Winebot: MoveIt Task Constructor and NVIDIA Isaac Sim with fluid simulation

Pick-and-place example using the MoveIt Task Constructor (MTC), all simulated within NVIDIA Isaac Sim.

Key features

• A complete demo showing how to integrate MoveIt with NVIDIA Isaac Sim.
• A Planning Scene Converter that synchronizes the MoveIt Planning Scene with the objects in the simulation.
• A custom pouring stage for the MTC based on mtc_pour ported to ROS2.
• How to configure the Isaac script to enable SDF collisions and fluid dynamics while simulating robot joints.
• Real-time simulation with ray tracing, achieving up to 30 FPS using an NVIDIA RTX3090 GPU.

How to launch

MoveIt

ros2 launch winebot_bringup moveit_isaac.launch.py

Isaac Sim

./run_isaac.sh