npx claudepluginhub plurigrid/asi --plugin asiThis skill uses the workspace's default tool permissions.
**Trit**: +1 (PLUS - generation/construction)
Controls Robstride servo motors on K-Scale robots using Rust library with CAN bus. Provides position, velocity, torque control and state monitoring.
Provides patterns for ROS2 robotics development covering nodes, topics, services, actions, launch files, lifecycle management, real-time considerations, and pitfalls. Grounds responses in patterns.md, sharp_edges.md, validations.md for creation, diagnosis, review.
Guides Next.js Cache Components and Partial Prerendering (PPR) with cacheComponents enabled. Implements 'use cache', cacheLife(), cacheTag(), revalidateTag(), static/dynamic optimization, and cache debugging.
Share bugs, ideas, or general feedback.
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}
}