plurigrid K-Scale Actuator Skill
Trit: -1 (MINUS - hardware interface/verification) Color: #B9172E (Deep Red) URI: skill://kscale-actuator#B9172E
Overview
Rust library for controlling actuators on K-Scale robots. Supports Robstride servo motors with CAN bus communication. Provides position, velocity, and torque control modes.
Architecture
┌────────────────────────────────────────────────────────────────┐
│ ACTUATOR CONTROL STACK │
├────────────────────────────────────────────────────────────────┤
│ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ KOS Firmware │ │
│ │ ActuatorService (gRPC) │ │
│ └──────────────────────────────────────────────────────────┘ │
│ │ │
│ ▼ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ actuator crate (Rust) │ │
│ │ ┌─────────────────────────────────────────────────────┐ │ │
│ │ │ ActuatorController │ │ │
│ │ │ ├── configure(kp, kd, torque_limit) │ │ │
│ │ │ ├── command_position(joint_id, position) │ │ │
│ │ │ ├── command_velocity(joint_id, velocity) │ │ │
│ │ │ ├── command_torque(joint_id, torque) │ │ │
│ │ │ └── get_state() -> ActuatorState │ │ │
│ │ └─────────────────────────────────────────────────────┘ │ │
│ └──────────────────────────────────────────────────────────┘ │
│ │ │
│ ▼ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ robstride crate (Rust) │ │
│ │ ├── CAN bus communication │ │
│ │ ├── Motor protocol implementation │ │
│ │ └── Firmware interface │ │
│ └──────────────────────────────────────────────────────────┘ │
│ │ │
│ ▼ │
│ ┌──────────────────────────────────────────────────────────┐ │
│ │ Hardware │ │
│ │ Robstride Motors (CAN bus @ 1Mbps) │ │
│ └──────────────────────────────────────────────────────────┘ │
└────────────────────────────────────────────────────────────────┘
Rust API
use kscale_actuator::{ActuatorController, ActuatorConfig};
// Initialize controller
let config = ActuatorConfig {
can_interface: "can0",
motor_ids: vec![1, 2, 3, 4, 5, 6],
};
let mut controller = ActuatorController::new(config)?;
// Configure actuator
controller.configure(1, ActuatorParams {
kp: 100.0,
kd: 10.0,
torque_limit: 40.0,
})?;
// Command position
controller.command_position(1, 0.5)?; // radians
// Get state
let state = controller.get_state(1)?;
println!("Position: {}, Velocity: {}, Torque: {}",
state.position, state.velocity, state.torque);
// Low-level torque control
controller.command_torque(1, 5.0)?; // Nm
GF(3) Triads
kscale-actuator (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
Related Skills
kos-firmware(+1): Uses actuator crate via HALkbot-humanoid(-1): K-Bot uses these actuatorsrobstride-driver(-1): Low-level motor driver
References
@misc{kscaleactuator2024,
title={K-Scale Actuator Library},
author={K-Scale Labs},
year={2024},
url={https://github.com/kscalelabs/actuator}
}
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
kscale-actuator (○) + SDF.Ch6 (+) + [balancer] (−) = 0
Skill Trit: 0 (ERGODIC - coordination)
Connection Pattern
Layering adds metadata. This skill tracks provenance or annotations.