├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md └── public └── wave.webp /.gitignore: -------------------------------------------------------------------------------- 1 | # .gitignore 2 | 3 | # Python 4 | *.py[cod] 5 | *$py.class 6 | *.pyc 7 | *.pyo 8 | *.pyd 9 | __pycache__/ 10 | *.so 11 | 12 | # Distribution / packaging 13 | .Python 14 | build/ 15 | develop-eggs/ 16 | dist/ 17 | downloads/ 18 | eggs/ 19 | .eggs/ 20 | lib/ 21 | lib64/ 22 | parts/ 23 | sdist/ 24 | var/ 25 | wheels/ 26 | share/python-wheels/ 27 | *.egg-info/ 28 | .installed.cfg 29 | *.egg 30 | MANIFEST 31 | *.manifest 32 | *.spec 33 | 34 | # PyInstaller 35 | *.manifest 36 | *.spec 37 | 38 | # Installer logs 39 | pip-log.txt 40 | pip-delete-this-directory.txt 41 | 42 | # Unit test / coverage reports 43 | htmlcov/ 44 | .tox/ 45 | .nox/ 46 | .coverage 47 | .coverage.* 48 | .cache 49 | nosetests.xml 50 | coverage.xml 51 | *.cover 52 | *.py,cover 53 | .hypothesis/ 54 | .pytest_cache/ 55 | cover/ 56 | 57 | # Translations 58 | *.mo 59 | *.pot 60 | 61 | # Django/Flask 62 | *.log 63 | local_settings.py 64 | db.sqlite3 65 | db.sqlite3-journal 66 | instance/ 67 | .webassets-cache 68 | 69 | # Scrapy 70 | .scrapy 71 | 72 | # Sphinx documentation 73 | docs/_build/ 74 | 75 | # PyBuilder 76 | .pybuilder/ 77 | target/ 78 | 79 | # Jupyter Notebook 80 | .ipynb_checkpoints 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # IPython 85 | profile_default/ 86 | ipython_config.py 87 | 88 | # PDM 89 | .pdm.toml 90 | .pdm-python 91 | .pdm-build/ 92 | 93 | # PEP 582 94 | __pypackages__/ 95 | 96 | # Celery 97 | celerybeat-schedule 98 | celerybeat.pid 99 | 100 | # SageMath 101 | *.sage.py 102 | 103 | # Environments 104 | .env 105 | .venv 106 | env/ 107 | venv/ 108 | ENV/ 109 | env.bak/ 110 | venv.bak/ 111 | 112 | # Spyder 113 | .spyderproject 114 | .spyproject 115 | 116 | # Rope 117 | .ropeproject 118 | 119 | # mkdocs 120 | /site 121 | 122 | # Type checking 123 | .mypy_cache/ 124 | .dmypy.json 125 | dmypy.json 126 | .pyre/ 127 | .pytype/ 128 | .ruff_cache/ 129 | 130 | # Cython debug symbols 131 | cython_debug/ 132 | 133 | # PyPI 134 | .pypirc 135 | 136 | # IDEs and editors 137 | .idea/ 138 | .vscode/ 139 | *.swp 140 | *.swo 141 | 142 | # System files 143 | .DS_Store 144 | Thumbs.db 145 | 146 | # Databases 147 | *.db 148 | 149 | # Project-specific 150 | debug_audio/ 151 | rollouts/ 152 | out*/ 153 | **/run_*/ 154 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "kos-zbot"] 2 | path = kos-zbot 3 | url = https://github.com/kscalelabs/kos-zbot 4 | [submodule "ksim-gym-zbot"] 5 | path = ksim-gym-zbot 6 | url = https://github.com/kscalelabs/ksim-gym-zbot 7 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2024 Jingxiang Mo 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 |
2 | 3 |

Zeroth-01 Bot

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Super hackable, affordable, and end-to-end (sim2real, RL) 3D-printed open-source humanoid robot platform. Fully open-source, including hardware, SDK, and sim environments. BoM starts at $350.

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This project is built by the open-source community and is currently work in progress. We welcome your feedback, issues, and pull requests in GitHub or joining our Discord.

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10 | Docs 11 | · 12 | Contribute 13 | · 14 | Community 15 |

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20 | 21 | --- 22 | 23 | ### Project Status 24 | Public Beta. Zeroth-01 Bot is available for basic locomotion, vision, and speech, but expect breaking changes. We plan to release stable V1.0 in June 2025. 25 | 26 | ## Core Components 27 | 28 | ### KOS-ZBot - Operating System 29 | [kos-zbot](https://github.com/kscalelabs/kos-zbot) provides the robot operating system and hardware abstraction layer: 30 | 31 | - **Hardware drivers**: Servo control (Feetech), IMU interfaces, actuator management 32 | - **Python API**: High-level control via `kos_zbot` package for easy developer experience in Python. 33 | - **Real-time control**: Low-latency servo communication and sensor data processing 34 | - **CLI tools**: Robot calibration, diagnostics, and system configuration 35 | 36 | ### K-Sim Gym ZBot - RL Training 37 | [ksim-gym-zbot](https://github.com/kscalelabs/ksim-gym-zbot) provides reinforcement learning training: 38 | 39 | - **Training pipeline**: GPU-accelerated RL for whole-body control, from walking to human imitation 40 | - **Sim-to-real**: SysID-calibrated actuators with pre-loaded MJCF and URDF models 41 | - **Model deployment**: Trained policies export directly to real robots via KOS 42 | 43 | ### Build Guide 44 | - Please see the Getting Started documentation at [https://docs.kscale.dev/docs/zeroth-01](https://docs.kscale.dev/docs/zeroth-01). 45 | 46 | ### To start developing Zeroth Bot 47 | Zeroth Bot is developed by the open-source community. We welcome both pull requests and issues on GitHub. 48 | 49 | - Join the community [Discord](https://discord.gg/G6KP76uha5) 50 | - Documentation at [https://docs.kscale.dev/docs/zeroth-01](https://docs.kscale.dev/docs/zeroth-01) 51 | 52 | ### License 53 | This project is licensed under the MIT License. 54 | -------------------------------------------------------------------------------- /public/wave.webp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zeroth-robotics/zeroth-bot/97bf404c26ed10253e8426ff797a6a1ad3dc3b24/public/wave.webp --------------------------------------------------------------------------------