K-Scale Operating System - Rust-based robot firmware with gRPC services for actuator control, IMU, and sim2real transfer. Platform abstraction layer for hardware/simulation backends.
Trit: +1 (PLUS - generation/construction) Color: #79ED91 (Bright Green) URI: skill://kos-firmware#79ED91
KOS (K-Scale Operating System) is a general-purpose, configurable framework for robot firmware. Written in Rust with gRPC services exposed to Python clients via pykos.
┌────────────────────────────────────────────────────────────────┐
│ KOS ARCHITECTURE │
├────────────────────────────────────────────────────────────────┤
│ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ Python Client (pykos) │ │
│ │ KosClient.actuator.command_actuators(...) │ │
│ │ KosClient.imu.get_imu_values() │ │
│ │ KosClient.sim.reset() │ │
│ └──────────────────────────────────────────────────────────┘ │
│ │ gRPC │
│ ▼ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ KOS Runtime Daemon │ │
│ │ ┌─────────────┬─────────────┬─────────────────────────┐ │ │
│ │ │ Actuator │ IMU │ Simulation │ │ │
│ │ │ Service │ Service │ Service │ │ │
│ │ └─────────────┴─────────────┴─────────────────────────┘ │ │
│ └──────────────────────────────────────────────────────────┘ │
│ │ HAL Traits │
│ ▼ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ Platform Abstraction Layer │ │
│ │ ┌─────────────┐ ┌─────────────┐ ┌─────────────────┐ │ │
│ │ │ KBot HAL │ │ ZBot HAL │ │ Stub (Testing) │ │ │
│ │ │ (Hardware) │ │ (Hardware) │ │ (Simulation) │ │ │
│ │ └─────────────┘ └─────────────┘ └─────────────────┘ │ │
│ └──────────────────────────────────────────────────────────┘ │
└────────────────────────────────────────────────────────────────┘
service ActuatorService {
rpc CommandActuators(CommandActuatorsRequest) returns (CommandActuatorsResponse);
rpc ConfigureActuator(ConfigureActuatorRequest) returns (ActionResponse);
rpc CalibrateActuator(CalibrateActuatorRequest) returns (ActionResponse);
rpc GetActuatorsState(GetActuatorsStateRequest) returns (ActuatorStateResponse);
rpc ParameterDump(ParameterDumpRequest) returns (ParameterDumpResponse);
}
service SimulationService {
rpc Reset(ResetRequest) returns (ResetResponse);
rpc SetPaused(SetPausedRequest) returns (ActionResponse);
rpc Step(StepRequest) returns (StepResponse);
rpc AddMarker(AddMarkerRequest) returns (ActionResponse);
rpc SetParameters(SetParametersRequest) returns (ActionResponse);
}
from pykos import KosClient
async def control_robot():
async with KosClient("localhost:50051") as client:
# Get actuator states
states = await client.actuator.get_actuators_state([1, 2, 3])
# Command positions
await client.actuator.command_actuators([
{"actuator_id": 1, "position": 0.5},
{"actuator_id": 2, "position": -0.3},
])
# Configure actuator
await client.actuator.configure_actuator(
actuator_id=1,
kp=100.0,
kd=10.0,
torque_enabled=True,
)
# Calibrate
await client.actuator.calibrate(1)
# For simulation
async def sim_control():
async with KosClient("localhost:50051") as client:
await client.sim.reset()
await client.sim.step(dt=0.002)
await client.sim.add_marker(
name="target",
position=[1.0, 0.0, 0.5],
color=[1.0, 0.0, 0.0],
)
This skill participates in balanced triads:
ksim-rl (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
kos-firmware (+1) ⊗ evla-vla (-1) ⊗ ktune-sim2real (0) = 0 ✓
ksim-rl (-1): RL training libraryevla-vla (-1): Vision-language-action modelskbot-humanoid (-1): K-Bot robot configurationzeroth-bot (-1): Zeroth bot 3D-printed platformmujoco-scenes (0): Scene composition@misc{kos2024,
title={KOS: K-Scale Operating System for Robot Firmware},
author={K-Scale Labs},
year={2024},
url={https://github.com/kscalelabs/kos}
}
This skill connects to Software Design for Flexibility (Hanson & Sussman, 2021):
Concepts: layered data, metadata, provenance, units
kos-firmware (−) + SDF.Ch6 (+) + [balancer] (○) = 0
Skill Trit: -1 (MINUS - verification)
Layering adds metadata. This skill tracks provenance or annotations.