An Open Source Dev Kit for AI-native Robotics
by The Robot Learning Company
## Demo
## CAD
Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). All rights reserved.
## Installation
```
conda create -n dk1 python=3.10
conda activate dk1
pip install -e .
```
(This should also install [TRLC's fork of LeRobot](https://github.com/robot-learning-co/lerobot) and use branch `trlc-dk1`)
## Examples
Use [LeRobot's CLI](https://huggingface.co/docs/lerobot/il_robots) 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
```bash
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=$USER/my_dataset \
--dataset.push_to_hub=false \
--dataset.num_episodes=50 \
--dataset.episode_time_s=30 \
--dataset.reset_time_s=15 \
--dataset.single_task="My task description."
```
```bash
--resume=true
```
Inference
```bash
lerobot-record \
--robot.type=dk1_follower \
--robot.port=/dev/tty.usbmodem00000000050C1 \
--robot.joint_velocity_scaling=0.5 \
--robot.cameras="{
context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
}"
--display_data=true \
--dataset.repo_id=$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
```bash
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
```bash
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](https://wuphilipp.github.io/gello_site/) by Philipp Wu et al.
- [Low-Cost Robot Arm](https://github.com/AlexanderKoch-Koch/low_cost_robot) by Alexander Koch
- [LeRobot](https://github.com/huggingface/lerobot) by HuggingFace, Inc.
- [SO-100](https://github.com/TheRobotStudio/SO-ARM100) by TheRobotStudio
- [OpenArm](https://openarm.dev/) by Enactic, Inc.
