Open Source
The OMY 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 set up and operate OMY, start with
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 Isaac Lab simulation and robot assets, see
cyclo_lab.
OMY 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 OMY | 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 USD robot assets for OMY | 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 | open_manipulator_description/urdf | ROS 2 robot description and visualization |
| MJCF | robotis_mujoco_menagerie/robotis_omy | MuJoCo model and scene configuration |
| USD | cyclo_lab/data/robots/OMY | Isaac Sim and Isaac Lab robot assets |
See the Simulation Overview for format descriptions and setup guidance.
Additional Resources
| Resource | Available files | Guide |
|---|---|---|
| OMY-F3M drawings | PDF · DWG · STEP | Hardware Specifications |
| OMY-L100 drawings | PDF · DWG · STEP | Hardware Specifications |
| Docker image | robotis/open-manipulator | Setup Guide |
| 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.