Movensys Simulation

USD scene files for running the movensys-manipulator examples in NVIDIA Isaac Sim.

Overview

This repository ships ready-to-open Isaac Sim scenes for the Dobot CR3A and CR5A manipulators driven by the WMX ROS2 stack. Each scene wires the robot, gripper, sensors, and isaacsim.ros2.bridge topics needed by the matching example in movensys-manipulator, so you can launch a demo without authoring the scene from scratch.

Repository Layout

.
├── dobot_cr3a/   # USD scenes for the Dobot CR3A manipulator
└── dobot_cr5a/   # USD scenes for the Dobot CR5A manipulator

Scene naming convention

Each scene is named <n><mode>_<example>.usd, where <mode> selects how the robot is driven:

Suffix	Mode	Purpose
a	simulation	Pure Isaac Sim — no physical hardware needed
b	hil	Hardware-in-the-loop — sim with WMX runtime
c	real	Visualization against the real robot

The CR3A directory provides scenes for the trajectory, AprilTag pick-and-place, obstacle avoidance, RoboPoly, and AprilTag obstacle-avoidance examples. The CR5A directory currently provides the trajectory scene.

Requirements

• Ubuntu 22.04 or 24.04
• NVIDIA Isaac Sim 5.0.0+
• ROS 2 (Jazzy recommended) with the isaacsim.ros2.bridge extension enabled
• The movensys-manipulator workspace to drive the scenes

Quick Start

1. Configure the ROS 2 environment

Add the following to your ~/.bashrc (or source it per shell):

export ROS_DOMAIN_ID=70
export ROS_DISTRO=jazzy
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/$ROS_DISTRO/lib

source /opt/ros/$ROS_DISTRO/setup.bash

source ~/.bashrc

2. Clone the repository

mkdir -p ~/workspaces
cd ~/workspaces
git clone https://github.com/movensys/movensys-simulation.git

3. Launch Isaac Sim

~/isaacsim/isaac-sim.selector.sh

1. Enable the isaacsim.ros2.bridge extension and click Start.
2. Open a scene under ~/workspaces/movensys-simulation/, for example: dobot_cr3a/3a_trajectory_simulation.usd.
3. Click Play in the left toolbar to start the simulation.
4. Run the matching example from movensys-manipulator to drive the robot.

Related Repositories

• movensys-manipulator — Manipulator examples for the WMX ROS2 package
• movensys-intelligence — VLM-driven task planning for the manipulator

License

Released under the MIT License. See LICENSE.txt for details.