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MATRiX v0.1.2 - Modular Chunk Packages

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@GENISOM-AI GENISOM-AI released this 28 Apr 01:29
v0.1.2
818c01f

MATRiX Release 0.1.2

Highlights

  • Added Pixel Streaming support for viewing the Unreal Engine simulation stream from a browser.
  • Added custom URDF import support for loading third-party MuJoCo/URDF robot models through the provided launch scripts.
  • Added one-click RoamerX Open integration in sim_launcher to start the ROS 2 Nav2 navigation stack together with MATRiX simulation.
  • Added runtime environment checks before launch. The checks now validate system dependencies, ROS 2 Humble, MuJoCo, MC, UE runtime assets, shared libraries, and required configuration files.
  • Added full offline package download options for matrix_0.1.2.zip, including Artifactory, Google Drive, and Baidu Netdisk links, with SHA256 verification.

New Maps

  • ApartmentWorld: apartment-style indoor scene for navigation and obstacle traversal tests.
  • MeetRoomWorld: meeting-room indoor scene for compact navigation and interaction tests.
  • CaliWorld: calibration and basic validation scene for quick functional checks.

Bug Fixes

  • Fixed sim_launcher keyboard control mode capturing movement keys globally and preventing other applications from using those keys normally.
  • Fixed release chunk installation issues around manifest refresh, split package download, merge, and checksum validation.
  • Fixed incomplete assets installation detection so missing runtime files trigger a reinstall instead of failing later at launch.
  • Fixed Ubuntu 22.04 dependency installation issues, including local deb install paths, optional ROS image transport packages, Zenoh, and robot-forward compatibility.
  • Fixed runtime shared library isolation between UE, MuJoCo, and MC processes to avoid LD_LIBRARY_PATH contamination.
  • Improved error reporting for missing runtime assets and shared libraries, including clearer ldd version-error diagnostics.
  • Fixed RoamerX Open workspace detection and launcher path handling.

Upgrade Notes

  • Recommended environment: Ubuntu 22.04 with ROS 2 Humble.
  • Existing users should rerun scripts/install_deps.sh and reinstall the 0.1.2 assets/base/chunk packages.
  • The Artifactory package link is for internal network use. External users should use Google Drive or Baidu Netdisk.

Required Packages

  • assets-0.1.2.tar.gz (~675MB)

    • Launcher files: bin/sim_launcher, bin/sim_launcher.bin
    • MuJoCo runtime binary and dynamic map payloads
    • MC runtime binaries and shared libraries, including WBC libraries
    • ONNX controller models: xg, xg_wheel, zg_wheels
    • UE runtime dependencies, including OpenCV shared libraries

  • base-0.1.2.tar.gz (~2.0GB)

    • Chunk 0 / EmptyWorld core content
    • Core Blueprints and system files
    • Published robot model directories: xgb, xgw, zgws, go2, go2w
    • Runtime template directories: Content/model/config, Content/model/SceneLoder

Internal robot model directories are not included in this release. Content/model/dynamicmap is created at runtime for MoonWorld from dynamicmaps/moonworld.bin.

Recommended / Optional Packages

  • shared-0.1.2.tar.gz (~3.3GB): shared resources used by multiple maps. This file exceeds GitHub's single-asset size limit and is uploaded as split parts when needed.
  • Map packages: install only the maps you need.

Checksums

  • assets-0.1.2.tar.gz: ec18164489775c9f5ac1f73da4790c8c5d18f701cddf48ec1a8e8d7b3861e8fc
  • base-0.1.2.tar.gz: 2cbb40861e89c40735cd64b24e8b64d88d012f335bdb405b5ed52db86f8b4e38

Verify all downloaded packages with:

sha256sum -c checksums-0.1.2.sha256

Install

bash scripts/release_manager/install_chunks.sh 0.1.2

For offline/local installation, place downloaded packages in releases/ and run:

bash scripts/release_manager/install_chunks_local.sh 0.1.2
Assets 32
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