Community & Support

The TRLC-DK1 leader arm has 7 DOF plus a gripper, driven by a Dynamixel XL330 servo chain. The follower arm uses DM4340 motors for the base joints and DM4310 motors for the wrist and gripper. Each arm is a 7-DOF manipulator, giving a full bimanual system 14 actuated joints plus two grippers.

Yes. The TRLC-DK1 ships as a LeRobot plugin following HuggingFace's official hardware integration conventions. After running uv pip install -e . from the trlc-dk1 directory, the device types dk1_follower, dk1_leader, bi_dk1_follower, and bi_dk1_leader are automatically detected by any LeRobot installation in the same Python environment. No manual registration is needed.

The TRLC-DK1 communicates over USB serial. The Dynamixel XL330 leader chain uses the standard Dynamixel baud rate (1 Mbps by default for XL330). The DM4340/DM4310 follower uses a serial CAN bridge over USB. Both connections appear as /dev/ttyACM* on Linux or /dev/tty.usbmodem* on macOS. Use uv run lerobot-find-port to identify the correct ports automatically.

Use the lerobot-record CLI with the bi_dk1_follower and bi_dk1_leader device types. Assign right_arm_port and left_arm_port for each robot and teleop side. A typical command is:

uv run lerobot-record \
  --robot.type=bi_dk1_follower \
  --robot.right_arm_port=/dev/ttyACM0 \
  --robot.left_arm_port=/dev/ttyACM1 \
  --teleop.type=bi_dk1_leader \
  --teleop.right_arm_port=/dev/ttyACM2 \
  --teleop.left_arm_port=/dev/ttyACM3 \
  --dataset.repo_id=your-org/dk1-dataset \
  --dataset.task=pick_and_place

Add camera arguments for wrist and head views. See the setup guide, Step 5 for full camera arguments.

Two STEP files are available. The follower arm is at TRLC-DK1-Follower_v0.3.0.step, and the leader arm CAD (v0.2.0) is available via a360.co/481PSQH. The full tabletop assembly is provided as TRLC-DK1-X-Tabletop.step. Community member Andreas Köpf has also published a high-quality URDF at github.com/andreaskoepf/trlc-dk1-follower-urdf.

On Linux, serial ports under /dev/ttyACM* require the user to be in the dialout group. Run the following and then log out and back in:

sudo usermod -aG dialout $USER

Alternatively, grant temporary access with sudo chmod 666 /dev/ttyACM0. If the port still does not appear, check that the CH340 or CP210x USB-to-serial driver is installed (required on macOS as well).