OhhO Robotics

Ohho is the open harness layer for physical AI. Bring any model, we make it run on a real robot.

Simulation (Gazebo) → Data (VR teleop into LeRobot datasets) → Policy runtime (OpenVLA, SmolVLA, RL over ROS 2) → Safety guards → Deployment (ohho-os). The robot you can inspect today is OmniBot.

Website · LinkedIn · Documentation · Demos

OmniBot (Apache-2.0) is the public robot repository. Photos and short clips are in assets/: demo 1 and demo 2. The OmniBot README documents the hardware (Raspberry Pi 5, Yahboom expansion board, SO-101 arm).

What the latest green CI run of .github/workflows/ci.yml checked:

• CPU tests and ruff. Pytest for mecanum-kinematics/tests, yahboom-python-driver/tests, ros2-bev-stitcher/tests, and omnibot_arm/test, plus the learning, agent, and data engine tests under omnibot-ai-engines.
• colcon build and test. src/ is the colcon workspace (symlinks to the ROS 2 packages). That job runs in the ros:jazzy-ros-base-noble container named in the workflow file.

What is in the tree:

• omnibot-ros2 — ROS 2 packages omnibot_driver, omnibot_bringup, omnibot_navigation, omnibot_arm, omnibot_description, and omnibot_hybrid. Launch files, including robot_with_joy.launch.py and perception.launch.py, are in omnibot_bringup/launch.
• omnibot-ai-ros2 — ROS 2 packages omnibot_vla, omnibot_lerobot (including teleop_recorder_node.py), omnibot_rl, and omnibot_orchestration.
• omnibot-ai-engines — Python packages agent_engine, data_engine, learning_engine, lerobot_engine, rl_engine, and vla_engine.
• omnibot-digital-twin — configs, scripts, and world file omnibot_lab.sdf.
• omnibot-vr and omnibot-android — client trees kept inside this repository. The standalone repos are below.

ohho-os is OhhO OS: the Python package ohho-os (Apache-2.0). pyproject.toml sets name = "ohho-os". The v1.1.2 release run completed successfully, and the 1.1.2 project page is the published distribution.

pip install ohho-os
ohho doctor
ohho sim --robot omnibot --seconds 2

ohho doctor and ohho sim --robot omnibot --seconds 2 are the CLI smoke steps in .github/workflows/ci.yml. The latest CI run on main succeeded.

The TypeScript workspace in ohho-sdk is not published to npm. package.json sets "private": true.

• @ohho/connect — adapter sources webserial.ts, webbluetooth.ts, rosbridge.ts, and yahboom.ts.
• @ohho/schemas — schema sources. package.json depends on zod.
• @ohho/mcp — MCP tool modules and registry.ts.
• @ohho/client — OhhOClient is an empty class.

OhhO-VR (Apache-2.0) is a Unity project (Assets, Packages, and ProjectSettings at the repo root). Its README documents a Meta Quest teleop client for OmniBot over ROSBridge. Vendored packages keep their own licences (NOTICE).

ohho.apk (Apache-2.0) is a Kotlin Gradle project. Its README documents an Android ROSBridge controller for OmniBot and which on-screen values are demo data. Android CI runs ./gradlew assembleDebug test. The latest run on main succeeded.

ohho-humanoid, ohho-quadruped, and ohho-drone are concept — not started. Each README says the repository does not contain a robot stack, and there is no quick-start command for them.

• ohho-humanoid (Apache-2.0)
• ohho-quadruped (Apache-2.0)
• ohho-drone (Apache-2.0)

These are directories in OmniBot, not separate repositories. The CPU job linked above tests all three.

CPU demo from ohho-os CI. No robot, ROS install, or container is required:

pip install ohho-os
ohho doctor
ohho sim --robot omnibot --seconds 2

In OmniBot, src/ is the colcon workspace. The colcon job builds that path.

See CONTRIBUTING.md, CODE_OF_CONDUCT.md, and SECURITY.md.

This repository is Apache-2.0. The public repositories linked above are Apache-2.0; each Apache-2.0 link points at that repository's LICENSE file. Vendored third-party code keeps its own licence (OhhO-VR NOTICE, OmniBot NOTICE).