Kos Firmware

KOS Firmware Skill

Trit: +1 (PLUS - generation/construction) Color: #79ED91 (Bright Green) URI: skill://kos-firmware#79ED91

Overview

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.

Architecture

┌────────────────────────────────────────────────────────────────┐
│                     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)    │   │  │
│  │  └─────────────┘  └─────────────┘  └─────────────────┘   │  │
│  └──────────────────────────────────────────────────────────┘  │
└────────────────────────────────────────────────────────────────┘

gRPC Services

ActuatorService

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);
}

SimulationService (for sim2real)

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);
}

Python Client Usage

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],
        )

Key Contributors

• codekansas (Ben Bolte): Core architecture, async client
• nfreq: PolicyService, calibration, parameter dump
• WT-MM: Markers, visualization
• hatomist: Acceleration, telemetry

GF(3) Triads

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 ✓

Related Skills

• ksim-rl (-1): RL training library
• evla-vla (-1): Vision-language-action models
• kbot-humanoid (-1): K-Bot robot configuration
• zeroth-bot (-1): Zeroth bot 3D-printed platform
• mujoco-scenes (0): Scene composition

References

@misc{kos2024,
  title={KOS: K-Scale Operating System for Robot Firmware},
  author={K-Scale Labs},
  year={2024},
  url={https://github.com/kscalelabs/kos}
}

SDF Interleaving

This skill connects to Software Design for Flexibility (Hanson & Sussman, 2021):

Primary Chapter: 6. Layering

Concepts: layered data, metadata, provenance, units

GF(3) Balanced Triad

kos-firmware (−) + SDF.Ch6 (+) + [balancer] (○) = 0

Skill Trit: -1 (MINUS - verification)

Secondary Chapters

• Ch2: Domain-Specific Languages

Connection Pattern

Layering adds metadata. This skill tracks provenance or annotations.