Example Applications#

This section provides complete examples that you can run from start to finish on the WMX R2 stack. The manipulator scenarios come from the movensys-manipulator repository (Dobot CR3A / CR5A arms with MoveIt2 / Isaac cuMotion planning and Nvblox / YOLO / AprilTag perception). The navigation scenarios come from the movensys-navigation repository (a differential-drive base with Nav2 planning, EKF odometry, and SLAM mapping). The Robopoly game is a voice-driven VLM/LLM application from the movensys-intelligence repository, built on top of the manipulator stack.

Every manipulator and navigation scenario runs in three execution modes:

  • Simulation – pure simulation (Isaac Sim or Gazebo), no hardware

  • HIL – hardware-in-the-loop: simulator visuals with the real WMX runtime

  • Real – the real robot via WMX over EtherCAT

Warning

Run the modes in order Simulation, then HIL, then Real.

The three modes are a safety sequence, not a convenience. Incorrect gear ratios, encoder resolution, joint directions, or home offsets cause unexpected motion even when the software is working correctly, and Simulation and HIL are where those errors are cheap to find.

Before the Real tab of any scenario, complete Commissioning: verify the robot parameters (Robot Parameter Configuration and Validation), run the low-speed single-axis procedure (Commissioning and First Motion), and put the separate safety measures in Safety Functions and Responsibility in place. Check Hardware Compatibility and Validation for what has actually been validated on your robot.

Common Requirements#

  • The core WMX R2 packages built and the WMX Runtime at /opt/wmx3/ (see Getting Started)

  • Docker with docker compose (the examples run inside containers)

  • An NVIDIA GPU and Isaac ROS prerequisites for the isaac-ros_* images

  • EtherCAT hardware for HIL and Real modes

  • The movensys-simulation repo for the Isaac Sim scenes

Before running any scenario, set up the stack once — see movensys-manipulator Setup for manipulator scenarios and movensys-navigation Setup for navigation scenarios.

Development Roadmap#

The examples are under active development. Planned and in-progress work is tracked below.

Note

This roadmap covers example applications and platform support only. It is not a commitment to provide safety functionality equivalent to a certified industrial robot controller. Planned safety-related material — recommended safety architectures, STO and safety-PLC integration examples, and commissioning guidance — is listed separately in Safety Functions and Responsibility.

2026 Q1

2026 Q2

2026 Q3

  • Add WMX3 general node

  • Add trajectory example

  • Add Apriltag example

  • Add movensys_isaac_manipulator

  • Add movensys_intel_manipulator

  • Add movensys_thor_manipulator

  • Add robotic_isaac_sim

  • Add Apriltag example

  • Support arm64/amd64

  • Support ROS2 humble/jazzy

  • Support dobot cr3a/cr5a

  • Add Joint Trajectory Controller node

  • Add Gripper Controller node

  • Add movensys-manipulator

  • Add movensys-simulation

  • Add movensys-intelligence

  • Add Apriltag + Obstacle avoidance example

  • Add Robopoly example

  • Delete robotic_isaac_sim

  • Delete movensys_isaac_manipulator

  • Delete movensys_intel_manipulator

  • Delete movensys_thor_manipulator

  • Add movensys-navigation

  • Add Diffbot in isaacsim

  • Add differential drive controller node

  • ros2_control integration

  • Support Jetson Development Kit

  • Universal NIC Kernel driver

  • Free license for 6 hours