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Please note: if you buy a kit from The Robot Learning Company, it will be shipped to you fully assembled and calibrated.

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Components

#Part NameSource
7Dynamixel XL330-M077-Thttps://en.robotis.com/shop_en/
1Waveshare Serial Bus Servo Driver Boardhttps://www.amazon.com/
3D-printed Links using PLA(-CF)https://store.bambulab.com/
15V DC Power Supply (2 Pole or 5.5x2.1 Power Jack)https://www.amazon.com/
4M2x4 Insertshttps://www.amazon.com/
4M2x5 Screws (e.g. ISO 4762)https://www.amazon.com/

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3D Printing

All .STL files and a Bambu Lab 3MF project file are located in the TRLC-DK1 GitHub Repo. Recommended 3D-printing orientation: Recommended 3D-printing settings:
  • Material: PLA-CF
  • Nozzle: 0.4mm
  • Layer height: 0.12mm
  • Infill: 15%, Gyroid
  • Support: On
If you’re using a Bambu Lab 3D printer, use the 0.12mm High Quality Setting

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Assembly

First, install the inserts and gently remove one of the 3-pin header cap from the driver board:
Every Dynamixel frame is mounted using 4 long screws, every output horn using 4 short screws:
For less calibration pain afterwards, assemble all parts in the Dynamixel’s absolute zero position (marked by the engraved lines): Assemble as shown: You have two choices how to mount the wrist - either the regular configuration (left) or a configuration which is meant for top-down mounting and operation of TRLC-DK1 (right). For the second one you need to print link4-5-flipped.stl.
Continue assembly as shown: Mount the GELLO handle: Mount the driver board:

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Configuration

Connect the power supply, a USB-C cable, and one Dynamixel cable: After installing our fork of LeRobot and checking out trlc-dk1 as branch, run the following to identify the port for the bus driver board: 
lerobot-find-port
To start the motor configuration run the following command: 
lerobot-setup-motors --teleop.type dk1_leader --teleop.port YOUR_PORT
Follow the instructions and connect one motor at a time like so: The final step is to connect all motors in a daisy-chain:
Due to hardware inaccuracies you might need to run leader_offset.ipynb. Place your leader arm in the resting / zero position and run this script to offset every motor to the theoretical zero degree angles.