# MATRiX v1.1.2 motion control

XXG is hidden in open-source mode and is not a selectable robot in this release. The default model is `xgb`.

[Back to README](../README.md) | [中文](Motion_Control_CN.md)

The open v1.1.2 release uses built-in motion control by default. The external `robot_mc` runtime is not distributed in this package and must be downloaded separately when needed.

## Default built-in mode

The active configuration is `UeSim/Content/model/config/config.json`, with:

```json
"inside_mc": true
```

UeSim starts both simulated hardware and the embedded controller. No separate controller terminal or dependency installation is required.

```bash
./UeSim.sh
```

Check the current value with:

```bash
rg -n '"inside_mc"' UeSim/Content/model/config/config.json
```

Restart UeSim after manually changing the mode.

Built-in controller IDs registered by the current source are:

```text
xgb  xg2  xgw  xgw2  zgws  zgwt  zgwsarm
```

`go2` and `go2w` simulation assets are present but are not in the current embedded-controller list.

## Gamepad and UDP input

The default `Auto` input mode gives recent UDP packets priority and otherwise reads the hardware gamepad. Linux uses `/dev/input/js0` by default. Common Xbox controls are left stick for translation, right-stick X for yaw, `LB+Y` to stand, `LB+B` for balance stand, `LB+X` for joint hold, and `LB+RB` for passive mode.

UDP examples require only Python's standard library:

```bash
python3 Tools/matrix_mc_udp_test.py stand
python3 Tools/matrix_mc_udp_test.py walk --stand-first --forward 0.25 --duration 3
python3 Tools/matrix_mc_udp_test.py rotate --yaw 0.25 --duration 2
python3 Tools/matrix_mc_udp_test.py passive
```

Use `--host <SIMULATOR_IP>` for a remote simulator. UDP input listens on port 7447 by default and expires after 0.5 seconds without a valid packet.

### Bundled v1.1.2 integration scope

The bundled `robot_mc_provenance.json` records the 2026-09-08 integration of controller 0.6.6: XXG Walk/GaitWalk/Pace/Three/RPWalk/Run, XG2 Passive fold-down, and XGW2 stand-up wheel locking. Use the action menu for the selected robot.

Bundled weights do not imply enabled behaviors. WMPOutdoor depth/RSSM, Measured_Mlp terrain input, XXG 25-motion Mimic, XG ZYShakeHand, and XXG gamepad double-click gear switching are outside the recorded integration scope.

## Optional external robot_mc (separate download)

This release contains no external controller binary, model bundle, dependencies, or installer. Download the Linux x86_64 runtime asset from:

<https://github.com/GENISOM-AI/MATRiX_Robot_MC/releases>

The historical v0.6.4 example below targets Ubuntu 22.04 x86_64. Check the downloaded external release for its actual OS requirements and launcher arguments; these are separate from UeSim requirements.

Do not use GitHub's automatically generated source archives; they do not contain the complete runtime.

Extract it outside the MATRiX directory, then follow that release's README:

```bash
chmod +x install_deps.sh run_mc.sh
./install_deps.sh
```

The installer may use sudo, APT, network access, and bundled packages. These are historical external v0.6.4 examples, not a fresh audit of the latest external release or the bundled 0.6.6 controller integration:

| UeSim model | External project model | `ROBOT_TYPE` |
|---|---|---|
| `xgb` | `zsl-1` / `zsl-2` | `XG` |
| `xgw` | `zsl-1w` | `XGW` |
| `xgw2` | `zsl-2w` | `XGW2` |
| `zgws` / `zgwt` | `zsm-1w` | `ZGWS` |
| `zgwsarm` | `zgwsarm` | `ZGWS_ARM` |

`xg2` is supported by v1.1.2 built-in control but are not listed by the public external v0.6.4 README; do not invent a `ROBOT_TYPE` for them. The external project's supported list and launcher interface may change, so its downloaded README is authoritative.

Stop UeSim and edit `UeSim/Content/model/config/config.json`:

```json
"inside_mc": false
```

Save the file and start the simulator with `./UeSim.sh`.

After entering the simulation scene, start `./run_mc.sh r` from the separately extracted controller directory. Never run the embedded and external controllers together.

To restore the release default, stop the external controller and UeSim, then change the configuration back to:

```json
"inside_mc": true
```

Restart with `./UeSim.sh`.

The runtime log is `UeSim/Saved/Logs/UeSim.log`.