# Marcus — Control & Startup Guide

**Updated**: 2026-04-06

---

## Quick Start

### Prerequisites (Jetson Orin NX)

```bash
# Terminal 1 — Start Holosoma (locomotion policy)
source ~/.holosoma_deps/miniconda3/bin/activate hsinference
cd ~/holosoma
~/.holosoma_deps/miniconda3/envs/hsinference/bin/python3 \
  src/holosoma_inference/holosoma_inference/run_policy.py \
  inference:g1-29dof-loco \
  --task.model-path src/holosoma_inference/holosoma_inference/models/loco/g1_29dof/fastsac_g1_29dof.onnx \
  --task.velocity-input zmq \
  --task.state-input zmq \
  --task.interface eth0
```

### Option A — Terminal Mode (on Jetson)

```bash
# Terminal 2 — Start Marcus Brain
conda activate Marcus
ollama serve & sleep 3
cd ~/Marcus
python3 run_marcus.py
```

Direct keyboard control. All commands typed locally.

### Option B — Server + Client (remote)

```bash
# Terminal 2 (Jetson) — Start Server
cd ~/Marcus
python3 -m Server.marcus_server

# Terminal 3 (Workstation) — Connect Client
cd ~/Robotics_workspace/yslootahtech/Project/Marcus
python3 -m Client.marcus_cli
```

Client prompts for connection:
```
  Connection options:
    1) eth0  — 192.168.123.164:8765
    2) wlan0 — 10.255.254.86:8765
    3) custom
  Choose [1/2/3] or IP:
```

Or skip prompt: `python3 -m Client.marcus_cli --ip 192.168.123.164 --port 8765`

---

## Command Reference

### Movement
| Command | Action |
|---------|--------|
| `turn left` / `turn right` | Rotate (2s default) |
| `walk forward` / `move back` | Walk (2s default) |
| `walk 1 meter` | Precise odometry walk |
| `walk backward 2 meters` | Precise backward walk |
| `turn right 90 degrees` | Precise odometry turn |
| `turn right then walk forward` | Multi-step compound |
| `come to me` / `come here` | Forward 2s (instant, no AI) |
| `stop` | Gradual stop |

### Vision
| Command | Action |
|---------|--------|
| `what do you see` | LLaVA describes camera view |
| `describe the room` | LLaVA scene description |
| `is anyone here` | LLaVA person check |
| `yolo` | Show YOLO detection status |

### Goal Navigation
| Command | Action |
|---------|--------|
| `goal/ stop when you see a person` | YOLO fast search + stop |
| `goal/ find a laptop` | YOLO + LLaVA search |
| `goal/ stop when you see a guy holding a phone` | YOLO + LLaVA compound verification |
| `find a person` | Auto-detected as goal (no prefix needed) |
| `look for a bottle` | Auto-detected as goal |

### Place Memory
| Command | Action |
|---------|--------|
| `remember this as door` | Save current position |
| `go to door` | Navigate to saved place |
| `places` | List all saved places |
| `forget door` | Delete place |
| `rename door to entrance` | Rename place |
| `where am I` | Show odometry position |
| `go home` | Return to start position |

### Patrol
| Command | Action |
|---------|--------|
| `patrol` | Autonomous patrol (prompts for duration) |
| `patrol: door → desk → exit` | Named waypoint patrol |

### Image Search
| Command | Action |
|---------|--------|
| `search/ /path/to/photo.jpg` | Find target from reference image |
| `search/ /path/to/photo.jpg person in blue shirt` | Image + hint |
| `search/ person in blue shirt` | Text-only search |

### Session Memory
| Command | Action |
|---------|--------|
| `last command` | Show last typed command |
| `do that again` | Repeat last command |
| `undo` | Reverse last movement |
| `last session` | Previous session summary |
| `session summary` | Current session stats |

### System
| Command | Action |
|---------|--------|
| `help` | Command reference |
| `example` | Usage examples |
| `q` / `quit` | Shutdown |

### Client-Only Commands (CLI)
| Command | Action |
|---------|--------|
| `status` | Ping server + LiDAR status |
| `camera` | Get camera configuration |
| `profile low/medium/high/full` | Switch camera profile |
| `capture` | Take a photo |

---

## Network Configuration

| Interface | IP | Use |
|-----------|-----|------|
| `eth0` | 192.168.123.164 | Robot internal network (Jetson - G1 - LiDAR) |
| `wlan0` | 10.255.254.86 | Office WiFi (Jetson - Workstation) |

| Service | Port | Protocol |
|---------|------|----------|
| Marcus WebSocket | 8765 | ws:// |
| ZMQ Velocity | 5556 | tcp:// (PUB/SUB) |
| Ollama API | 11434 | HTTP |
| LiDAR | 192.168.123.120 | Livox Mid360 |

All configurable in `Config/config_Network.json`.

---

## Subsystem Status

On startup, the server/brain shows:
```
YOLO      : active       (19 tracked classes, CPU, yolov8m.pt)
Odometry  : active       (dead reckoning, +/-10cm)
Memory    : active       (session_016_2026-04-06)
Camera    : 424x240@15   (RealSense D435I)
LiDAR     : ALIVE        (Livox Mid360 at 192.168.123.120)
Arms      : pending      (GR00T N1.5 not yet integrated)
```

---

## Troubleshooting

| Issue | Cause | Fix |
|-------|-------|-----|
| `ModuleNotFoundError: No module named 'Server'` | Wrong directory | `cd ~/Marcus` then run |
| Robot doesn't move | Holosoma not running | Start Holosoma first (Terminal 1) |
| Robot doesn't move | ZMQ port conflict | Only run one of Server or Brain, not both |
| `Camera: {e} reconnecting` | USB bandwidth | Reduce to `low` profile |
| LLaVA slow (>10s) | GPU VRAM full | Kill other GPU processes, or use `qwen2.5vl:3b` |
| `YOLO not available` | ultralytics not installed | `pip install ultralytics` |
| Client can't connect | Wrong IP or server not running | Check `status` command, verify IP |

---

## File Locations

| What | Path |
|------|------|
| Brain code | `~/Marcus/Brain/` |
| Server | `~/Marcus/Server/marcus_server.py` |
| Config | `~/Marcus/Config/` |
| Prompts | `~/Marcus/Config/marcus_prompts.yaml` |
| YOLO model | `~/Marcus/Models/yolov8m.pt` |
| Session data | `~/Marcus/Data/Brain/Sessions/` |
| Places | `~/Marcus/Data/History/Places/places.json` |
| Logs | `~/Marcus/logs/` |

See `Doc/architecture.md` for full project structure and file-by-file documentation.