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Merge pull request #7 from robot-learning-co/v0.3
Add v0.3 changes
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‎README.md‎

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<table align="center">
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<tr>
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<td width="50%">
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<a href="https://github.com/robot-learning-co/trlc-dk1/blob/main/hardware/TRLC-DK1-Follower_v0.2.0.step" target="_blank">
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TRLC-DK1 v0.2.0 Follower CAD (Fusion)<br>
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<a href="https://github.com/robot-learning-co/trlc-dk1/blob/main/hardware/TRLC-DK1-Follower_v0.3.0.step" target="_blank">
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TRLC-DK1 v0.3.0 Follower CAD<br>
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<img src="media/follower_cad.png" width="100%">
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</a>
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</td>
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<td width="50%">
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<a href="https://a360.co/481PSQH" target="_blank">
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TRLC-DK1 v0.2.0 Leader CAD (Fusion)<br>
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TRLC-DK1 v0.2.0 Leader CAD<br>
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<img src="media/leader_cad.png" width="100%">
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</a>
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</td>
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</tr>
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</table>
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Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). All rights reserved.
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Copyright 2025-2026 The Robot Learning Company UG (haftungsbeschränkt). All rights reserved.
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## Installation
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```
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conda create -n dk1 python=3.10
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conda activate dk1
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pip install -e .
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git clone https://github.com/robot-learning-co/trlc-dk1.git
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uv venv
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uv pip install -e .
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```
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This repo uses [LeRobot's plugin conventions](https://huggingface.co/docs/lerobot/integrate_hardware#using-your-own-lerobot-devices-) to be automatically detected by a LeRobot installation in the same Python environment.
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(This should also install [TRLC's fork of LeRobot](https://github.com/robot-learning-co/lerobot) and use branch `trlc-dk1`)
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## Examples
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Use [LeRobot's CLI](https://huggingface.co/docs/lerobot/il_robots) to identify your teleop and robot ports:
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Use [LeRobot's CLI](https://huggingface.co/docs/lerobot/il_robots) to identify your teleop, robot, and camera ports:
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```
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lerobot-find-port
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uv run lerobot-find-port
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uv run lerobot-find-cameras
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```
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<details>
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<summary>Teleoperation
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<summary>Example I: Single Arm Teleoperation
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</summary>
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```bash
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lerobot-teleoperate \
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uv run lerobot-teleoperate \
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--robot.type=dk1_follower \
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--robot.port=/dev/tty.usbmodem00000000050C1 \
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--robot.joint_velocity_scaling=0.5 \
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--robot.port=/dev/ttyACM0 \
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--robot.joint_velocity_scaling=0.2 \
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--teleop.type=dk1_leader \
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--teleop.port=/dev/ttyACM1 \
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--robot.cameras="{
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context: {type: opencv, index_or_path: 0, width: 1280, height: 720, fps: 30},
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wrist: {type: opencv, index_or_path: 1, width: 1280, height: 720, fps: 30}
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context: {type: opencv, index_or_path: 0, width: 1280, height: 720, fps: 60, fourcc: "MJPG"},
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wrist: {type: opencv, index_or_path: 1, width: 1280, height: 720, fps: 60, rotation: 180, fourcc: "MJPG"}
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}" \
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--teleop.type=dk1_leader \
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--teleop.port=/dev/tty.usbmodem58FA0824311 \
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--display_data=true
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```
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</details>
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<details>
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<summary>Recording
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<summary>Example II: Bimanual Recording
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</summary>
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```bash
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lerobot-record \
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--robot.type=dk1_follower \
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--robot.port=/dev/tty.usbmodem00000000050C1 \
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--robot.joint_velocity_scaling=1.0 \
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--robot.cameras="{
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context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
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wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
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}" \
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--teleop.type=dk1_leader \
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--teleop.port=/dev/tty.usbmodem58FA0824311 \
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--display_data=true \
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--dataset.repo_id=$USER/my_dataset \
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--dataset.push_to_hub=false \
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--dataset.num_episodes=50 \
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--dataset.episode_time_s=30 \
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--dataset.reset_time_s=15 \
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--dataset.single_task="My task description."
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```
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```bash
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--resume=true
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```
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</details>
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<details>
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<summary>Inference
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</summary>
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```bash
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lerobot-record \
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--robot.type=dk1_follower \
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--robot.port=/dev/tty.usbmodem00000000050C1 \
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--robot.joint_velocity_scaling=0.5 \
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--robot.cameras="{
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context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
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wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
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}"
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--display_data=true \
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--dataset.repo_id=$USER/eval_my_model \
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--dataset.single_task="My task description." \
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--dataset.push_to_hub=false \
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--policy.path=outputs/my_model/checkpoints/last/pretrained_model
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```
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</details>
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<details>
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<summary>Bimanual Teleoperation
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</summary>
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```bash
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lerobot-teleoperate \
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--robot.type=bi_dk1_follower \
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--robot.right_arm_port=/dev/ttyACM0 \
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--robot.left_arm_port=/dev/ttyACM1 \
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--robot.joint_velocity_scaling=1.0 \
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--robot.cameras="{
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context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 30},
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right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30},
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left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
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}" \
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--teleop.type=bi_dk1_leader \
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--teleop.right_arm_port=/dev/ttyACM2 \
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--teleop.left_arm_port=/dev/ttyACM3 \
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--display_data=true \
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--display_url=100.88.6.81
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```
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</details>
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<details>
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<summary>Bimanual Recording
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</summary>
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```bash
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lerobot-record \
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--robot.type=bi_dk1_follower \
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--robot.right_arm_port=/dev/ttyACM0 \
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--robot.left_arm_port=/dev/ttyACM1 \
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--robot.joint_velocity_scaling=1.0 \
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--robot.cameras="{
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context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 30},
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right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30},
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left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
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head: {type: opencv, index_or_path: /dev/video0, width: 960, height: 540, fps: 60, fourcc: "MJPG"},
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right_wrist: {type: opencv, index_or_path: /dev/video2, width: 960, height: 540, fps: 60, rotation: 180, fourcc: "MJPG"},
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left_wrist: {type: opencv, index_or_path: /dev/video4, width: 960, height: 540, fps: 60, rotation: 180, fourcc: "MJPG"},
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}" \
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--teleop.type=bi_dk1_leader \
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--teleop.right_arm_port=/dev/ttyACM2 \
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--teleop.left_arm_port=/dev/ttyACM3 \
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--dataset.repo_id=$USER/disassemble_lego \
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--dataset.repo_id=$USER/my_test_dataset \
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--dataset.push_to_hub=false \
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--dataset.num_episodes=40 \
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--dataset.episode_time_s=180 \
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--dataset.reset_time_s=120 \
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--dataset.single_task="Disassemble the Lego and sort it." \
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--dataset.reset_time_s=120 \
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--resume=true
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--dataset.num_episodes=3 \
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--dataset.episode_time_s=30 \
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--dataset.reset_time_s=20 \
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--dataset.single_task="Test the LeRobot recording pipeling."
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```
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</details>
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## URDF
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## URDF (v0.2)
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<p align="center">
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<img src="https://github.com/andreaskoepf/trlc-dk1-follower-urdf/blob/main/assets/dk1_vsual_right.png">

‎examples/bi_teleop.py‎

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from trlc_dk1.bi_follower import BiDK1Follower, BiDK1FollowerConfig
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from trlc_dk1.bi_leader import BiDK1Leader, BiDK1LeaderConfig
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from lerobot_robot_trlc_dk1.bi_follower import BiDK1Follower, BiDK1FollowerConfig
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from lerobot_robot_trlc_dk1.bi_leader import BiDK1Leader, BiDK1LeaderConfig
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import time
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import logging
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‎examples/calibration_follower.py‎

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from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
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from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
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from lerobot_robot_trlc_dk1.follower import DK1Follower, DK1FollowerConfig
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from lerobot_robot_trlc_dk1.motors.DM_Control_Python.DM_CAN import *
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import serial
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import time
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follower_config = DK1FollowerConfig(
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port="/dev/tty.usbmodem00000000050C1",
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port="/dev/ttyACM1",
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)
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follower = DK1Follower(follower_config)
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‎examples/follower_read_position.py‎

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from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
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from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
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from lerobot_robot_trlc_dk1.follower import DK1Follower, DK1FollowerConfig
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from lerobot_robot_trlc_dk1.motors.DM_Control_Python.DM_CAN import *
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import time
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follower_config = DK1FollowerConfig(
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port="/dev/tty.usbmodem00000000050C1",
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port="/dev/ttyACM1",
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)
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follower = DK1Follower(follower_config)
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‎examples/leader_test.py‎

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from trlc_dk1.leader import DK1Leader, DK1LeaderConfig
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from lerobot_robot_trlc_dk1.leader import DK1Leader, DK1LeaderConfig
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import time
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leader_config = DK1LeaderConfig(

‎examples/read_motor_params.py‎

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from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
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from lerobot_robot_trlc_dk1.motors.DM_Control_Python.DM_CAN import *
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import serial
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import time
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‎examples/teleop.py‎

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from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
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from trlc_dk1.leader import DK1Leader, DK1LeaderConfig
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from lerobot_robot_trlc_dk1.follower import DK1Follower, DK1FollowerConfig
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from lerobot_robot_trlc_dk1.leader import DK1Leader, DK1LeaderConfig
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import time
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follower_config = DK1FollowerConfig(
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port="/dev/tty.usbmodem00000000050C1",
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port="/dev/ttyACM1",
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joint_velocity_scaling=0.2,
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)
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leader_config = DK1LeaderConfig(
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port="/dev/tty.usbmodem5A680096411"
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port="/dev/ttyACM0"
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)
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leader = DK1Leader(leader_config)

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