Open Source
AI Sapiens is designed as an open platform. This page lists the public repositories used to inspect, modify, simulate, and build applications for the robot.
- For the K1 ROS 2 software stack, start with
ai_sapiens. - To train or test policies in simulation, start with
cyclo_lab.
AI Sapiens Repositories
These repositories are maintained by ROBOTIS and provide the main software and documentation for AI Sapiens.
| Category | Repository | What it provides | Guide |
|---|---|---|---|
| Robot platformROS 2 | ROBOTIS-GIT/ai_sapiens | K1 robot description, bringup, controllers, interfaces, Docker environment, and Sim2Real runtime | Software ArchitectureROS 2 Package Structure |
| SimulationReinforcement learning | ROBOTIS-GIT/cyclo_lab | Isaac Lab environments, task definitions, policy training, motion imitation, and Sim2Real workflows for ROBOTIS robots | Cyclo Lab |
Simulation Models
The currently available robot-description and simulation models for AI Sapiens K1 are listed below.
| Format | Repository location | Use |
|---|---|---|
| URDF | ai_sapiens_description/urdf/k1_rev1 | ROS 2 robot description, RViz visualization, and downstream model conversion |
| MJCF | ai_sapiens_description/mujoco/k1 | MuJoCo simulation model and scene configuration |
USD is not yet publicly available. Its repository location will be added here when it is released.
Motion Generation and Retargeting
These ROBOTIS repositories provide K1-specific integration for the AI Sapiens motion workflow.
| Category | Repository | AI Sapiens role |
|---|---|---|
| Video-to-motion generation | ROBOTIS-GIT/GEM-XForked from NVlabs/GEM-X | Recovers SOMA-format human motion from monocular video and adds the ai_sapiens_k1 retargeting path |
| Motion retargeting | ROBOTIS-GIT/soma-retargeterForked from NVIDIA/soma-retargeter | Converts SOMA/BVH motion to K1 joint trajectories using the AI Sapiens robot description and mesh assets |
| Text-to-motion generation | ROBOTIS-GIT/kimodoForked from nv-tlabs/kimodo | Generates source motion from text and kinematic constraints for conversion or retargeting in the K1 motion workflow |
See GEM-X, Soma-retargeter, and Kimodo for installation and AI Sapiens workflow details.
Shared ROBOTIS Software
These ROBOTIS repositories provide actuator-control and learning components used by the wider AI Sapiens stack.
| Category | Repository | Role |
|---|---|---|
| ROS 2 hardware interface | ROBOTIS-GIT/dynamixel_hardware_interface | Connects ROS 2 control command and state interfaces to DYNAMIXEL actuators |
| Actuator communication SDK | ROBOTIS-GIT/DynamixelSDK | Implements DYNAMIXEL packet communication used by the hardware interface |
| Imitation learning platform | ROBOTIS-GIT/cyclo_intelligence | Data recording, dataset conversion, policy training, inference, and robot execution; the AI Sapiens guide is coming soon |
Additional Resources
| Resource | Available files | Guide |
|---|---|---|
| AI Sapiens K1 hardware drawing | Hardware Specifications |
Planned Resources
The source-code repositories are available above. The following additional resources are planned for future release.
Hardware BoM
The complete Bill of Materials for K1, including parts, quantities, and references, will be published for reproducible builds.
STEP Files
Mechanical STEP files for core assemblies are planned so teams can inspect, customize, and integrate K1 hardware.
Tutorial Videos
Tutorial videos covering bring-up through policy deployment will be added to help new users get started.
Open Source Licenses
| Area | Default license |
|---|---|
| Hardware resources released by ROBOTIS | CERN-OHL-P-2.0 |
| Software released by ROBOTIS | Apache License 2.0 |
| Documentation | CC BY 4.0 |
Always check the LICENSE, notices, and third-party license files in each repository before use. Those files are the source of truth and may contain additional terms for dependencies, models, datasets, or other bundled assets.