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Documentation Index

Fetch the complete documentation index at: https://docs.robot-learning.co/llms.txt

Use this file to discover all available pages before exploring further.

Framing is not included if you order a TRLC-DK1-X from our website.

DK1-X: Tabletop

(classic mounting, recommended)Pro: Natural resting position, good vision for tele-operator, optimal for given joint layoutCon: Large footprint - less portable, less human-like.TRLC-DK1-X-Tabletop CAD file ->

DK1-X: Humanoid

(overhead mounting, not recommended)Pro: Small footprint - more portable, easier retargeting from human data.Con: Actuated home position needed, tele-operator vision is limited by torso aluminium extrusion, requires wrist flipping, wrist joints often operating near limits.TRLC-DK1-X-Humanoid CAD file ->

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DK1-X Tabletop part list

3D-printed parts can be found in the TRLC-DK1 GitHub Repository Off-the-shelf parts from MiSUMi:
#Name / Part No.DescriptionProcurement
1HFS8-4080-700Aluminium extrusion: follower mountMiSUMi
1HFS8-4080-500Aluminium extrusion: leader mountMiSUMi
1HFS8-4080-400Aluminium extrusion: frame connectorMiSUMi
1HFS6-3030-400Aluminium extrusion: context camera mountMiSUMi
36SHNTP8-5M5 T-slot nutsMiSUMi
8ISO 4762 M5x12Screws: follower armsMiSUMi / Amazon
28ISO 4762 M5x16Screws: leader arms & 3D-printed platesMiSUMi / Amazon
20ISO 7093 M5Washers: 3D-printed platesMiSUMi / Amazon

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DK1-X Humanoid part list

For now, DK1-X-Humanoid parts need to be derived from the CAD file
#Name / Part No.DescriptionProcurement
1HFS8-8080-500Aluminium extrusion: torsoMiSUMi
1HFS8-4080-500Aluminium extrusion: shouldersMiSUMi
2HFS8-4080-400Aluminium extrusion: leader mountMiSUMi
1CNC Base PlateCustom base plate (CAD file)MiSUMi / PCBWay
~60SHNTP8-5M5 T-slot nutsMiSUMi
8ISO 4762 M5x12Screws: follower armsMiSUMi / Amazon
~70ISO 4762 M5x16Screws: leader arms & 3D-printed platesMiSUMi / Amazon
~50ISO 7093 M5Washers: 3D-printed platesMiSUMi / Amazon