# Cyberwave Docs

## Docs

- [MQTT API Reference](https://docs.cyberwave.com/api-reference/mqtt/main.md): Complete reference for all MQTT topics and payload schemas used by the Cyberwave platform.
- [API Overview](https://docs.cyberwave.com/api-reference/overview.md): Cyberwave APIs overview
- [AssetCreateSchema](https://docs.cyberwave.com/api-reference/rest/AssetCreateSchema.md)
- [AssetCreateWithURDFSchema](https://docs.cyberwave.com/api-reference/rest/AssetCreateWithURDFSchema.md)
- [AssetGLBFromAttachmentSchema](https://docs.cyberwave.com/api-reference/rest/AssetGLBFromAttachmentSchema.md)
- [AssetSchema](https://docs.cyberwave.com/api-reference/rest/AssetSchema.md)
- [AssetUpdateSchema](https://docs.cyberwave.com/api-reference/rest/AssetUpdateSchema.md)
- [AttachmentCreateSchema](https://docs.cyberwave.com/api-reference/rest/AttachmentCreateSchema.md)
- [AttachmentSchema](https://docs.cyberwave.com/api-reference/rest/AttachmentSchema.md)
- [BulkJointStatesUpdateSchema](https://docs.cyberwave.com/api-reference/rest/BulkJointStatesUpdateSchema.md)
- [CombinedDatasetGenerationRequestSchema](https://docs.cyberwave.com/api-reference/rest/CombinedDatasetGenerationRequestSchema.md)
- [CompleteLargeUploadSchema](https://docs.cyberwave.com/api-reference/rest/CompleteLargeUploadSchema.md)
- [ContactFormSchema](https://docs.cyberwave.com/api-reference/rest/ContactFormSchema.md)
- [DatasetGenerationRequestSchema](https://docs.cyberwave.com/api-reference/rest/DatasetGenerationRequestSchema.md)
- [DatasetGenerationRequestSchemaByDate](https://docs.cyberwave.com/api-reference/rest/DatasetGenerationRequestSchemaByDate.md)
- [DatasetGenerationResponseSchema](https://docs.cyberwave.com/api-reference/rest/DatasetGenerationResponseSchema.md)
- [DefaultApi](https://docs.cyberwave.com/api-reference/rest/DefaultApi.md)
- [EdgeCreateSchema](https://docs.cyberwave.com/api-reference/rest/EdgeCreateSchema.md)
- [EdgeSchema](https://docs.cyberwave.com/api-reference/rest/EdgeSchema.md)
- [EnvironmentCreateSchema](https://docs.cyberwave.com/api-reference/rest/EnvironmentCreateSchema.md)
- [EnvironmentSchema](https://docs.cyberwave.com/api-reference/rest/EnvironmentSchema.md)
- [EnvironmentWaypointBulkCreateSchema](https://docs.cyberwave.com/api-reference/rest/EnvironmentWaypointBulkCreateSchema.md)
- [EnvironmentWaypointCreateSchema](https://docs.cyberwave.com/api-reference/rest/EnvironmentWaypointCreateSchema.md)
- [EnvironmentWaypointSchema](https://docs.cyberwave.com/api-reference/rest/EnvironmentWaypointSchema.md)
- [InitiateLargeUploadResponse](https://docs.cyberwave.com/api-reference/rest/InitiateLargeUploadResponse.md)
- [InitiateLargeUploadSchema](https://docs.cyberwave.com/api-reference/rest/InitiateLargeUploadSchema.md)
- [JointSchema](https://docs.cyberwave.com/api-reference/rest/JointSchema.md)
- [JointStateSchema](https://docs.cyberwave.com/api-reference/rest/JointStateSchema.md)
- [JointStateUpdateSchema](https://docs.cyberwave.com/api-reference/rest/JointStateUpdateSchema.md)
- [JointStatesSchema](https://docs.cyberwave.com/api-reference/rest/JointStatesSchema.md)
- [LLMGenerationSchema](https://docs.cyberwave.com/api-reference/rest/LLMGenerationSchema.md)
- [LLMResponseSchema](https://docs.cyberwave.com/api-reference/rest/LLMResponseSchema.md)
- [LinkShareCreateSchema](https://docs.cyberwave.com/api-reference/rest/LinkShareCreateSchema.md)
- [LinkShareRevokeSchema](https://docs.cyberwave.com/api-reference/rest/LinkShareRevokeSchema.md)
- [LinkShareSchema](https://docs.cyberwave.com/api-reference/rest/LinkShareSchema.md)
- [MLModelCreateSchema](https://docs.cyberwave.com/api-reference/rest/MLModelCreateSchema.md)
- [MLModelSchema](https://docs.cyberwave.com/api-reference/rest/MLModelSchema.md)
- [MLModelUpdateSchema](https://docs.cyberwave.com/api-reference/rest/MLModelUpdateSchema.md)
- [OrganizationSchema](https://docs.cyberwave.com/api-reference/rest/OrganizationSchema.md)
- [OrganizationUpdateSchema](https://docs.cyberwave.com/api-reference/rest/OrganizationUpdateSchema.md)
- [Payload](https://docs.cyberwave.com/api-reference/rest/Payload.md)
- [PermissionsSchema](https://docs.cyberwave.com/api-reference/rest/PermissionsSchema.md)
- [PlanSchema](https://docs.cyberwave.com/api-reference/rest/PlanSchema.md)
- [PopularTagSchema](https://docs.cyberwave.com/api-reference/rest/PopularTagSchema.md)
- [PopularTagsResponseSchema](https://docs.cyberwave.com/api-reference/rest/PopularTagsResponseSchema.md)
- [ProjectCreateSchema](https://docs.cyberwave.com/api-reference/rest/ProjectCreateSchema.md)
- [ProjectSchema](https://docs.cyberwave.com/api-reference/rest/ProjectSchema.md)
- [ProjectShareResponseSchema](https://docs.cyberwave.com/api-reference/rest/ProjectShareResponseSchema.md)
- [PublicUserSchema](https://docs.cyberwave.com/api-reference/rest/PublicUserSchema.md)
- [QuaternionSchema](https://docs.cyberwave.com/api-reference/rest/QuaternionSchema.md)
- [RobotDescriptionSchema](https://docs.cyberwave.com/api-reference/rest/RobotDescriptionSchema.md)
- [ShareSchema](https://docs.cyberwave.com/api-reference/rest/ShareSchema.md)
- [SharesResponseSchema](https://docs.cyberwave.com/api-reference/rest/SharesResponseSchema.md)
- [TeamMemberResponse](https://docs.cyberwave.com/api-reference/rest/TeamMemberResponse.md)
- [TeamShareSchema](https://docs.cyberwave.com/api-reference/rest/TeamShareSchema.md)
- [TwinCreateSchema](https://docs.cyberwave.com/api-reference/rest/TwinCreateSchema.md)
- [TwinRelationshipSchema](https://docs.cyberwave.com/api-reference/rest/TwinRelationshipSchema.md)
- [TwinSchema](https://docs.cyberwave.com/api-reference/rest/TwinSchema.md)
- [TwinStateUpdateSchema](https://docs.cyberwave.com/api-reference/rest/TwinStateUpdateSchema.md)
- [TwinTelemetryMetadataSchema](https://docs.cyberwave.com/api-reference/rest/TwinTelemetryMetadataSchema.md)
- [URDFProjectCreateSchema](https://docs.cyberwave.com/api-reference/rest/URDFProjectCreateSchema.md)
- [URDFProjectSchema](https://docs.cyberwave.com/api-reference/rest/URDFProjectSchema.md)
- [UpdateDatasetMetadataSchema](https://docs.cyberwave.com/api-reference/rest/UpdateDatasetMetadataSchema.md)
- [UserSchema](https://docs.cyberwave.com/api-reference/rest/UserSchema.md)
- [UserShareSchema](https://docs.cyberwave.com/api-reference/rest/UserShareSchema.md)
- [VLMGenerationSchema](https://docs.cyberwave.com/api-reference/rest/VLMGenerationSchema.md)
- [VLMResponseSchema](https://docs.cyberwave.com/api-reference/rest/VLMResponseSchema.md)
- [Vector3Schema](https://docs.cyberwave.com/api-reference/rest/Vector3Schema.md)
- [VendorDescriptionSchema](https://docs.cyberwave.com/api-reference/rest/VendorDescriptionSchema.md)
- [WorkflowConnectionCreateSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowConnectionCreateSchema.md)
- [WorkflowConnectionSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowConnectionSchema.md)
- [WorkflowCreateSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowCreateSchema.md)
- [WorkflowExecuteSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowExecuteSchema.md)
- [WorkflowExecutionSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowExecutionSchema.md)
- [WorkflowNodeCreateSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowNodeCreateSchema.md)
- [WorkflowNodeExecutionSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowNodeExecutionSchema.md)
- [WorkflowNodeSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowNodeSchema.md)
- [WorkflowNodeUpdateSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowNodeUpdateSchema.md)
- [WorkflowSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowSchema.md)
- [WorkflowUpdateSchema](https://docs.cyberwave.com/api-reference/rest/WorkflowUpdateSchema.md)
- [WorkspaceResponseSchema](https://docs.cyberwave.com/api-reference/rest/WorkspaceResponseSchema.md)
- [WorkspaceSchema](https://docs.cyberwave.com/api-reference/rest/WorkspaceSchema.md)
- [WorkspaceUpdateSchema](https://docs.cyberwave.com/api-reference/rest/WorkspaceUpdateSchema.md)
- [WorkspaceUserSchema](https://docs.cyberwave.com/api-reference/rest/WorkspaceUserSchema.md)
- [Locomotion](https://docs.cyberwave.com/capabilities/locomotion.md): Move robots through the world: wheeled rovers, legged platforms, and autonomous navigation
- [Manipulation](https://docs.cyberwave.com/capabilities/manipulation.md): Build robotic systems that grasp, place, assemble, and interact with physical objects
- [Perception](https://docs.cyberwave.com/capabilities/perception.md): Give your robots sight and understanding with cameras, sensor fusion, and AI inference
- [Simulation](https://docs.cyberwave.com/capabilities/simulation.md): Run the full Cyberwave stack against digital twins with physics, virtual sensors, and policy evaluation, before touching physical hardware
- [Unified Slug System](https://docs.cyberwave.com/concepts/slug-system.md): Human-readable identifiers for workspace entities
- [Edge Bench](https://docs.cyberwave.com/edge/bench.md): Measure Zenoh SDK hot-path performance on an edge device and compare against a per-device baseline.
- [Alerts](https://docs.cyberwave.com/edge/drivers/alerts.md): Alerts notify operators that action is needed.
- [Camera Detection Overlays](https://docs.cyberwave.com/edge/drivers/camera-detection-overlays.md): Draw YOLO bounding boxes from an ML worker onto the camera driver's WebRTC stream.
- [Data Fusion Primitives](https://docs.cyberwave.com/edge/drivers/data-fusion.md): Time-aware sensor fusion: interpolated point reads and time-window queries for multi-sensor edge workers.
- [Record & Replay](https://docs.cyberwave.com/edge/drivers/data-record-replay.md): Capture live edge data to disk and replay it for deterministic debugging
- [Synchronized Multi-Channel Hooks](https://docs.cyberwave.com/edge/drivers/data-synchronized-hooks.md): Approximate time synchronizer that fires a callback when samples from all listed channels arrive within a configurable tolerance.
- [Data Wire Format](https://docs.cyberwave.com/edge/drivers/data-wire-format.md): SDK header encoding, key expressions, and on-wire contract for edge data channels
- [Edge Workers](https://docs.cyberwave.com/edge/drivers/edge-workers.md): Hook-based worker modules for on-device ML inference and event-driven processing at the edge.
- [Frame substitution](https://docs.cyberwave.com/edge/drivers/frame-filters.md): Substitute a worker-processed frame into a camera driver's WebRTC stream — for anonymisation, redaction, or overlay pipelines.
- [Multi-Camera Detection Routing](https://docs.cyberwave.com/edge/drivers/multi-camera-detection-routing.md): Route detection results to the correct twin when a single worker handles frames from multiple cameras.
- [Multi-Camera Driver Orchestration](https://docs.cyberwave.com/edge/drivers/multi-camera-driver-orchestration.md): How Edge Core manages multiple camera drivers alongside a single worker container.
- [Drivers](https://docs.cyberwave.com/edge/drivers/overview.md): A Cyberwave driver is a Docker image that interacts with device hardware and the Cyberwave backend.
- [Security Pipeline (Multi-camera, Anonymising)](https://docs.cyberwave.com/edge/drivers/security-pipeline.md): Two cameras, one worker, zero raw video off the edge. End-to-end privacy-preserving detection pipeline.
- [Writing compatible drivers](https://docs.cyberwave.com/edge/drivers/writing-compatible-drivers.md): A driver bridges your hardware's native API and the Cyberwave platform, exposing it as a digital twin.
- [Overview](https://docs.cyberwave.com/edge/overview.md): Cyberwave Edge Core acts as the orchestrator of Cyberwave edge drivers.
- [Prepare Your Raspberry Pi](https://docs.cyberwave.com/edge/raspberry-pi.md): Flash the Cyberwave OS image to an SD card, configure Wi-Fi via the captive portal, and SSH into your Pi.
- [Annotate & anonymize nodes](https://docs.cyberwave.com/edge/workers/filter-frame.md): Anonymise or annotate camera frames in a UI-built workflow without writing Python — wire `annotate` / `anonymize` downstream of a Call Model on a camera-frame trigger and the worker either substitutes the result into the camera driver's WebRTC stream (anonymize) or composites overlay metadata onto i…
- [Edge Workers](https://docs.cyberwave.com/edge/workers/overview.md): Manage, author, and deploy Python worker modules that run on-device for ML inference and event-driven processing.
- [Architecture](https://docs.cyberwave.com/get-started/architecture.md): Dive deep into the architecture of building with Cyberwave
- [Data Model](https://docs.cyberwave.com/get-started/core-data-hierarchy.md): Understanding Cyberwave's organizational structure and data model
- [Hello Robot](https://docs.cyberwave.com/get-started/hello-robot.md): Control a robot in simulation in under 5 minutes
- [Physical AI Agents Cookbook](https://docs.cyberwave.com/get-started/idea-cookbook.md): Explore what Physical AI agents are, how they work, and how to design your own. Includes idea templates, agent architectures, example use cases, and AI approaches to help you go from concept to prototype.
- [Overview](https://docs.cyberwave.com/get-started/index.md): Build, test, and deploy intelligent robotics systems with cloud-based digital twins and AI
- [Glossary](https://docs.cyberwave.com/get-started/key-concepts.md): A–Z reference for every Cyberwave term you'll encounter in the docs, dashboard, and SDK.
- [Quick Start](https://docs.cyberwave.com/get-started/quickstart.md): Get up and running with Cyberwave in just a few minutes
- [Cyberwave Builders Starter Kit](https://docs.cyberwave.com/get-started/starter-kit-builders.md): A recommended learning path for all Cyberwave builders covering Physical AI agents, agent architecture and how to design your own agent.
- [Try a Real Robot Live](https://docs.cyberwave.com/get-started/try-real-robot.md): Control a real SO101 robot arm live in our robotics lab from your browser. No setup, no hardware, no code.
- [Boston Dynamics Spot](https://docs.cyberwave.com/hardware/boston-dynamics/get-started.md): Connect your Boston Dynamics Spot to Cyberwave
- [Camera](https://docs.cyberwave.com/hardware/camera/get-started.md): Connect a webcam or laptop camera to Cyberwave
- [Unitree Go2](https://docs.cyberwave.com/hardware/go2/get-started.md): Connect your Unitree Go2 quadruped to Cyberwave
- [Hardware Overview](https://docs.cyberwave.com/hardware/index.md): 80+ devices supported out of the box, with full ROS compatibility and an extensible driver architecture
- [Voice as a Sensor](https://docs.cyberwave.com/hardware/microphone/get-started.md): Use a microphone as a real-time input to Cyberwave: turn spoken commands into digital-twin actions, controller-policy prompts, or workflow triggers.
- [Custom Integrations](https://docs.cyberwave.com/hardware/other-hardware/custom-hardware.md): Integrate Cyberwave with ROS, VDA5050, and other robotics frameworks
- [Other Hardware](https://docs.cyberwave.com/hardware/other-hardware/get-started.md): Connect any robotic hardware to Cyberwave using the driver architecture
- [SO101 Robot Arms](https://docs.cyberwave.com/hardware/so101/get-started.md): Set up teleoperation, create datasets, and train ML models with the SO101 robot arms.
- [UGV Beast](https://docs.cyberwave.com/hardware/ugv/get-started.md): Set up the rover, install the Cyberwave Docker image, configure credentials, and launch the stack.
- [Universal Robot UR7e](https://docs.cyberwave.com/hardware/universal-robot-7/get-started.md): Connect your Universal Robot UR7e to Cyberwave using a Raspberry Pi edge device with ROS 2.
- [Cyberwave Claude Skill](https://docs.cyberwave.com/sdks/claude-skill.md): Build Physical AI applications with Claude Code using the Cyberwave skill.
- [Cloud Node](https://docs.cyberwave.com/sdks/cloud-node.md): Turn any GPU machine into a Cyberwave-ready compute node for inference, training, and simulation
- [C++ SDK](https://docs.cyberwave.com/sdks/cpp-sdk.md): Programmatically control your robots and simulations using our comprehensive C++ SDK
- [MCP Server](https://docs.cyberwave.com/sdks/mcp-server.md): Let AI agents manage your robotics infrastructure through the Model Context Protocol
- [Python SDK](https://docs.cyberwave.com/sdks/python-sdk.md): Programmatic interface for controlling robots, managing digital twins, and streaming sensor data through the Cyberwave platform
- [VLA Cloud Node](https://docs.cyberwave.com/sdks/vla-cloud-node.md): Build cloud nodes for Vision-Language-Action model inference and training with Cyberwave
- [Zenoh-MQTT Bridge](https://docs.cyberwave.com/sdks/zenoh-mqtt-bridge.md): Bidirectional forwarder between local Zenoh data bus and cloud MQTT broker
- [Autonomous Cloth Folding on Dual SO-101](https://docs.cyberwave.com/tutorials/cloth-folding-so101.md): A bimanual SO-101 setup that learns to fold cloth from human demonstrations using SmolVLA, the Cyberwave platform, and an Intel RealSense camera.
- [Building Edge-to-Cloud VLM Pipelines with Cyberwave](https://docs.cyberwave.com/tutorials/edge-to-cloud-vlm.md): Develop an edge-to-cloud VLM pipeline for real-time visual inspection and automated safety monitoring.
- [Go2 End-to-End: Digital to Physical](https://docs.cyberwave.com/tutorials/go2-digital-to-physical.md): End-to-end walkthrough of configuring a Unitree Go2 for autonomy — from digital twin to physical deployment with Cyberwave.
- [Zone-based intrusion detection](https://docs.cyberwave.com/tutorials/intrusion-detection.md): Build a privacy-preserving, edge-only intrusion alert workflow: camera_frame → YOLO → anonymize → spatial_filter → timed_condition → send_alert.
- [Autonomous Rover Inspection with AI Workflow](https://docs.cyberwave.com/tutorials/rover-ai-mission.md): Create an autonomous rover inspection mission in a simulated environment with an AI-driven workflow that analyzes visual input.
- [Building an Autonomous Sandwich-Making Robot with Cyberwave & SmolVLA](https://docs.cyberwave.com/tutorials/sandwich-robot-smolvla.md): A step-by-step tutorial on training a Vision-Language-Action model for real-world robotic manipulation using the SO-101 arm and the Cyberwave platform.
- [Build a natural-language voice + vision agent on SO-101](https://docs.cyberwave.com/tutorials/so101-natural-language-agent.md): Drive an SO-101 with plain English: voice in, camera frame in, Claude plans a JSON motion plan, the SDK runs it. No training data required.
- [Build a voice-controlled pick-and-place agent on SO-101](https://docs.cyberwave.com/tutorials/so101-voice-pick-and-place.md): End-to-end tutorial for a voice-driven pick-and-place agent on an SO-101: dataset, VLA, deployment, and a client-side voice layer.
- [Access Control](https://docs.cyberwave.com/use-cyberwave/access-control.md): Manage team permissions and project sharing in Cyberwave
- [Catalog](https://docs.cyberwave.com/use-cyberwave/catalog.md): Browse pre-built robot assets and upload your own to create digital twins
- [Digital Twins](https://docs.cyberwave.com/use-cyberwave/digital-twins.md): Virtual replicas of physical robots that mirror behavior, capabilities, and environment in real-time
- [Docker Registry](https://docs.cyberwave.com/use-cyberwave/docker-registry.md): Use the Cyberwave Docker Registry to pull and push custom drivers and ML models and re-use them across your robots and automations
- [Environment Editor](https://docs.cyberwave.com/use-cyberwave/environment-editor.md): Create and customize 3D environments for your robotics simulations and testing scenarios
- [Environment Templates](https://docs.cyberwave.com/use-cyberwave/environment-templates.md): Clone a pre-configured environment to skip setup
- [cyberwave.yml Manifest](https://docs.cyberwave.com/use-cyberwave/manifest.md): Schema reference for cyberwave.yml configuration files
- [ML Models](https://docs.cyberwave.com/use-cyberwave/ml-models.md): Register and deploy AI models for robotics workflows
- [Model Playground](https://docs.cyberwave.com/use-cyberwave/ml-models/playground.md): Interactive UI and code snippets for running ML models from the Cyberwave app
- [Structured Actions](https://docs.cyberwave.com/use-cyberwave/ml-models/structured-actions.md): The canonical catalog of structured tasks a Cyberwave ML model can run, and how to parse their output.
- [Recording replay (signed URLs)](https://docs.cyberwave.com/use-cyberwave/recording-replay.md): stub — How environment recording playback uses signed URLs and client-side media loads.
- [Authentication](https://docs.cyberwave.com/use-cyberwave/setup-cyberwave.md): Set up API credentials to connect to Cyberwave
- [Live Teleoperation](https://docs.cyberwave.com/use-cyberwave/teleoperation.md): Control physical robots in real time through their digital twins from anywhere in the world.
- [Teleoperation Latency](https://docs.cyberwave.com/use-cyberwave/teleoperation-latency.md): Expected and unavoidable latency during live teleoperation.
- [Workflows](https://docs.cyberwave.com/use-cyberwave/workflows.md): Automate robot operations with visual workflow orchestration
- [Anonymize node](https://docs.cyberwave.com/use-cyberwave/workflows/anonymize-image.md): Obscure detected people, vehicles, or other objects in workflow images or live edge frames — pixelate, blur, redact, or fill — before annotations or downstream processing.
- [Spatial Filter node](https://docs.cyberwave.com/use-cyberwave/workflows/spatial-filter.md): Keep only the detections whose reference point falls inside a polygon zone — defined in normalized image coordinates so the same zone works at any camera resolution.
- [Timed Condition node](https://docs.cyberwave.com/use-cyberwave/workflows/timed-condition.md): Generic time-threshold gate. Fire when a signal stays active for at least N seconds, then re-arm after a cooldown. Works with detection arrays, booleans, and numeric thresholds.

## OpenAPI Specs

- [openapi](https://docs.cyberwave.com/api-reference/openapi.json)