Open Source RoboticsRobots, software & learning

ROBOTO_ORIGIN (RPO)

LocomotionRobot learning

Based on published sources · Not tested by us ·

License: CERN-OHL-W-2.0, GPL-3.0, GPL-3.0-only, CC-BY-SA-4.0 · Details by part

Overview

Full-size DIY humanoid prototype from RoboParty with CNC-machined metal structure, 23 Damiao actuators in the published BOM, ROS 2 deployment and Isaac Lab training code; V2.0 hardware is not compatible with V1.0. [S001] [S004] [S009]

ROBOTO_ORIGIN (RPO) is RoboParty's full-size DIY humanoid prototype. The README describes its structure, electronics, training and deployment as open source. It says the robot can be assembled from Taobao purchases and "Jialichuang" PCB prototyping. The roboto_origin repository is a daily snapshot that aggregates eight sub-repositories, so issues and fixes belong in those modules. It suits builders who can order CNC-machined metal parts and PCBs, wire CAN actuators, and run ROS 2 and Isaac Lab. [S001]

Official website · Source code

Specifications

DetailDescription
TypeFull-size humanoid with legs, waist, arms and head shell.
Reported by source [S001] [S004] [S012] · Checked 2026-10-05
Intended usersBuilders able to order CNC-machined metal parts and PCBs, integrate CAN actuators and run ROS 2 and Isaac Lab
Editorial assessment [S001] [S007] [S009] [S010] · Checked 2026-10-05
AssemblyV2.0 PDF installation manual, wiring guide, pin calibration guide and printed-part calibration slides; CNC drawings and STEP files in the manufacturing folder.
Reported by source [S007] [S013] · Checked 2026-10-05
CalibrationV2.0 uses limit-pin calibration with printed calibration fixtures, replacing the V1.0 method.
Reported by source [S004] [S007] [S013] · Checked 2026-10-05
Operating systemUbuntu 22.04 (deployment controllers); Ubuntu 22.04 or Windows x64 (training)
Reported by source [S010] [S011] · Checked 2026-10-05
Computer neededOnboard Orange Pi 5 Plus or RDK X5 for deployment; a separate Isaac Sim-capable workstation for training (GPU not specified in the preserved text).
Reported by source [S010] [S011] · Checked 2026-10-05

3D preview

Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.

Model sources

Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.

Assembly and use

Pick the hardware version first

The hardware module contains two incompatible generations. V1.0 is the legacy design with separate power and USB-to-CAN boards. V2.0 is recommended: it adds a reinforced structure, a waist limit switch, limit-pin calibration and one integrated electrical board. The README warns that V2.0 mechanics and interfaces are not compatible with V1.0. [S004]

The V2.0 mechanical folder points to a PDF installation manual, a wiring guide, a pin-calibration guide and printed-part calibration slides, in that order. The repository tree lists SolidWorks parts and assemblies, STEP exports, 53 CNC drawing PDFs and 53 STEP files in the CNC folder, and printed calibration fixtures. The README names the manual "安装手册-0317.pdf", but the tree holds "安装手册_0428.pdf". Likewise, the PCB README describes RBE_Board v2.0 files, while the tree holds RBE_PWR_HUB V2.1 Gerber, BOM and schematic files dated 2026-04-09. Confirm you have the newest files before ordering. [S007] [S008] [S013]

The V2.0 board takes 48 V through an XT60 input, feeds four 48 V outputs to the limbs, supplies up to 8 A at 5 V to the main controller and provides USB-to-CAN. The deployment framework is verified on an Orange Pi 5 Plus and an RDK X5 under Ubuntu 22.04 with ROS 2 Humble. Training needs Isaac Sim 5.1.0 and Isaac Lab. [S008] [S010] [S011]

What the published BOM covers

The English BOM is labelled ATOM 01 v1.0.1 and dated 2026-01-05. It lists CNC parts, a 48 V 15 Ah battery, an IMU, an RDK X5, four separate USB-to-CAN adapters, a DC-DC module, and 14 DM 4340P plus 9 DM 10010L actuators. We infer 23 actuated joints from those counts. The header total reads 49,713 CNY, while the table ends at 49,743.53 CNY. Printed parts and many cable and fastener lines have no price. Because the BOM lists discrete converters that V2.0 integrates, it should not be treated as a V2.0 total. The V2.0 folder has its own parts list (V1.1.3 spreadsheet), which we did not open. [S004] [S007] [S009] [S013]

Licenses differ by module

The root GPL-3.0 does not relicense the modules. In rpo_hardware, RoboParty-owned CAD, PCB, BOM, URDF and manufacturing files are CERN-OHL-W-2.0, software and firmware are GPL-3.0-only, and user documentation is CC-BY-SA-4.0. Vendor models for motors, batteries, bearings, fasteners and boards are excluded from those grants, and third-party files without an identifiable license are to be treated as reference-only. The training module is BSD-3-Clause. The exterior shell is CERN-OHL-W-2.0, but upstream recommends it for static display only. The deployment module also lists nine ONNX policy files; we found no terms specific to those weights. [S003] [S005] [S006] [S012] [S013]

The full repository, about 2.25 GB of files, exceeded our 150 MiB archive limit. This profile therefore rests on pinned copies of the cited text files and the Git tree listing; none of the CAD, Gerber or PDF files was opened. No assembly, flashing or locomotion test was performed. [S002] [S013]

Cost

VersionPrice
Published ATOM 01 v1.0.1 internal BOM totalCNY 49743.53 [S009]
Parts estimate

China; Taobao and Tmall supplier links · Checked 2026-10-05

IncludedCNC-machined structural parts; 23 Damiao actuators; Battery pack, emergency stop and charger plug; IMU, RDK X5, USB-to-CAN and power modules; Priced fasteners and bearing lines
Not included3D-printed parts (unpriced); Several cable, fastener and bearing lines without prices; V2.0 RBE board (not in this BOM); Shipping and taxes; Tools and assembly labor; Training workstation
StockSupplier listings not re-checked.
Delivery and taxNot established; no delivered total.
Price details

Table total of the ATOM 01 v1.0.1 BOM dated 20260105; the same document header states TOTAL 49713 CNY. Printed parts, several cable and fastener lines and some bearings have no price. Not a fresh quote.

China; Taobao and Tmall supplier links · Checked 2026-10-05 · Quantity 1

V2.0 parts list, RBE board, printed parts, cables and tools must be reconciled separately.

Source files and licenses

Licensed mechanical, PCB, firmware and software sources are listed at a pinned commit, but the full archive was not preserved and the published BOM predates the V2.0 electronics.

LayerAvailability / license
mechanical designavailable · CERN-OHL-W-2.0
V2.0 SolidWorks parts and assemblies, STEP exports, CNC drawings (PDF/SLDDRW) and printed calibration parts are listed in the tree but were not downloaded (repository over 150 MiB). Vendor motor, battery, bearing and standard-part models are excluded from the open license. [S004] [S005] [S006] [S007] [S013]
electronicsavailable · CERN-OHL-W-2.0
RBE board Gerber, BOM, pick-and-place, schematic PDF and STEP are listed; no editable EDA project was identified in the tree. Files not downloaded. [S005] [S008] [S013]
firmwareavailable · GPL-3.0
Firmware module (USB2CAN, OrangePi/RDK build tooling) listed; nested orangepi-build is GPL-2.0 per the scope map. Not downloaded or reviewed in detail. Damiao actuator firmware is vendor-supplied. [S003] [S013]
softwareavailable · GPL-3.0-only
Deployment (GPL-3.0-only), training (BSD-3-Clause per the scope map), navigation and XR teleoperation modules; embedded third-party components keep their own terms. [S003] [S010] [S011]
model weightsavailable · License not fully assessed
Nine ONNX policy files (walking, AMP, parkour, get-up, dance, wave and others) are listed in the deployment module; not downloaded. The module default is GPL-3.0-only for RoboParty-authored material, but no weight-specific terms or training provenance were identified. [S003] [S013]
documentationavailable · CC-BY-SA-4.0
Hardware-module READMEs and manuals are CC-BY-SA-4.0 except where they are hardware design source (CERN-OHL-W-2.0). The external documentation site was not preserved. [S004] [S005] [S007]

No dataset is part of the reviewed build configuration.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

  1. S001 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    ROBOTO_ORIGIN README
    Accessed 2026-10-05 · README.md at c71fd928; preserved raw-file snapshot sha256 bec41319642956f3
    Source notes

    Project scope, snapshot-aggregation role, module map and license statement.

  2. S002 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    Repository revision and acquisition metadata
    Accessed 2026-10-05 · c71fd9287d28104dca111d7c25b908fa3f45f8e4; default-branch snapshot, no stable release in first 100; archive blocked over 150 MiB
    Source notes

    Selected commit, blocked full-archive status, dated popularity counts.

  3. S003 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    Repository license scope map
    Accessed 2026-10-05 · LICENSES.md at c71fd928; preserved raw-file snapshot sha256 8fe5f2bf953d6a31
    Source notes

    Per-module license scope for the aggregated snapshot.

  4. S004 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    rpo_hardware README (snapshot module)
    Accessed 2026-10-05 · modules/rpo_hardware/README.md at c71fd928; preserved raw-file snapshot sha256 e509700f5332ebc9
    Source notes

    V1.0 versus V2.0 comparison, incompatibility note and license table.

  5. S005 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    rpo_hardware licensing
    Accessed 2026-10-05 · modules/rpo_hardware/LICENSES.md at c71fd928; preserved raw-file snapshot sha256 eb8e32c649b93efd
    Source notes

    CERN-OHL-W-2.0, GPL-3.0-only and CC-BY-SA-4.0 scopes.

  6. S006 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    rpo_hardware third-party notices
    Accessed 2026-10-05 · modules/rpo_hardware/THIRD_PARTY_NOTICES.md at c71fd928; preserved raw-file snapshot sha256 7680fa7f435b91bb
    Source notes

    Vendor models and standard parts excluded from the open licenses.

  7. S007 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    V2.0 mechanical README
    Accessed 2026-10-05 · modules/rpo_hardware/V2.0/roboto_origin_mechanic/README.md at c71fd928; preserved raw-file snapshot sha256 9fed041d7bc9e7ce
    Source notes

    Manual reading order and folder structure for V2.0 mechanics.

  8. S008 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    V2.0 PCB README (RBE_Board)
    Accessed 2026-10-05 · modules/rpo_hardware/V2.0/roboto_origin_pcb/README.md at c71fd928; preserved raw-file snapshot sha256 615efa4bf663d706
    Source notes

    Integrated 48 V power and USB-to-CAN board specification and file list.

  9. S009 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    Internal Roboto D-BOM (English)
    Accessed 2026-10-05 · assets/BOM_EN.md at c71fd928; preserved raw-file snapshot sha256 932ff6baf3a9381d
    Source notes

    ATOM 01 v1.0.1 BOM dated 20260105 with CNY line prices and totals.

  10. S010 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    roboparty_deploy README (snapshot module)
    Accessed 2026-10-05 · modules/roboparty_deploy/README.md at c71fd928; preserved raw-file snapshot sha256 a3d0e202bc618419
    Source notes

    ROS 2 Humble deployment framework and verified controllers.

  11. S011 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    roboparty_train README (snapshot module)
    Accessed 2026-10-05 · modules/roboparty_train/README.md at c71fd928; preserved raw-file snapshot sha256 ec778c21873dd096
    Source notes

    Isaac Lab training workspace requirements.

  12. S012 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    rpo_appearance README (snapshot module)
    Accessed 2026-10-05 · modules/rpo_appearance/README.md at c71fd928; preserved raw-file snapshot sha256 f9182ef45f89b5d5
    Source notes

    Shell STLs recommended for static display; CERN-OHL-W-2.0.

  13. S013 · RoboParty (Shanghai RoboParty Technology Co., Ltd.)
    Pinned repository file tree (GitHub API)
    Accessed 2026-10-05 · Recursive Git tree at c71fd928; preserved JSON sha256 ce40719ea719c6c6; listing only, no files downloaded beyond the cited text files
    Source notes

    Paths and sizes of V2.0 SolidWorks, STEP, drawing, PCB and URDF files.

Research and review details

Source research only; no fabrication, assembly, flashing or locomotion test performed. Full repository archive not preserved. No affiliate links added.

Profile edited 2026-10-05 · Sources checked 2026-10-05 · Next review target 2026-11-05

Revision: c71fd9287d28104dca111d7c25b908fa3f45f8e4 (commit snapshot of the aggregation repository; no published stable release found; full archive not preserved because it exceeds 150 MiB). Combined hardware and software repository activity recorded 2026-08-18 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history

2026-10-05 — Initial source-researched profile from pinned commit c71fd928 using raw-file snapshots and the Git tree listing.