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comma body

The future of people

The body is a robotics dev kit that can run openpilot, open source software with over a million hours of usage in the field.

comma body height comparison

We believe that in order to solve AI, you must be embedded in the real world.

comma body screen with winking animation

The body is human scale, and has a human usable development environment.

Slide 1 of 3.
The comma 3X has 3 cameras, broadcast with sub 100 ms latency through an H265 encoder. Onboard, it has a Kalman filter running at 100Hz integrating the IMU and camera odometry to determine it's 3-DoF position. With the addition of a little SLAM, it will be easy to get 6-DoF that exceeds the precision of VR headsets. It also integrates with Plotjuggler for plotting and debugging. All the tools for openpilot development work on the body.
The body base has open source firmware directly controlling two 150W sensored brushless motors, allowing instant torque. And since they have hall effect sensors, you have precise wheel odometry without an encoder that can slip. It uses an industry standard CAN bus for all communication, has an OBD-C connector, and appears to the comma 3X like a car.
The comma 3X runs Ubuntu with a normal SSH server. It's responsive enough to develop on, including with VS Code remote. No dealing with cross compilation, downloading firmware, and stupid variants of Linux like Yocto that dev kits love to run. It's full apt-get ready Ubuntu; git, vim, tmux all included.
The comma body runs our open source software, openpilot. From openpilot’s perspective, the comma body is a car. It runs the same camera and logging software, so we’ll be able to learn from the fleet of bodies in the same way we learn from our fleet of cars.

Technical Specs

comma body assembly
Dimensions
dimensions
6.5" L x 1' 3.5" W x 4' 8" H (16.5cm x 39.5cm x 142.3cm)
weight
18lbs / 8.16kg
maximum speed
1 m/s
motors
2 x 150W
Power
battery capacity
100Wh (Li-ion)
nominal battery voltage
25.2V
typical runtime (joystick control)
~2 hours
standby time (balancing)
~6-7 hours
charger
29.4V 2A
time to charge
~2 hours
Can be charged while powered on and balancing.
Follow along

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comma body

$999
or $91/mo with Affirm. Prequalify now
Free US Shipping
Free US shipping, No international shipping at this time. Ships in 1-3 months; first in, first out.
Note
comma 3X sold separately.

Overview

What is the comma body?

comma body is “the future of people.” You buy a comma body, buy a comma 3X (the head), attach the comma 3X to the body, and watch it come to life.

We believe that in order to solve AI, for most peoples’ definition, you must be embedded in the real world. We define AI as a machine that can do every task at least as well as a human. And in order to do human tasks, it helps a lot to have a human-like body. The comma body is the beginning of that journey.

Today, it’s a mobile platform for the comma 3X, but we will be building a knee and arms for it. Like everything we do, we try to distill the problem down to its essence, so unlike some companies, we aren’t focused on the humanoid shape. Wheels are a fine form of locomotion for cooking and cleaning, the dream tasks of the comma body. Two arms, a knee, and a comma 3X should complete a comma person (sold separately, the knee and arm may come in the future).

What software does it run?

The comma body runs openpilot! From openpilot’s perspective, the comma body is a car. It runs the same camera and logging software, so we’ll be able to learn from the fleet of bodies in the same way we learn from our fleet of cars.

At launch, the software will balance the body (using the same localizer as the car!) and allow you to drive it around via web interface. Shortly we’ll add video streaming to that web interface, allowing you to drive your body outside line of sight. We’d also like to add a VR app to drive the body from a first person view, this will be needed by the time we ship the arms.

Once we start getting data back from our body fleet, we can train models. The first model we will train (jointly with the driving model!) is a posenet, allowing inside out position tracking. When this model is shipped, the localizer will change from 3-DoF to 6-DoF. And once the dead reckoning is similar quality to what we have on the cars, adding a SLAM system will be very simple to allow drift free localization in your environment.

Read more: Launching the comma body

We recommend purchasing a comma 3X from the comma Shop to operate the body.

comma body software: GitHub

Note
comma body shouldn’t go anywhere you couldn’t go on a hoverboard, so no stairs, etc.

In the Box

  • comma body kit (base, rails, and hardware)
  • 1 29.4V 2A charger
  • 1 mount [compatible with the comma 3X (not included)]
  • 1 USB-C 6.6ft 90 deg cable
  • 1 set of wheels
  • 1 helmet

Tech Specs

  • Dimensions: 6.5" L x 1' 3.5" W x 4' 8" H (16.5cm x 39.5cm x 142.3cm)
  • Weight: Device: 18 lbs (8 kg), Charger: 1 lb (0.5 kg)
  • Motors: 2 x 150W
  • Battery charge time: Device charges in approximately 2 hours when powered off using the included charger. Can be charged while powered on and balancing.
  • Battery type: Lithium-Ion rechargeable battery, 25.2V 100Wh
  • Height when assembled: 4' 8”(142.24cm)

Fine Print

30-Day Return

If for any reason you are dissatisfied with anything purchased at the comma.ai shop, ship it back within 30 days for a full refund. comma.ai/returns

Shipping

Free US shipping; we ship with UPS and signature confirmation. This item cannot be shipped internationally, but hopefully this will change in the near future. We do not currently offer expedited shipping. Orders are typically fulfilled during the week of purchase.

Warranty

1-year limited warranty against hardware defects.

comma body

Assembly Instructions

8 steps
40 min
View Guide
comma body