DK1-X Desktop Setup
This setup mounts two follower arms side-by-side on a single aluminium extrusion rail, with a fixed context camera positioned centrally on a vertical post between them. Two leader arms sit on independent microphone stands behind the workspace, giving the operator a stable, unobstructed view of the follower arms during teleop. The shared base keeps the follower arms in a known relative pose, eliminating the need for calibration between them, while the off-board leader stands can be repositioned freely to suit the operator’s reach and seating. 3D-printed parts can be found in hardware/framing_STLs/. Off-the-shelf parts:| Name / Part No. | Qty | Description | Procurement |
|---|---|---|---|
| HFS8-4080-700 | 1 | Aluminium extrusion: follower mount | MiSUMi |
| HFS6-3030-400 | 1 | Aluminium extrusion: context camera mount | MiSUMi |
| SHNTP8-5 | 12 | M5 T-slot nuts | MiSUMi |
| ISO 4762 M5x12 | 8 | Screws: follower arms | MiSUMi / Amazon |
| ISO 4762 M5x16 | 4 | Screws: 3D-printed context cam mount | MiSUMi / Amazon |
| ISO 7093 M5 | 4 | Washers: 3D-printed plates | MiSUMi / Amazon |
| e.g. K&M 260/1 | 2 | Microphone Stand (3/8” mount) | e.g. Thomann |