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plurigrid/asi

kbot-humanoid

K-Bot humanoid robot platform - hardware specs, MJCF models, and deployment configurations. The flagship K-Scale humanoid robot.

First seen Jun 12, 2026

Installation

$ npx skills add plurigrid/asi --skill kbot-humanoid
View on skills.sh ↗ GitHub repository ↗

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More details

Agent compatibility

Declared targets from SKILL.md / docs. Unmarked agents are not listed — the skill may still install via the CLI.

Claude Code Not declared
Cursor Not declared
Codex Not declared
GitHub Copilot Not declared
Windsurf Not declared
Gemini CLI Not declared
Cline Not declared
OpenCode Not declared

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Repository health

Stars 62
License LICENSE
Default branch main
Open issues 3
Status Active

Skill metadata

Parsed from SKILL.md frontmatter.

Version1.0.0
LicenseMIT

Package contents

Files included with this skill beyond the listing page.

  • skill md SKILL.md 6,230 B
  • docs SUMMARY.md 149 B

History

  1. First seen on skills.sh
  2. First recorded snapshot · 1 installs

SKILL.md

K-Bot Humanoid Skill

Trit: -1 (MINUS - specification/verification) Color: #5B45C2 (Purple) URI: skill://kbot-humanoid#5B45C2

Overview

K-Bot is K-Scale Labs' flagship humanoid robot platform. This skill covers hardware specifications, MJCF model configurations, and deployment workflows.

Robot Specifications

┌────────────────────────────────────────────────────────────────┐
│                      K-BOT HUMANOID                            │
├────────────────────────────────────────────────────────────────┤
│                                                                 │
│  Height: ~1.4m                                                 │
│  Weight: ~30kg                                                 │
│  DOF: 20+ joints                                               │
│                                                                 │
│  Actuators:                                                     │
│  ├── Robstride motors (custom driver)                          │
│  ├── Position/velocity/torque control                          │
│  └── ~40 Nm peak torque per joint                              │
│                                                                 │
│  Sensors:                                                       │
│  ├── IMU (6-axis)                                              │
│  ├── Joint encoders                                            │
│  ├── Cameras (RGB)                                             │
│  └── Force sensors (feet)                                      │
│                                                                 │
│  Compute:                                                       │
│  ├── Onboard: Jetson/custom                                    │
│  └── Inference: Policy runs at 50-100 Hz                       │
│                                                                 │
└────────────────────────────────────────────────────────────────┘

MJCF Model

<!-- kbot.mjcf excerpt -->
<mujoco model="kbot">
  <compiler angle="radian" meshdir="meshes"/>
  
  <default>
    <joint damping="0.5" armature="0.01"/>
    <geom friction="1 0.005 0.001" condim="3"/>
  </default>
  
  <worldbody>
    <body name="torso" pos="0 0 1.0">
      <freejoint name="root"/>
      <geom type="mesh" mesh="torso"/>
      
      <!-- Legs -->
      <body name="hip_l" pos="0 0.1 0">
        <joint name="hip_yaw_l" type="hinge" axis="0 0 1"/>
        <joint name="hip_roll_l" type="hinge" axis="1 0 0"/>
        <joint name="hip_pitch_l" type="hinge" axis="0 1 0"/>
        <!-- ... -->
      </body>
      
      <!-- Arms -->
      <body name="shoulder_l" pos="0 0.2 0.4">
        <joint name="shoulder_pitch_l" type="hinge" axis="0 1 0"/>
        <joint name="shoulder_roll_l" type="hinge" axis="1 0 0"/>
        <!-- ... -->
      </body>
    </body>
  </worldbody>
  
  <actuator>
    <position name="hip_yaw_l_pos" joint="hip_yaw_l" kp="100"/>
    <position name="hip_roll_l_pos" joint="hip_roll_l" kp="100"/>
    <!-- ... -->
  </actuator>
</mujoco>

Deployment Pipeline

┌─────────────┐    ┌─────────────┐    ┌─────────────┐    ┌─────────────┐
│   KSIM      │───▶│   Policy    │───▶│   KOS       │───▶│   K-Bot     │
│   Training  │    │   Export    │    │   Firmware  │    │   Hardware  │
└─────────────┘    └─────────────┘    └─────────────┘    └─────────────┘
       │                  │                  │                  │
       ▼                  ▼                  ▼                  ▼
   PPO/AMP in        ONNX/JIT           gRPC actuator      Real robot
   MJX sim           conversion         commands            execution

Training with KSIM

from ksim.robots.kbot import KBotConfig
from ksim import PPOTask

class KBotWalking(PPOTask):
    robot = KBotConfig(
        model_path="kbot-headless.mjcf",
        joint_names=KBotConfig.DEFAULT_JOINTS,
        actuator_config={
            "kp": 100.0,
            "kd": 10.0,
            "torque_limit": 40.0,
        }
    )

GF(3) Triads

kbot-humanoid (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
kbot-humanoid (-1) ⊗ topos-generate (+1) ⊗ ksim-gym (0) = 0 ✓

Related Skills

  • ksim-rl (-1): RL training for K-Bot
  • kos-firmware (+1): Firmware for K-Bot deployment
  • zeroth-bot (-1): Smaller 3D-printed platform
  • evla-vla (-1): VLA for manipulation tasks

References

@misc{kbot2024,
  title={K-Bot: Open-Source Humanoid Robot Platform},
  author={K-Scale Labs},
  year={2024},
  url={https://github.com/kscalelabs/kbot}
}

SDF Interleaving

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

Primary Chapter: 10. Adventure Game Example

Concepts: autonomous agent, game, synthesis

GF(3) Balanced Triad

kbot-humanoid (○) + SDF.Ch10 (+) + [balancer] (−) = 0

Skill Trit: 0 (ERGODIC - coordination)

Connection Pattern

Adventure games synthesize techniques. This skill integrates multiple patterns.