zeroth-bot

# Zeroth Bot Skill **Trit**: -1 (MINUS - specification/verification) **Color**: #8CC136 (Lime Green) **URI**: skill://zeroth-bot#8CC136 ## Overview Zeroth Bot (Z-Bot) is a 3D-printed open-source humanoid robot platform designed for sim-to-real research and RL experimentation. An affordable entry point for humanoid robotics. ## Specifications ``` ┌────────────────────────────────────────────────────────────────┐ │ ZEROTH BOT (Z-BOT) │ ├────────────────────────────────────────────────────────────────┤ │ │ │ Height: ~40cm │ │ Weight: ~2kg │ │ DOF: 12 joints │ │ │ │ Frame: 3D printed (PLA/PETG) │ │ Actuators: Servo motors │ │ Cost: ~$500 BOM │ │ │ │ Ideal for: │ │ ├── Learning sim-to-real transfer │ │ ├── Testing RL policies at low cost │ │ ├── Educational robotics │ │ └── Rapid prototyping │ │ │ └────────────────────────────────────────────────────────────────┘ ``` ## Hardware BOM | Component | Quantity | Notes | |-----------|----------|-------| | Servo motors | 12 | Standard hobby servos | | 3D printed parts | Full set | STL files provided | | MCU | 1 | ESP32 or Teensy | | IMU | 1 | MPU6050 or similar | | Power | 1 | 2S-3S LiPo | ## Training Pipeline ```python from ksim.robots.zbot import ZBotConfig from ksim import PPOTask class ZBotWalking(PPOTask): robot = ZBotConfig( model_path="zbot.mjcf", servo_config={ "kp": 50.0, "kd": 5.0, "torque_limit": 5.0, # Smaller than K-Bot } ) # Faster training due to simpler robot training_config = { "num_envs": 2048, "learning_rate": 5e-4, } ``` ## GF(3) Triads ``` zeroth-bot (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓ ``` ## Related Skills - `kbot-humanoid` (-1): Larger flagship humanoid - `ksim-rl` (-1): RL training library - `kos-firmware` (+1): Firmware (kos-zbot variant) - `urdf2mjcf` (-1): Model conversion ## Web Frontend Z-Bot has a web-based control interface: - Real-time telemetry visualization - Manual joint control - Policy deployment interface ```typescript // From zbot-web-frontend import { ZBotController } from '@kscale/zbot-web'; const controller = new ZBotController({ endpoint: 'ws://zbot.local:8080', }); await controller.connect(); await controller.setJointPositions({ hip_pitch_l: 0.5, knee_l: -0.3, }); ``` ## References ```bibtex @misc{zerothbot2024, title={Zeroth Bot: 3D-Printed Open-Source Humanoid}, author={K-Scale Labs}, year={2024}, url={https://github.com/kscalelabs/zeroth-bot} } ``` ## SDF Interleaving This skill connects to **Software Design for Flexibility** (Hanson & Sussman, 2021): ### Primary Chapter: 2. Domain-Specific Languages **Concepts**: DSL, wrapper, pattern-directed, embedding ### GF(3) Balanced Triad ``` zeroth-bot (−) + SDF.Ch2 (−) + [balancer] (−) = 0 ``` **Skill Trit**: -1 (MINUS - verification) ### Connection Pattern DSLs embed domain knowledge. This skill defines domain-specific operations.