Open Source
The AI Worker open-source stack combines the robot's ROS 2 software with an end-to-end imitation learning workflow, control packages, and supporting simulation resources maintained by ROBOTIS.
Where should I start?
- To set up and operate the robot, start with
ai_worker. - To record demonstrations, prepare datasets, train policies, and run inference, start with the Imitation Learning Overview and continue with Cyclo Intelligence.
- For constraint-aware arm motion, bimanual control, and VR teleoperation, use Cyclo Control.
- For Isaac Lab simulation and robot assets, see
cyclo_lab.
AI Worker Repositories
| Category | Repository | What it provides | Guide |
|---|---|---|---|
| Robot platformROS 2 | ROBOTIS-GIT/ai_worker | Robot descriptions, bringup, controllers, navigation, teleoperation, and hardware integration for the AI Worker lineup | Software Overview |
| Imitation learningData workflow | ROBOTIS-GIT/cyclo_intelligence | Demonstration recording, dataset preparation, training guidance, policy backend control, and robot inference from a web UI | Cyclo Intelligence |
| Motion controlQP controller | ROBOTIS-GIT/cyclo_control | MoveL, MoveJ, bimanual controllers, constraint handling, and trajectory filtering for real-robot motion | Cyclo Control |
| SimulationIsaac Lab | ROBOTIS-GIT/cyclo_lab | Isaac Lab-based simulation environments, tasks, and USD robot assets for AI Worker | Simulation Overview |
Simulation Models
These robot-description and simulation models support visualization, testing, and simulation work around the primary imitation learning workflow.
| Format | Repository location | Use |
|---|---|---|
| URDF | ai_worker/ffw_description/urdf | ROS 2 robot description and visualization |
| MJCF | robotis_mujoco_menagerie/robotis_ffw | MuJoCo models and scene configurations |
| USD | cyclo_lab/data/robots/FFW | Isaac Sim and Isaac Lab robot assets |
See the Simulation Overview for format descriptions and setup guidance.
Additional Resources
| Resource | Available files | Guide |
|---|---|---|
| FFW-BG2 drawings | PDF · DWG · STEP | Hardware Specifications |
| FFW-SG2 drawings | PDF · DWG · STEP | Hardware Specifications |
| FFW-LG2 drawings | STEP | Hardware Specifications |
| Docker image | robotis/ai-worker | Software Setup |
| Tutorial videos | ROBOTIS Open Source Team | Video Gallery |
Open Source Licenses
| Area | Default license or source |
|---|---|
| ROBOTIS software repositories | Apache License 2.0 |
| Simulation models | Check the LICENSE file in each model directory |
| Hardware drawings and downloads | Check the terms supplied with each downloadable resource |
| Docker images and bundled dependencies | Check the image notices and the licenses of included components |
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.
Looking for the full ROBOTIS catalog?
See the ROBOTIS Open Source catalog for CYCLO, shared software, models, datasets, and resources for other ROBOTIS products.