WMX R2 Documentation

WMX R2™ — The Real-Time Execution Layer for Physical AI

Technical documentation for WMX R2, a complete real-time robotics solution for Physical AI that integrate a ROS 2 interface with the MOVENSYS WMX3 motion engine it runs on. ("R2" stands for Real-time Robotics.)

ROS is a trademark of Open Robotics.

Documentation Site: https://movensys.github.io/wmx-r2-doc/

Overview

WMX R2 combines a ROS 2 interface with the MOVENSYS WMX3 EtherCAT-based motion engine in a single solution, enabling control of robotic manipulators (e.g., Dobot CR3A) with motion planning through MoveIt2 and NVIDIA Isaac cuMotion.

Documentation Contents

Section	Description
Getting Started	System requirements, ROS2 installation, workspace setup, mock & physical hardware, architecture
Commissioning	Robot parameter configuration and validation, first-motion procedure, safety responsibilities, validated-hardware matrix
Packages	wmx_r2_message and wmx_r2_package node documentation
Integration	MoveIt2, NVIDIA Isaac cuMotion, custom planner & application guides
API Reference	ROS2 services, topics, and actions
Demo application	NVIDIA Jetson Orin and Intel x86_64 setups
Deployment	Source build, Debian package, and Docker options
Troubleshooting	Common issues and solutions
Licensing	Boundary between the MIT-licensed ROS 2 interface and the proprietary WMX engine

Building Locally

Prerequisites

• Python 3.10+

Setup

python3 -m venv venv
source venv/bin/activate
pip install -r doc/requirements.txt

Build

cd doc
make clean
make html

Open doc/_build/html/index.html in your browser to view the documentation.

Webserver

• Youtube link is broken when you try to see index.html file to web browser directly.

cd doc/_build/html
python3 -m http.server 8000

Deployment

Documentation is automatically built and deployed to GitHub Pages via GitHub Actions on every push to main.

License

This documentation: Copyright 2026 MOVENSYS. All rights reserved.

"WMX R2" as a whole is not MIT-licensed. The licensing boundary is:

Component	License
ROS 2 interface source code (wmx_r2_message, wmx_r2_package, wmx_r2_control) and the example repositories	MIT
WMX Motion Engine, WMX3 SDK, and binaries (/opt/wmx3/)	Proprietary — evaluation or commercial license
This documentation	© 2026 MOVENSYS, all rights reserved

The MIT-licensed packages link against the proprietary SDK and cannot be built or run without a WMX runtime. See the Licensing page.