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.gitattributes

@@ -57,3 +57,23 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+discord-0.0.119[[:space:]](3).deb filter=lfs diff=lfs merge=lfs -text
+hardware/TRLC-DK1-Follower_v0.2.0.step filter=lfs diff=lfs merge=lfs -text
+hardware/follower_STLs/dm-adapter_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_STLs/dm-idler_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_STLs/link2-3-frame_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_STLs/link3-4-frame_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_gripper_STLs/camera-shell_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_gripper_STLs/d405-holder_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_gripper_STLs/gear-rack_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_gripper_STLs/gear-shaft_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_gripper_STLs/link6-7-1_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/follower_gripper_STLs/link6-7-2_v0.2.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/gello_handle_45deg.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/gello_trigger.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/leader.3mf filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/link0-1_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/link1-2_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/link4-5-flipped_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/link4-5_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text
+hardware/leader_STLs/link5-6-1_v0.1.0.stl filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -0,0 +1,218 @@
+.DS_Store
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+#poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+#pdm.lock
+#pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+#pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# Redis
+*.rdb
+*.aof
+*.pid
+
+# RabbitMQ
+mnesia/
+rabbitmq/
+rabbitmq-data/
+
+# ActiveMQ
+activemq-data/
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# Abstra
+# Abstra is an AI-powered process automation framework.
+# Ignore directories containing user credentials, local state, and settings.
+# Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
+#  that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
+#  and can be added to the global gitignore or merged into this file. However, if you prefer,
+#  you could uncomment the following to ignore the entire vscode folder
+# .vscode/
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# Streamlit
+.streamlit/secrets.toml

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/trlc-dk1/motors/DM_Control_Python"]
+	path = src/trlc-dk1/motors/DM_Control_Python
+	url = https://github.com/cmjang/DM_Control_Python.git

LICENSE

@@ -0,0 +1,273 @@
+Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). All rights reserved.
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+   You may obtain a copy of the License at
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+
+Some of TRLC-DK1's code is derived from DM_Control_Python, which is subject to the following copyright notice:
+
+   MIT License
+   
+   Copyright (c) 2024 cmjang
+   
+   Permission is hereby granted, free of charge, to any person obtaining a copy
+   of this software and associated documentation files (the "Software"), to deal
+   in the Software without restriction, including without limitation the rights
+   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+   copies of the Software, and to permit persons to whom the Software is
+   furnished to do so, subject to the following conditions:
+   
+   The above copyright notice and this permission notice shall be included in all
+   copies or substantial portions of the Software.
+   
+   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+   SOFTWARE.
+
+
+
+Some of TRLC-DK1's code is derived from LeRobot, which is subject to the following copyright notice:
+
+   Copyright 2024 The Hugging Face team. All rights reserved.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
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+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+
+
+Some of TRLC-DK1's code is derived from GELLO, which is subject to the following copyright notice:
+
+   MIT License
+   
+   Copyright (c) 2023 Philipp Wu
+   
+   Permission is hereby granted, free of charge, to any person obtaining a copy
+   of this software and associated documentation files (the "Software"), to deal
+   in the Software without restriction, including without limitation the rights
+   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+   copies of the Software, and to permit persons to whom the Software is
+   furnished to do so, subject to the following conditions:
+   
+   The above copyright notice and this permission notice shall be included in all
+   copies or substantial portions of the Software.
+   
+   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+   SOFTWARE.

README.md

@@ -0,0 +1,222 @@
+<p align="center">
+    <img src="media/xray.jpg">
+</p>
+<p align="center">
+    <a href="https://docs.robot-learning.co/">
+        <img src="https://img.shields.io/badge/Documentation-📕-blue" alt="Chat on Discord"></a>
+    <a href="https://discord.gg/PTZ3CN5WkJ">
+        <img src="https://img.shields.io/discord/1409155673572249672?color=7289DA&label=Discord&logo=discord&logoColor=white"></a>
+    <a href="https://x.com/JannikGrothusen">
+        <img src="https://img.shields.io/twitter/follow/Jannik?style=social"></a>
+    <a href="https://www.robot-learning.co/">
+        <img src=https://img.shields.io/badge/Order%20a%20kit-8A2BE2></a>
+</p>
+
+<h1 align="center">An Open Source Dev Kit for AI-native Robotics</h1>
+<p align="center">by The Robot Learning Company</p>
+
+## Demo
+
+<p align="center">
+    <img src="media/demo.gif">
+</p>
+
+## CAD
+
+<table align="center">
+<tr>
+<td width="50%">
+<a href="https://github.com/robot-learning-co/trlc-dk1/blob/main/hardware/TRLC-DK1-Follower_v0.2.0.step" target="_blank">
+TRLC-DK1 v0.2.0 Follower CAD (Fusion)<br>
+<img src="media/follower_cad.png" width="100%">
+</a>
+</td>
+<td width="50%">
+<a href="https://a360.co/481PSQH" target="_blank">
+TRLC-DK1 v0.2.0 Leader CAD (Fusion)<br>
+<img src="media/leader_cad.png" width="100%">
+</a>
+</td>
+</tr>
+</table>
+Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). All rights reserved.
+
+## Installation
+
+```
+conda create -n dk1 python=3.10
+conda activate dk1
+pip install -e .
+```
+
+(This should also install [TRLC's fork of LeRobot](https://github.com/robot-learning-co/lerobot) and use branch `trlc-dk1`)
+
+## Examples
+
+Use [LeRobot's CLI](https://huggingface.co/docs/lerobot/il_robots) to identify your teleop and robot ports:
+
+```
+lerobot-find-port
+```
+
+
+1
+0
+
+lerobot-teleoperate \
+    --robot.type=bi_dk1_follower \
+    --robot.right_arm_port=/dev/ttyACM0 \
+    --robot.left_arm_port=/dev/ttyACM1 \
+    --robot.joint_velocity_scaling=1.0 \
+    --robot.cameras="{ 
+        context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 30}, 
+        right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30},
+        left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
+      }" \
+    --teleop.type=bi_dk1_leader \
+    --teleop.right_arm_port=/dev/ttyACM2 \
+    --teleop.left_arm_port=/dev/ttyACM3 \
+    --display_data=true \
+    --display_url=100.88.6.81
+
+
+<details>
+<summary>Teleoperation
+</summary>
+lerobot-teleoperate \
+    --robot.type=bi_dk1_follower \
+    --robot.right_arm_port=/dev/ttyACM3 \
+    --robot.left_arm_port=/dev/ttyACM2 \
+    --robot.joint_velocity_scaling=1 \
+    --robot.cameras="{ 
+        context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 30}, 
+        right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30},
+        left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
+      }" \
+    --teleop.type=bi_dk1_leader \
+    --teleop.right_arm_port=/dev/ttyACM0 \
+    --teleop.left_arm_port=/dev/ttyACM1 \
+    --display_data=true \
+    --display_url=100.88.6.81
+```bash
+lerobot-teleoperate \
+    --robot.type=dk1_follower \
+    --robot.port=/dev/ttyACM0 \
+    --robot.joint_velocity_scaling=0.1 \
+    --teleop.type=dk1_leader \
+    --teleop.port=/dev/ttyACM1 \
+    --display_data=true
+```
+
+
+lerobot-teleoperate \
+    --robot.type=dk1_follower \
+    --robot.port=/dev/ttyACM1 \
+    --robot.joint_velocity_scaling=1 \
+    --teleop.type=dk1_leader \
+    --teleop.port=/dev/ttyACM3 \
+</details>
+
+<details>
+<summary>Recording
+</summary>
+
+```bash
+lerobot-record \
+    --robot.type=dk1_follower \
+    --robot.port=/dev/tty.usbmodem00000000050C1 \
+    --robot.joint_velocity_scaling=1.0 \
+    --robot.cameras="{ 
+        context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30}, 
+        wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
+      }" \
+    --teleop.type=dk1_leader \
+    --teleop.port=/dev/tty.usbmodem58FA0824311 \
+    --display_data=true \
+    --dataset.repo_id=$USER/my_dataset \
+    --dataset.push_to_hub=false \
+    --dataset.num_episodes=50 \
+    --dataset.episode_time_s=30 \
+    --dataset.reset_time_s=15 \
+    --dataset.single_task="My task description."
+```
+```bash
+    --resume=true
+```
+</details>
+
+<details>
+<summary>Inference
+</summary>
+
+```bash
+lerobot-record  \
+  --robot.type=dk1_follower \
+  --robot.port=/dev/tty.usbmodem00000000050C1 \
+  --robot.joint_velocity_scaling=0.5 \
+  --robot.cameras="{ 
+      context: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30}, 
+      wrist: {type: opencv, index_or_path: 1, width: 640, height: 360, fps: 30}
+    }"
+  --display_data=true \
+  --dataset.repo_id=$USER/eval_my_model \
+  --dataset.single_task="My task description." \
+  --dataset.push_to_hub=false \
+  --policy.path=outputs/my_model/checkpoints/last/pretrained_model
+```
+</details>
+
+<details>
+<summary>Bimanual Teleoperation
+</summary>
+
+```bash
+lerobot-teleoperate \
+    --robot.type=bi_dk1_follower \
+    --robot.right_arm_port=/dev/ttyACM2 \
+    --robot.left_arm_port=/dev/ttyACM1 \
+    --robot.joint_velocity_scaling=0.1 \
+    --teleop.type=bi_dk1_leader \
+    --teleop.right_arm_port=/dev/ttyACM0 \
+    --teleop.left_arm_port=/dev/ttyACM3
+```
+</details>
+
+<details>
+<summary>Bimanual Recording
+</summary>
+
+```bash
+lerobot-record \
+    --robot.type=bi_dk1_follower \
+    --robot.right_arm_port=/dev/ttyACM1 \
+    --robot.left_arm_port=/dev/ttyACM0 \
+    --robot.joint_velocity_scaling=1.0 \
+    --robot.cameras="{ 
+        context: {type: opencv, index_or_path: 2, width: 640, height: 360, fps: 15}, 
+        right_wrist: {type: opencv, index_or_path: 4, width: 640, height: 360, fps: 30},
+        left_wrist: {type: opencv, index_or_path: 0, width: 640, height: 360, fps: 30},
+      }" \
+    --teleop.type=bi_dk1_leader \
+    --teleop.right_arm_port=/dev/ttyACM3 \
+    --teleop.left_arm_port=/dev/ttyACM2 \
+    --dataset.repo_id=qualiaadmin/spoon_35 \
+    --dataset.push_to_hub=false \
+    --dataset.num_episodes=40 \
+    --dataset.episode_time_s=10 \
+    --dataset.reset_time_s=0 \
+    --dataset.single_task="Pick up spoon" \
+    --dataset.reset_time_s=5 \
+    --resume=false
+```
+</details>
+
+
+
+## Acknowledgements
+
+- [GELLO](https://wuphilipp.github.io/gello_site/) by Philipp Wu et al.
+- [Low-Cost Robot Arm](https://github.com/AlexanderKoch-Koch/low_cost_robot) by Alexander Koch
+- [LeRobot](https://github.com/huggingface/lerobot) by HuggingFace, Inc.
+- [SO-100](https://github.com/TheRobotStudio/SO-ARM100) by TheRobotStudio
+- [OpenArm](https://openarm.dev/) by Enactic, Inc.

discord-0.0.119 (3).deb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47aa2ef2ec2279ec0f014f6fdc43db1af6f03f9e107d9814bb88603d9e8d2463
+size 108129318

examples/bi_teleop.py

@@ -0,0 +1,40 @@
+from trlc_dk1.bi_follower import BiDK1Follower, BiDK1FollowerConfig
+from trlc_dk1.bi_leader import BiDK1Leader, BiDK1LeaderConfig
+import time
+import logging
+
+from lerobot.utils.utils import init_logging
+
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.DEBUG)
+
+init_logging()
+
+follower_config = BiDK1FollowerConfig(
+    left_arm_port="/dev/ttyACM1",
+    right_arm_port="/dev/ttyACM0",
+    joint_velocity_scaling=0.2,
+)
+
+leader_config = BiDK1LeaderConfig( 
+    left_arm_port="/dev/ttyACM3",
+    right_arm_port="/dev/ttyACM2",
+)
+
+leader = BiDK1Leader(leader_config)
+leader.connect()
+
+follower = BiDK1Follower(follower_config)
+follower.connect()
+
+freq = 200 # Hz
+
+try:
+    while True:
+        action = leader.get_action()
+        follower.send_action(action)    
+        time.sleep(1/freq)
+except KeyboardInterrupt:
+    print("\nStopping teleop...")
+    leader.disconnect()
+    follower.disconnect()

examples/calibration_follower.py

@@ -0,0 +1,32 @@
+from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
+from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
+
+import serial
+import time
+
+
+follower_config = DK1FollowerConfig(
+    port="/dev/tty.usbmodem00000000050C1",
+)
+follower = DK1Follower(follower_config)
+
+follower.serial_device = serial.Serial(follower_config.port, 921600, timeout=0.5)
+time.sleep(0.5)
+follower.control = MotorControl(follower.serial_device)
+
+for key, motor in follower.motors.items():
+    follower.control.addMotor(motor)
+    for _ in range(3):
+        follower.control.refresh_motor_status(motor)
+        time.sleep(0.01)
+    
+    if follower.control.read_motor_param(motor, DM_variable.CTRL_MODE) is not None:
+        print(f"{key} ({motor.MotorType.name}) is connected.")
+    else:
+        raise Exception(f"Unable to read from {key} ({motor.MotorType.name}).")
+
+for key, motor in follower.motors.items():
+    follower.control.set_zero_position(motor)
+    print(f"{key} ({motor.MotorType.name}) set to zero position.")
+    
+follower.control.serial_.close()

examples/calibration_leader.ipynb

@@ -0,0 +1,133 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 55,
+   "id": "ccb98fb3",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from trlc_dk1.leader import DK1Leader, DK1LeaderConfig\n",
+    "\n",
+    "leader_config = DK1LeaderConfig(\n",
+    "    port=\"/dev/tty.usbmodem5A680096411\"\n",
+    ")\n",
+    "\n",
+    "leader = DK1Leader(leader_config)\n",
+    "leader.connect()\n",
+    "leader.bus.write(\"Torque_Enable\", \"gripper\", 0, normalize=False)\n",
+    "leader.bus.sync_write(\"Homing_Offset\", 0, normalize=False)\n"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "id": "3cc733ce",
+   "metadata": {},
+   "source": [
+    "# PLACE LEADER IN RESTING POSITION"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 56,
+   "id": "e2752924",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "joint_2: Position: 2038, Offset: 10\n",
+      "joint_3: Position: 2027, Offset: 21\n",
+      "joint_4: Position: 2023, Offset: 25\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "{'joint_1': 0,\n",
+       " 'joint_2': 10,\n",
+       " 'joint_3': 21,\n",
+       " 'joint_4': 25,\n",
+       " 'joint_5': 0,\n",
+       " 'joint_6': 0,\n",
+       " 'gripper': 0}"
+      ]
+     },
+     "execution_count": 56,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "joints_to_calibrate = [\"joint_2\", \"joint_3\", \"joint_4\"]\n",
+    "theoretical_zero_position = {\"joint_2\": 2048, \"joint_3\": 2048, \"joint_4\": 2048}\n",
+    "\n",
+    "for joint in joints_to_calibrate:\n",
+    "    position = leader.bus.read(\"Present_Position\", joint, normalize=False)\n",
+    "    offset = theoretical_zero_position[joint] - position\n",
+    "    print(f\"{joint}: Position: {position}, Offset: {offset}\")\n",
+    "    leader.bus.write(\"Homing_Offset\", joint, offset, normalize=False)\n",
+    "\n",
+    "leader.bus.sync_read(\"Homing_Offset\", normalize=False)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 57,
+   "id": "8a1a3414",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "{'joint_1': 2029, 'joint_2': 2047, 'joint_3': 2048, 'joint_4': 2048, 'joint_5': 2031, 'joint_6': 1885, 'gripper': 2245}\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(leader.bus.sync_read(normalize=False, data_name=\"Present_Position\"))\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 58,
+   "id": "94f63a40",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "{'joint_1.pos': -0.02914563496982714, 'joint_2.pos': -0.0015339807878858025, 'joint_3.pos': -0.0015339807878858025, 'joint_4.pos': 0.0, 'joint_5.pos': -0.026077673394055978, 'joint_6.pos': -0.2500388684253596, 'gripper.pos': 0.059016393442622994}\n"
+     ]
+    }
+   ],
+   "source": [
+    "print(leader.get_action())"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "dk1",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.18"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}

examples/follower_read_position.py

@@ -0,0 +1,23 @@
+from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
+from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
+
+import time
+
+follower_config = DK1FollowerConfig(
+    port="/dev/tty.usbmodem00000000050C1",
+)
+follower = DK1Follower(follower_config)
+
+follower.connect()
+
+for key, motor in follower.motors.items():
+    follower.control.disable(motor)
+    
+try:
+    while True:
+        print(follower.get_observation())
+        time.sleep(0.01)
+
+except KeyboardInterrupt:
+    print("\nStopping read position...")
+    follower.disconnect()

examples/leader_test.py

@@ -0,0 +1,15 @@
+from trlc_dk1.leader import DK1Leader, DK1LeaderConfig
+import time
+
+leader_config = DK1LeaderConfig(
+    port="/dev/tty.usbmodem5A460819651"
+)
+
+leader = DK1Leader(leader_config)
+leader.connect()
+
+
+while True:
+    action = leader.get_action()
+    print(action)
+    time.sleep(0.02)

examples/obs.py

@@ -0,0 +1,15 @@
+# Get an observation and print its structure
+obs = robot.get_observation()
+
+# See what type it is
+print(type(obs))
+
+# If it's a dictionary, print the keys
+print(obs.keys())
+
+# Print the full observation to see the structure
+print(obs)
+
+# Or for a nicer view
+import pprint
+pprint.pprint(obs)

examples/read_motor_params.py

@@ -0,0 +1,21 @@
+from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
+import serial
+import time
+
+motor=Motor(DM_Motor_Type.DM4340, 0x07, 0x17)
+
+serial_device = serial.Serial('/dev/tty.usbmodem00000000050C1', 921600, timeout=0.5)
+time.sleep(0.5)
+
+control=MotorControl(serial_device)
+control.addMotor(motor)
+
+if control.read_motor_param(motor, DM_variable.CTRL_MODE) is not None:
+    print("Motor is connected.")
+else:
+    raise Exception("Unable to read motor parameters.")
+
+
+for param in DM_variable:
+    value = control.read_motor_param(motor, param)
+    print(f"{param.name:<9} : {value}")

examples/teleop.py

@@ -0,0 +1,31 @@
+from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
+from trlc_dk1.leader import DK1Leader, DK1LeaderConfig
+import time
+
+
+follower_config = DK1FollowerConfig(
+    port="/dev/tty.usbmodem00000000050C1",
+    joint_velocity_scaling=0.2,
+)
+
+leader_config = DK1LeaderConfig(
+    port="/dev/tty.usbmodem5A680096411"
+)
+
+leader = DK1Leader(leader_config)
+leader.connect()
+
+follower = DK1Follower(follower_config)
+follower.connect()
+
+freq = 200 # Hz
+
+try:
+    while True:
+        action = leader.get_action()
+        follower.send_action(action)    
+        time.sleep(1/freq)
+except KeyboardInterrupt:
+    print("\nStopping teleop...")
+    leader.disconnect()
+    follower.disconnect()

examples/uvc_cam_test.py

@@ -0,0 +1,27 @@
+import cv2
+
+def main():
+    cam_index = 0  # Change this if your camera is not at index 0
+    cap = cv2.VideoCapture(cam_index)
+
+    if not cap.isOpened():
+        print(f"Cannot open camera at index {cam_index}")
+        return
+
+    print("Press 'q' to quit.")
+    while True:
+        ret, frame = cap.read()
+        if not ret:
+            print("Failed to grab frame")
+            break
+
+        cv2.imshow('USB Camera Test', frame)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+if __name__ == "__main__":
+    main()

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+oid sha256:872b55aaf50b2545515ed6d9442555d13e3208cb4ace6874a05fc24ca090cf98
+size 44238541

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hardware/follower_STEPs/link4-5_v0.2.0.step

@@ -0,0 +1,1618 @@
+ISO-10303-21;
+HEADER;
+/* Generated by software containing ST-Developer
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+ */
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