Open Source

The OMX open-source stack combines ROS 2 packages for the manipulator with an end-to-end imitation learning workflow, control packages, and supporting simulation resources maintained by ROBOTIS.

Where should I start?

• To assemble and operate OMX, start with the Setup Guide and open_manipulator.
• To record demonstrations, prepare datasets, train policies, and run inference, start with the Imitation Learning Overview and continue with Cyclo Intelligence.
• For constraint-aware Cartesian and joint-space motion on the real robot, use Cyclo Control.
• For the shared Isaac Lab simulation framework and robot assets, see cyclo_lab.

OMX Repositories

Category	Repository	What it provides	Guide
Robot platformROS 2	ROBOTIS-GIT/open_manipulator	Robot descriptions, bringup, controllers, MoveIt configuration, teleoperation, and hardware integration for OMX	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 and MoveJ controllers with interpolation, constraint handling, and self-collision avoidance for real-robot motion	Cyclo Control
SimulationIsaac Lab	ROBOTIS-GIT/cyclo_lab	Isaac Lab-based simulation environments, tasks, and shared robot assets; an OMX USD model is not currently included	Simulation Overview

Simulation Models

These robot-description and simulation models support visualization and simulation work around the primary imitation learning workflow.

Format	Repository location	Use
URDF	open_manipulator_description/urdf	ROS 2 robot description and visualization
MJCF	robotis_mujoco_menagerie/robotis_omx	MuJoCo model and scene configuration

USD is not currently available for OMX.

See the Simulation Overview for the available format descriptions.

Additional Resources

Resource	Available files	Guide
OMX-F drawings and 3D files	PDF · STEP	Hardware Specifications
OMX-L drawings and 3D files	PDF · STEP	Hardware Specifications
Docker image	robotis/open-manipulator	Setup Guide
Tutorial videos	ROBOTIS Open Source Team	Video Gallery

The hardware guide also links to printable models available through Printables and Onshape.

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.