction levels, running on GPU for efficient parallelization with physics integration.

Particle-Based Simulation

Vectorized simulation of powder and liquid dynamics for realistic modeling of granular materials.

Hierarchical Workflow Design

Build workflows using hierarchical state machines and a skill library combining learning-based and classical methods, vectorized for long-horizon training.

Easy Environment Creation

Library of photorealistic lab assets with support for generating environments from real labs via 3D scanning.

Sim-to-Real Transfer

Demonstrated deployment of robots and automated platforms from simulation to real laboratory settings.

Particle Simulation

Video Coming Soon

Examples

Coming Soon

Material Mixing

Coming Soon

Powder Flow

Coming Soon

Granular Behavior

Coming Soon

Dispersion Dynamics

Coming Soon

Collision Physics

Coming Soon

Settling Behavior

State Machine Workflows

Video Coming Soon

Examples

Coming Soon

Automated Workflows

Coming Soon

Robot Control

Coming Soon

Complex Sequences

Getting Started

Installation

git clone https://github.com/AccelerationConsortium/Matterix.git
cd Matterix
# Follow installation instructions in README

Quick Example

# Run a basic simulation after installation
python scripts/random_agent.py --task Matterix-Test-Beakers-Franka-v1 --num_envs 1

Recent Updates

  • IsaacSim5.0 Compatibility: Updated for the latest Isaac Sim release
  • Particle System: New particle simulation capabilities added
  • Asset Management: Integrated LFS-based asset submodule system
  • State Machine: Flexible workflow automation framework

Citation

@software{matterix2024,
  title={MatteriX: Towards a Digital Twin for Robotics-Assisted Chemistry Lab Automation},
  author={MatteriX Team},
  year={2025},
  url={https://github.com/AccelerationConsortium/Matterix}
}