An Open Source Dev Kit for AI-native Robotics

by The Robot Learning Company

Demo

CAD

TRLC-DK1 v0.2.0 Follower CAD (Fusion)

TRLC-DK1 v0.2.0 Leader CAD (Fusion)

Installation

conda create -n dk1 python=3.10
conda activate dk1
pip install -e .

(This should also install TRLC's fork of LeRobot and use branch trlc-dk1)

Examples

Use LeRobot's CLI to identify your teleop and robot ports:

lerobot-find-port

1 0

lerobot-teleoperate
--robot.type=bi_dk1_follower
--robot.right_arm_port=/dev/ttyACM0
--robot.left_arm_port=/dev/ttyACM1
--robot.joint_velocity_scaling=1.0
--robot.cameras="{ context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 30}, right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30}, left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30}, }"
--teleop.type=bi_dk1_leader
--teleop.right_arm_port=/dev/ttyACM2
--teleop.left_arm_port=/dev/ttyACM3
--display_data=true
--display_url=100.88.6.81

Teleoperation

lerobot-teleoperate \ --robot.type=bi_dk1_follower \ --robot.right_arm_port=/dev/ttyACM3 \ --robot.left_arm_port=/dev/ttyACM2 \ --robot.joint_velocity_scaling=1 \ --robot.cameras="{ context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 30}, right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30}, left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30}, }" \ --teleop.type=bi_dk1_leader \ --teleop.right_arm_port=/dev/ttyACM0 \ --teleop.left_arm_port=/dev/ttyACM1 \ --display_data=true \ --display_url=100.88.6.81 ```bash lerobot-teleoperate \ --robot.type=dk1_follower \ --robot.port=/dev/ttyACM0 \ --robot.joint_velocity_scaling=0.1 \ --teleop.type=dk1_leader \ --teleop.port=/dev/ttyACM1 \ --display_data=true ```

lerobot-teleoperate
--robot.type=dk1_follower
--robot.port=/dev/ttyACM1
--robot.joint_velocity_scaling=1
--teleop.type=dk1_leader
--teleop.port=/dev/ttyACM3 \

Recording

lerobot-record \
    --robot.type=dk1_follower \
    --robot.port=/dev/tty.usbmodem00000000050C1 \
    --robot.joint_velocity_scaling=1.0 \
    --robot.cameras="{ 
        context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30}, 
        wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
      }" \
    --teleop.type=dk1_leader \
    --teleop.port=/dev/tty.usbmodem58FA0824311 \
    --display_data=true \
    --dataset.repo_id=$USER/my_dataset \
    --dataset.push_to_hub=false \
    --dataset.num_episodes=50 \
    --dataset.episode_time_s=30 \
    --dataset.reset_time_s=15 \
    --dataset.single_task="My task description."

    --resume=true

Inference

lerobot-record  \
  --robot.type=dk1_follower \
  --robot.port=/dev/tty.usbmodem00000000050C1 \
  --robot.joint_velocity_scaling=0.5 \
  --robot.cameras="{ 
      context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30}, 
      wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
    }"
  --display_data=true \
  --dataset.repo_id=$USER/eval_my_model \
  --dataset.single_task="My task description." \
  --dataset.push_to_hub=false \
  --policy.path=outputs/my_model/checkpoints/last/pretrained_model

Bimanual Teleoperation

lerobot-teleoperate \
    --robot.type=bi_dk1_follower \
    --robot.right_arm_port=/dev/ttyACM2 \
    --robot.left_arm_port=/dev/ttyACM1 \
    --robot.joint_velocity_scaling=0.1 \
    --teleop.type=bi_dk1_leader \
    --teleop.right_arm_port=/dev/ttyACM0 \
    --teleop.left_arm_port=/dev/ttyACM3

Bimanual Recording

lerobot-record \
    --robot.type=bi_dk1_follower \
    --robot.right_arm_port=/dev/ttyACM1 \
    --robot.left_arm_port=/dev/ttyACM0 \
    --robot.joint_velocity_scaling=1.0 \
    --robot.cameras="{ 
        context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 15}, 
        right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30},
        left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
      }" \
    --teleop.type=bi_dk1_leader \
    --teleop.right_arm_port=/dev/ttyACM3 \
    --teleop.left_arm_port=/dev/ttyACM2 \
    --dataset.repo_id=qualiaadmin/spoon_35 \
    --dataset.push_to_hub=false \
    --dataset.num_episodes=40 \
    --dataset.episode_time_s=10 \
    --dataset.reset_time_s=0 \
    --dataset.single_task="Pick up spoon" \
    --dataset.reset_time_s=5 \
    --resume=false

Acknowledgements

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.