Example Applications#
This section provides complete examples that you can run from start to finish on the WMX R2 stack. They draw on four repositories:
Part |
Repository |
What it contains |
Helper |
|---|---|---|---|
Manipulator |
Manipulator with MoveIt2 / Isaac cuMotion planning and Nvblox / YOLO / AprilTag perception |
|
|
Navigation |
A differential-drive base with Nav2 planning, EKF odometry, and SLAM mapping |
|
|
Robopoly game |
A voice-driven VLM/LLM application built on top of the manipulator stack |
|
|
Isaac Sim scenes |
The USD scenes used by the manipulator and navigation scenarios |
— |
Each stack runs in its own Docker container, and the Helper column names
the shell helper that runs a command inside it (wros does the same for the
core WMX R2 container — see Testing WMX R2). Isaac Sim runs on the host.
Note
The robots in these scenarios are examples.
The scenarios run on the Dobot CR3A and CR5A arms and the diffbot
differential-drive base because those are the models this project ships a
ready-made parameter file, URDF, and planning configuration for. WMX R2
itself controls axes, not a specific robot model: it commands EtherCAT
servo drives over CoE and drives any EtherCAT robot or machine regardless
of brand.
Running your own machine means supplying its configuration — see Robot Parameter Configuration and Validation — and Hardware Compatibility and Validation for what has been validated so far. Testing WMX R2 needs no robot model at all; it exercises the axes directly.
Every scenario is presented in three modes:
Mode |
Planner |
WMX engine |
EtherCAT |
Motion |
|---|---|---|---|---|
Simulation |
real |
not used |
not used |
simulated physics |
HIL |
real |
real |
simulated platform |
simulated, driven by the engine |
Real |
real |
real |
real bus |
physical servos |
HIL is the step that catches configuration errors: the engine, the axis parameters, the gear ratios, and the whole WMX R2 node graph are exactly what the real robot will use — only the motors are not. An axis that moves the wrong way in HIL would have moved the wrong way on the robot.
The mode is selected in /opt/wmx3/Module.ini (simulation platform versus
EtherCAT platform) and by which USD scene you open. See
Testing WMX R2 for the Module.ini switch.
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 Try Your Robot: verify the robot parameters (Robot Parameter Configuration and Validation), run the low-speed single-axis procedure (First Motion on Hardware), 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_*imagesEtherCAT 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 |
|---|---|---|
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