Technical Reference
DK1 Specifications
Complete hardware, motor, and software specifications for the TRLC-DK1 bimanual kit.
Leader Arm
Leader Arm Specifications
| Parameter | Value |
|---|---|
| Degrees of Freedom | 7 DOF + gripper |
| Motors | Dynamixel XL330 servo chain |
| Communication | USB serial (Dynamixel protocol, 1 Mbps default) |
| Device Type (single) | dk1_leader |
| Device Type (bimanual) | bi_dk1_leader |
| Port (Linux) | /dev/ttyACM* (one per arm) |
| Port (macOS) | /dev/tty.usbmodem* |
| CAD File | Available via a360.co/481PSQH (v0.2.0) |
Follower Arm
Follower Arm Specifications
| Parameter | Value |
|---|---|
| Degrees of Freedom | 7 DOF + gripper |
| Base Joint Motors | DM4340 |
| Wrist & Gripper Motors | DM4310 |
| Communication | USB serial CAN bridge |
| Device Type (single) | dk1_follower |
| Device Type (bimanual) | bi_dk1_follower |
| Port (Linux) | /dev/ttyACM* (one per arm) |
| Port (macOS) | /dev/tty.usbmodem* |
| Payload Limit | <500 g per arm (lightweight tasks) |
| CAD File | TRLC-DK1-Follower_v0.3.0.step |
Bimanual System
Full Bimanual System
| Parameter | Value |
|---|---|
| Total Actuated Joints | 14 DOF + 2 grippers |
| USB Connections Required | 4 (one per arm, both sides) |
| Follower Device Type | bi_dk1_follower |
| Leader Device Type | bi_dk1_leader |
| CAD Assembly | TRLC-DK1-X-Tabletop.step |
| Community URDF | andreaskoepf/trlc-dk1-follower-urdf |
Kit Contents
What's in the Box
| Component | Item | Qty |
|---|---|---|
| Follower Arm | USB-C to CAN Adapter Cable (XT-30 24 V power) | 1× |
| Follower Arm | Hot-swappable Soft Fingers | 1 set |
| Follower Arm | UART Motor Debugging Cable | 1× |
| Follower Arm | USB-C Cable (2 m) | 1× |
| Leader Arm | Mount for 3/8" Stands | 1× |
| Leader Arm | Flipped Wrist | 1× |
| Leader Arm | USB-C Cable (2 m) | 1× |
| Power Supply | Follower Power Cable — 2 m, XT30 connector, 24 V | 1× |
| Power Supply | Leader Power Cable — 2 m, 5.5 mm × 2.1 mm DC barrel, 5 V | 1× |
| Accessories | Context Camera (UVC, Fish-eye Lens) + USB Cable (3 m) | 1× |
| Accessories | USB-C Hub (4-port) | 1× |
| Accessories | E-Stop for Follower Power | 1× |
Part Sourcing
Follower joint motors (DM-J4340/DM-J4310) via Foxtech or AliExpress. Leader servos (Dynamixel XL330-M077-T / XL330-M288-T) via Robotis. Structural sheet metal via MiSUMi MEVIY. 3D-printed parts in PLA-CF or PAHT-CF (Bambu Lab).
Leader Arm BOM
7× Dynamixel XL330-M077-T (or XL330-M288-T), Waveshare Serial Bus Servo Driver Board, PLA-CF printed links, 5 V DC power supply, M2 fasteners.
Software
Software & CLI Reference
| Tool / Parameter | Details |
|---|---|
| LeRobot Integration | Native plugin — install with uv pip install -e . |
| Port Detection | uv run lerobot-find-port |
| Calibration CLI | uv run lerobot-calibrate |
| Teleoperation CLI | uv run lerobot-teleoperate |
| Data Recording CLI | uv run lerobot-record |
| Dataset Format | LeRobot / HuggingFace Hub compatible |
| Supported OS | Linux (Ubuntu 22.04+), macOS |
| Python Requirement | Python 3.10+ |
CAD & URDF
Design Files
Follower Arm STEP
Full STEP file for the follower arm (v0.3.0). Suitable for custom mounting and integration.
TRLC-DK1-Follower_v0.3.0.step
Comparing the DK1 to other arms? See the full hardware comparison or visit the DK1 developer wiki for deeper technical documentation.
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