What’s included

What’s included with one kit:

TRLC-DK1 Follower Arm
- USB-C to CAN Adapter Cable (incl. XT-30 24V Power)
- Hot-swappable Soft Fingers
- UART (3-pin) Motor Debugging Cable
- USB-C Cable (2m)
TRLC-DK1 Leader Arm
- Part Variant: Mount for 3/8“ Stands
- Part Variant: Flipped Wrist
- USB-C Cable (2m)
Power Supply
- Follower Power Cable (2m, XT30, 24V)
- Leader Power Cable (2m, 5.5mm x 2.1mm DC, 5V)
Context Camera (UVC, Fish-eye Lens)
- USB Cable (3m)
USB-C Hub (4 Ports)
E-Stop for Follower Power

Mounting

You have two options of mounting the arm; (1) with clamps or (2) 4080 aluminium extrusions:

Please ensure that the follower arm is securely fixed in place before operating.

Recommended clamps: WORKPRO one-handed clamps (Amazon) Recommended aluminium profiles: MiSUMi Aluminium Extrusions

Power Connections:

All data transmission runs through USB-C cables.

Install trlc-dk1 from the GitHub repository. Use LeRobot’s CLI to identify your leader and follower ports:

lerobot-find-port

Write them in examles/teleop.py or examples/bi_teleop.py. The DK1FollowerConfig class has a parameter called joint_velocity_scaling:

class DK1FollowerConfig(RobotConfig):
    port: str
    joint_velocity_scaling: float = 0.2
    ...

It scales the joint velocity where 1.0 is maximum motor speed.

Only increase the scaling to 1 after you tested your whole setup.