TRLC-DK1 is The Robot Learning Company's open-source dev kit for AI-native robotics: a leader/follower pair for collecting teleoperation data and training imitation-learning policies with LeRobot. You move the light passive leader arm by hand and the follower copies its joint angles; a camera on the follower's wrist and a context camera record the scene.

Follower arm

Six revolute joints plus a parallel gripper, all on DAMIAO CAN-bus motors:

Joint	Motor	Range
1 base yaw	DM4340	-120 to 120 deg
2 shoulder	DM4340	-5 to 180 deg
3 elbow	DM4340	-5 to 270 deg
4 wrist pitch	DM4310	-112 to 90 deg
5 wrist yaw	DM4310	-90 to 90 deg
6 wrist roll	DM4310	-120 to 120 deg
gripper	DM4310, pinion between two racks	opens to about 80 mm

The links are 3D-printed shells around the motors, and 6803ZZ bearings support the shoulder, elbow and wrist pitch joints on the side opposite the motor. The gripper's two fingers ride on an MGN9 rail and are moved together by one pinion between two racks. The wrist carries a USB camera, tilted down 15 degrees. The upper arm is 264 mm and the forearm about 250 mm.

Leader arm

A passive arm in the style of GELLO: seven Dynamixel XL330-M077-T servos used as joint encoders, read through a Waveshare serial bus servo board, with PLA-CF printed links and a trigger handle for the gripper. Its joint layout matches the follower, so joint angles map one to one.

In this project

The follower's parts are the authors' v0.3.0 STEP, split by URDF link (white shells, black brackets, motors and hardware as separate parts) and placed unchanged. Joints, limits, masses and inertias come from the repository URDF. Motors are modelled with the repository controller's gains and torque limits (28 N m on the DM4340s, 10 N m on the DM4310s) and its gravity compensation; the right finger follows the left through the rack and pinion. The DAMIAO motors are drawn as plain cylinders of their size, as the vendor models are too heavy for the scene.

Electronics

One power supply per arm pair (200 W solo, 450 W bimanual). The follower's motors share one CAN bus through a USB-CAN adapter; the wrist camera is on USB. The leader's servos share a TTL bus on the Waveshare board over USB. The kit includes an E-stop.

Software

The repository is a LeRobot plugin (dk1_follower, dk1_leader, and bimanual variants): lerobot-teleoperate for teleoperation, lerobot-record to record datasets. It also has gravity compensation and an experimental impedance controller.