by The Robot Learning Company
TRLC-DK1 v0.3.0 Follower CAD
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TRLC-DK1 v0.2.0 Leader CAD
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git clone https://github.com/robot-learning-co/trlc-dk1.git
uv venv
GIT_LFS_SKIP_SMUDGE=1 uv pip install -e .
GIT_LFS_SKIP_SMUDGE=1 is needed to pull LeRobot as a dependency.
This repo uses LeRobot's plugin conventions to be automatically detected by a LeRobot installation in the same Python environment.
Use LeRobot's CLI to identify your teleop, robot, and camera ports:
uv run lerobot-find-port
uv run lerobot-find-cameras
Example I: Single Arm Teleoperation
uv run lerobot-teleoperate \
--robot.type=dk1_follower \
--robot.port=/dev/ttyACM0 \
--robot.joint_velocity_scaling=0.2 \
--teleop.type=dk1_leader \
--teleop.port=/dev/ttyACM1 \
--robot.cameras="{
context: {type: opencv, index_or_path: 0, width: 1280, height: 720, fps: 60, fourcc: "MJPG"},
wrist: {type: opencv, index_or_path: 1, width: 1280, height: 720, fps: 60, rotation: 180, fourcc: "MJPG"}
}" \
--display_data=trueExample II: Bimanual Recording
lerobot-record \
--robot.type=bi_dk1_follower \
--robot.right_arm_port=/dev/ttyACM0 \
--robot.left_arm_port=/dev/ttyACM1 \
--robot.joint_velocity_scaling=1.0 \
--teleop.type=bi_dk1_leader \
--teleop.right_arm_port=/dev/ttyACM2 \
--teleop.left_arm_port=/dev/ttyACM3 \
--robot.cameras="{
head: {type: opencv, index_or_path: /dev/video0, width: 960, height: 540, fps: 60, fourcc: "MJPG"},
right_wrist: {type: opencv, index_or_path: /dev/video2, width: 960, height: 540, fps: 60, rotation: 180, fourcc: "MJPG"},
left_wrist: {type: opencv, index_or_path: /dev/video4, width: 960, height: 540, fps: 60, rotation: 180, fourcc: "MJPG"},
}" \
--dataset.repo_id=$USER/my_test_dataset \
--dataset.push_to_hub=false \
--dataset.num_episodes=3 \
--dataset.episode_time_s=30 \
--dataset.reset_time_s=20 \
--dataset.single_task="Test the LeRobot recording pipeling."
The follower arm URDF with visual (GLB) and collision (STL) meshes is available in urdf/follower/.
- GELLO by Philipp Wu et al.
- Low-Cost Robot Arm by Alexander Koch
- LeRobot by HuggingFace, Inc.
- SO-100 by TheRobotStudio
- OpenArm by Enactic, Inc.