Asi kscale-actuator

Rust library for controlling actuators (Robstride servo motors) on K-Scale robots. CAN bus communication, position/velocity/torque control.

install

source · Clone the upstream repo

git clone https://github.com/plurigrid/asi

Claude Code · Install into ~/.claude/skills/

T=$(mktemp -d) && git clone --depth=1 https://github.com/plurigrid/asi "$T" && mkdir -p ~/.claude/skills && cp -r "$T/plugins/asi/skills/kscale-actuator" ~/.claude/skills/plurigrid-asi-kscale-actuator && rm -rf "$T"

manifest: plugins/asi/skills/kscale-actuator/SKILL.md

source content

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 HAL
```
kbot-humanoid
```
(-1): K-Bot uses these actuators
```
robstride-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}
}