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ROBOTIS AI Worker Constraint Teleop Example

examples/12_ai_worker_constraint_teleop.py is a Viser-based dual-arm IK demo for ROBOTIS AI Worker FFW models. It uses the public ROBOTIS-GIT/ai_worker repository for visual URDF assets and bundled reduced collision assets for interactive collision-aware IK.

What It Covers

  • Dual 6D transform controls for left/right worker tools
  • Viser visualization throughout via ViserServer + ViserUrdf
  • Lift and head posture bias controls layered underneath the IK tasks
  • Passive-joint locking so wheel/drive joints stay quiet during arm teleoperation
  • Support for both local variants available in this workspace:
  • sg2
  • bg2

Run It

For a pip/venv install, copy the examples and run the script with the activated venv Python:

source .venv/bin/activate
pip install "embodik[examples]"
embodik-examples --copy
cd embodik_examples
python 12_ai_worker_constraint_teleop.py

If you are not activating the venv, use the Python path printed by embodik-examples --copy, for example:

/path/to/.venv/bin/python 12_ai_worker_constraint_teleop.py

From a repository checkout, use Pixi:

pixi run python examples/12_ai_worker_constraint_teleop.py

The default worker variant is sg2. To use the other worker variant, pass --variant bg2. For example, from copied examples:

python 12_ai_worker_constraint_teleop.py --variant bg2

Asset Resolution

The script resolves the worker URDF from one of these locations:

  • explicit --urdf / --collision-urdf arguments
  • explicit --ai-worker-root /path/to/ROBOTIS-GIT/ai_worker
  • EMBODIK_AI_WORKER_ROOT / AI_WORKER_ROOT
  • automatic cached download from the public ROBOTIS-GIT/ai_worker repository

The generated reduced collision URDF is bundled under examples/assets/ai_worker/generated/ when examples are copied from the pip package with embodik-examples --copy.

Note About SH5

The Sungjoon notebook reference for the AI worker IK flow uses FFW-SH5, but that model is only available here as MJCF/XML, not as a URDF. This example is therefore built on the available SG2 / BG2 URDF variants while keeping the same dual-arm interactive IK workflow.