KOS Services API

The KOS API provides a collection of service clients that enable interaction with various hardware components and system resources. Each service client is specialized for a specific aspect of the robot's functionality.

Service Overview

Actuator Service

Control motors, servos, and other actuators with precise positioning, velocity, and torque control.

IMU Service

Access orientation, acceleration, and angular velocity data from the Inertial Measurement Unit.

LED Matrix Service

Control LED matrix displays for visual feedback, animations, and text display.

Sound Service

Play audio, record from microphones, and generate tones for auditory feedback.

Process Manager Service

Monitor system resources, manage processes, and perform system diagnostics.

Inference Service

Deploy and run machine learning models for on-device inference.

Simulation Service

Test robot behaviors in a physics simulation environment before deploying to hardware.

Using Services

All services follow a consistent access pattern through the main KOS client:

import asyncio
from pykos import KOS

async def main():
    async with KOS() as client:
        # Access a service
        actuator_client = client.actuator()
        imu_client = client.imu()
        
        # Use service methods
        orientation = await imu_client.get_orientation()
        await actuator_client.command_actuators([
            {"actuator_id": 1, "position": orientation.roll + 90.0}
        ])

asyncio.run(main())

Service Documentation

Each service has its own dedicated documentation page with detailed API reference and examples: