diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..1dce6c10fe08f25db67851632651db1c998c2668 100644
--- a/.gitattributes
+++ b/.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
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..8cbfda73d8f0428dd42c73788b898e067731a067
--- /dev/null
+++ b/.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
\ No newline at end of file
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..b50d3394e50c0697df7351d3a5d1bdeb34b63e6b
--- /dev/null
+++ b/.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
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..05f6474801b6e24df637c388e070e0ef093b43e5
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,273 @@
+Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). All rights reserved.
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
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+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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+ risks associated with Your exercise of permissions under this License.
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+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
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+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
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+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
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+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
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+ 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
+
+ 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 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
+
+ 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.
\ No newline at end of file
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..adb4425b5fce7d98f6635634860b26475fe4d8b5
--- /dev/null
+++ b/README.md
@@ -0,0 +1,222 @@
+
+ 
+
+
+
+ 
+
+ 
+
+ 
+
+ 
+
+
+An Open Source Dev Kit for AI-native Robotics
+by The Robot Learning Company
+
+## Demo
+
+
+ 
+
+
+## CAD
+
+
+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
+
+
+
+Teleoperation
+
+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 \
+
+
+
+Recording
+
+
+```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
+```
+
+
+
+Inference
+
+
+```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
+```
+
+
+
+Bimanual Teleoperation
+
+
+```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
+```
+
+
+
+Bimanual Recording
+
+
+```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
+```
+
+
+
+
+## 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.
diff --git a/discord-0.0.119 (3).deb b/discord-0.0.119 (3).deb
new file mode 100644
index 0000000000000000000000000000000000000000..7ea0ad445f9461eb408b14de0f955d58402087f1
--- /dev/null
+++ b/discord-0.0.119 (3).deb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47aa2ef2ec2279ec0f014f6fdc43db1af6f03f9e107d9814bb88603d9e8d2463
+size 108129318
diff --git a/examples/bi_teleop.py b/examples/bi_teleop.py
new file mode 100644
index 0000000000000000000000000000000000000000..843ee5d918837f38bb883e25c5c36b3cbf3fd0dc
--- /dev/null
+++ b/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()
diff --git a/examples/calibration_follower.py b/examples/calibration_follower.py
new file mode 100644
index 0000000000000000000000000000000000000000..c30c3c5d5b2029a43b86cc39adce33772ab5f293
--- /dev/null
+++ b/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()
\ No newline at end of file
diff --git a/examples/calibration_leader.ipynb b/examples/calibration_leader.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..02c9b25a0b234ce6861600012161258751e4eb97
--- /dev/null
+++ b/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
+}
diff --git a/examples/follower_read_position.py b/examples/follower_read_position.py
new file mode 100644
index 0000000000000000000000000000000000000000..30442e21bd47c6f1b6ef6eca21283cf3e2722e4d
--- /dev/null
+++ b/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()
diff --git a/examples/leader_test.py b/examples/leader_test.py
new file mode 100644
index 0000000000000000000000000000000000000000..0e6872e360fac63a90507012aadc5b416696e8ce
--- /dev/null
+++ b/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)
\ No newline at end of file
diff --git a/examples/obs.py b/examples/obs.py
new file mode 100644
index 0000000000000000000000000000000000000000..51c3fdda1b5dba40b28620cbff4039d904b42f83
--- /dev/null
+++ b/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)
\ No newline at end of file
diff --git a/examples/read_motor_params.py b/examples/read_motor_params.py
new file mode 100644
index 0000000000000000000000000000000000000000..580a532d1ad802011a7101f4c7001dd5ecb5747a
--- /dev/null
+++ b/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}")
\ No newline at end of file
diff --git a/examples/teleop.py b/examples/teleop.py
new file mode 100644
index 0000000000000000000000000000000000000000..85285e82ee0e7a15097cae6e4c7303278008dc4b
--- /dev/null
+++ b/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()
diff --git a/examples/uvc_cam_test.py b/examples/uvc_cam_test.py
new file mode 100644
index 0000000000000000000000000000000000000000..52c682a6025e7b6c0e7e066017b234ea95fd4937
--- /dev/null
+++ b/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()
diff --git a/hardware/TRLC-DK1-Follower_v0.2.0.step b/hardware/TRLC-DK1-Follower_v0.2.0.step
new file mode 100644
index 0000000000000000000000000000000000000000..78f390964755c0e4b6348aa304b4888bd1483bf7
--- /dev/null
+++ b/hardware/TRLC-DK1-Follower_v0.2.0.step
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:872b55aaf50b2545515ed6d9442555d13e3208cb4ace6874a05fc24ca090cf98
+size 44238541
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new file mode 100644
index 0000000000000000000000000000000000000000..c51b1afd05302eedfa1318176d892ca39bea3ffc
--- /dev/null
+++ b/hardware/follower_STEPs/link0-1_v0.2.0.step
@@ -0,0 +1,1620 @@
+ISO-10303-21;
+HEADER;
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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new file mode 100644
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--- /dev/null
+++ b/hardware/leader_STLs/link0-1_v0.1.0.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hardware/leader_STLs/link1-2_v0.1.0.stl b/hardware/leader_STLs/link1-2_v0.1.0.stl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/hardware/leader_STLs/link4-5-flipped_v0.1.0.stl b/hardware/leader_STLs/link4-5-flipped_v0.1.0.stl
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 113384
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+version https://git-lfs.github.com/spec/v1
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diff --git a/hardware/leader_STLs/link5-6-2_v0.1.0.stl b/hardware/leader_STLs/link5-6-2_v0.1.0.stl
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diff --git a/obs.py b/obs.py
new file mode 100644
index 0000000000000000000000000000000000000000..0d07fd6ae36775e8756eaaf64c744653cbdd021f
--- /dev/null
+++ b/obs.py
@@ -0,0 +1,24 @@
+from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
+
+# Initialize the robot
+config = DK1FollowerConfig(
+ right_arm_port="/dev/ttyACM0",
+ left_arm_port="/dev/ttyACM1",
+ joint_velocity_scaling=1.0,
+ cameras={
+ "base_0": OpenCVCameraConfig(index_or_path=8, width=640, height=360, fps=30),
+ "left_wrist": OpenCVCameraConfig(index_or_path=6, width=640, height=360, fps=30),
+ "right_wrist": OpenCVCameraConfig(index_or_path=4, width=640, height=360, fps=30),
+ }
+)
+robot = DK1Follower(config)
+
+# Get an observation and print its structure
+obs = robot.get_observation()
+
+print(type(obs))
+print(obs.keys())
+
+import pprint
+pprint.pprint(obs)
\ No newline at end of file
diff --git a/outputs/captured_images/media/demo.gif b/outputs/captured_images/media/demo.gif
new file mode 100644
index 0000000000000000000000000000000000000000..0dbb90b246ced6f7ae4183f7f5a35fc8d54b12c6
--- /dev/null
+++ b/outputs/captured_images/media/demo.gif
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9fe2b99ecf0d9dae7cb22f9c1198301a378439a84509af09964974a12337482
+size 3186085
diff --git a/outputs/captured_images/media/follower_cad.png b/outputs/captured_images/media/follower_cad.png
new file mode 100644
index 0000000000000000000000000000000000000000..42a23ddabcfd4e57c9a2b7858f95b62a6fa042ba
--- /dev/null
+++ b/outputs/captured_images/media/follower_cad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6d7ada5bcddfb16d414d8036a57732a4f3f8c504aa66754bbad0866546b3447
+size 766042
diff --git a/outputs/captured_images/media/leader_cad.png b/outputs/captured_images/media/leader_cad.png
new file mode 100644
index 0000000000000000000000000000000000000000..59ceaa6933578f44656ed2c74ffacb9dab9328e4
--- /dev/null
+++ b/outputs/captured_images/media/leader_cad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d191ac9a24ace4f442401f70b820ed4e14086a5845e1358fa9d1ca3398f4189
+size 686282
diff --git a/outputs/captured_images/media/xray.jpg b/outputs/captured_images/media/xray.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..a7d7d986b00c1abc2bec21ad7ac3374a03731960
--- /dev/null
+++ b/outputs/captured_images/media/xray.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a86d3e8235654927aab29e5ff0ec813e09e30e912ab017eab045a17fa583ae1
+size 403565
diff --git a/outputs/captured_images/opencv__dev_video0.png b/outputs/captured_images/opencv__dev_video0.png
new file mode 100644
index 0000000000000000000000000000000000000000..7844acddfdc6929eccac432cd5221b9a12078d39
--- /dev/null
+++ b/outputs/captured_images/opencv__dev_video0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10674d0c163841d0a997a3558a180e610882d06848e79f82212dc8614f62348f
+size 369638
diff --git a/outputs/captured_images/opencv__dev_video2.png b/outputs/captured_images/opencv__dev_video2.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c12f0d22a16c3903261c198d4d2bf1be12ccd4f
--- /dev/null
+++ b/outputs/captured_images/opencv__dev_video2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85f46f09c7030772afdd7a5345a9bd6f7c8cd1977ca1abe28f52f519689071dc
+size 46825
diff --git a/outputs/captured_images/opencv__dev_video4.png b/outputs/captured_images/opencv__dev_video4.png
new file mode 100644
index 0000000000000000000000000000000000000000..8c2df5bab38d2855cc6f0a3581134a5e2a675fd2
--- /dev/null
+++ b/outputs/captured_images/opencv__dev_video4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e439e14e969fbab335913c8826afd51c107c63b247f8081837a725a41434dc5f
+size 176262
diff --git a/outputs/captured_images/opencv__dev_video6.png b/outputs/captured_images/opencv__dev_video6.png
new file mode 100644
index 0000000000000000000000000000000000000000..73b3e941f931d8b291f3f6bd567c45a4bff4cc3d
--- /dev/null
+++ b/outputs/captured_images/opencv__dev_video6.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eead68b3a6bc45b4370679407dc50edc0097341e5612ac41b328db1c93e4f14
+size 181008
diff --git a/outputs/captured_images/opencv__dev_video8.png b/outputs/captured_images/opencv__dev_video8.png
new file mode 100644
index 0000000000000000000000000000000000000000..84f8dadbd31d70ea09aa9c271e219a246cdf0ae2
--- /dev/null
+++ b/outputs/captured_images/opencv__dev_video8.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5218716ea19af2701e5971b1774ba6a0103a99fc3363d024955b80d8c5c54419
+size 432802
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000000000000000000000000000000000000..99d34903d31a437ca86d2ef5ef140426e6004373
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,27 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "trlc_dk1"
+version = "0.1.0"
+dependencies = [
+ "numpy>=2.0.1",
+ "pyserial>=3.5",
+ "dynamixel-sdk>=3.7.31",
+ "lerobot@git+https://github.com/robot-learning-co/lerobot.git@trlc-dk1",
+]
+
+authors = [
+ {name = "Jannik Grothusen", email = "jannik@robot-learning.co"},
+]
+maintainers = [
+ {name = "Jannik Grothusen", email = "jannik@robot-learning.co"},
+]
+
+[project.urls]
+Homepage = "https://www.robot-learning.co/"
+Documentation = "https://www.docs.robot-learning.co/"
+
+[tool.hatch.metadata]
+allow-direct-references = true
\ No newline at end of file
diff --git a/run_rtc.py b/run_rtc.py
new file mode 100644
index 0000000000000000000000000000000000000000..6f4820221ecb2427875d6518e8025d1c0997502b
--- /dev/null
+++ b/run_rtc.py
@@ -0,0 +1,340 @@
+#!/usr/bin/env python3
+"""
+PI05 RTC Inference - With Action Logging
+"""
+
+import torch
+import time
+import numpy as np
+import threading
+import traceback
+
+torch._dynamo.config.suppress_errors = True
+torch._dynamo.config.disable = True
+
+from lerobot.policies.pi05.modeling_pi05 import PI05Policy
+from lerobot.configs.types import RTCAttentionSchedule
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.policies.rtc.modeling_rtc import RTCProcessor
+from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
+from lerobot.cameras.opencv import OpenCVCameraConfig
+from transformers import AutoTokenizer
+
+
+# =============================================================================
+# Configuration
+# =============================================================================
+
+MODEL_PATH = "qualiaadmin/81df74e6-274f-4f02-aaa7-c1f83c549832"
+TOKENIZER_NAME = "google/paligemma-3b-pt-224"
+TASK = "clean the table"
+
+CONTROL_FREQ = 50
+CHUNK_SIZE = 50
+EXECUTION_HORIZON = 20
+
+# Tuned settings
+USE_RTC = True
+MAX_GUIDANCE_WEIGHT = 5.0 # Reduced from 10
+SMOOTH_ALPHA = 0.85 # More responsive
+
+# Robot
+ROBOT_PORT = "/dev/ttyACM0"
+TOP_CAMERA_INDEX = 6
+WRIST_CAMERA_INDEX = 4
+
+# Normalization
+STATE_MEAN = torch.tensor([0.1108, 0.8736, 0.7812, -0.3134, 0.0278, -0.0890, 0.2867]).cuda()
+STATE_STD = torch.tensor([0.2484, 0.6667, 0.5777, 0.3697, 0.0903, 0.1300, 0.4132]).cuda()
+ACTION_MEAN = torch.tensor([0.1110, 0.8739, 0.7815, -0.3132, 0.0280, -0.0888, 0.2853]).cuda()
+ACTION_STD = torch.tensor([0.2519, 0.6752, 0.5838, 0.3747, 0.0924, 0.1315, 0.4204]).cuda()
+
+
+# =============================================================================
+# Classes
+# =============================================================================
+
+class RTCActionQueue:
+ def __init__(self):
+ self.actions = []
+ self.prev_chunk_normalized = None
+ self.lock = threading.Lock()
+ self.last_chunk_stats = None # For logging
+
+ def remaining(self) -> int:
+ with self.lock:
+ return len(self.actions)
+
+ def get_left_over_for_rtc(self):
+ with self.lock:
+ if self.prev_chunk_normalized is None:
+ return None
+ return self.prev_chunk_normalized.clone()
+
+ def set_new_chunk(self, actions_tensor: torch.Tensor, inference_delay: int):
+ with self.lock:
+ self.prev_chunk_normalized = actions_tensor[:, inference_delay:, :].detach().clone()
+ actions = actions_tensor[0] if actions_tensor.dim() == 3 else actions_tensor
+ actions = actions * ACTION_STD + ACTION_MEAN
+ actions_np = actions.detach().cpu().numpy()[inference_delay:]
+
+ # Compute chunk stats
+ if len(actions_np) > 1:
+ deltas = np.diff(actions_np, axis=0)
+ self.last_chunk_stats = {
+ 'mean_delta': np.mean(np.abs(deltas)),
+ 'max_delta': np.max(np.abs(deltas)),
+ 'range': np.ptp(actions_np, axis=0), # Peak-to-peak per joint
+ }
+
+ self.actions = list(actions_np)
+
+ def get(self):
+ with self.lock:
+ return self.actions.pop(0) if self.actions else None
+
+ def get_chunk_stats(self):
+ with self.lock:
+ return self.last_chunk_stats
+
+
+class ActionSmoother:
+ def __init__(self, alpha: float):
+ self.alpha = alpha
+ self.prev = None
+
+ def __call__(self, action: np.ndarray) -> np.ndarray:
+ if self.alpha >= 1.0 or self.prev is None:
+ self.prev = action.copy()
+ return action
+ smoothed = self.alpha * action + (1 - self.alpha) * self.prev
+ self.prev = smoothed.copy()
+ return smoothed
+
+
+def format_observation(raw_obs: dict, tokenizer) -> dict:
+ state = torch.tensor([
+ raw_obs["joint_1.pos"], raw_obs["joint_2.pos"], raw_obs["joint_3.pos"],
+ raw_obs["joint_4.pos"], raw_obs["joint_5.pos"], raw_obs["joint_6.pos"],
+ raw_obs["gripper.pos"],
+ ], dtype=torch.float32).cuda()
+ state = ((state - STATE_MEAN) / STATE_STD).unsqueeze(0)
+
+ top = raw_obs["top"]
+ wrist = raw_obs["wrist"]
+ if not isinstance(top, torch.Tensor):
+ top = torch.from_numpy(top).permute(2, 0, 1).float() / 255.0
+ wrist = torch.from_numpy(wrist).permute(2, 0, 1).float() / 255.0
+
+ tokens = tokenizer(TASK, return_tensors="pt", padding="max_length", max_length=48, truncation=True)
+
+ return {
+ "observation.images.top": top.unsqueeze(0).cuda(),
+ "observation.images.wrist": wrist.unsqueeze(0).cuda(),
+ "observation.state": state,
+ "observation.language.tokens": tokens["input_ids"].cuda(),
+ "observation.language.attention_mask": tokens["attention_mask"].bool().cuda(),
+ }
+
+
+def action_to_dict(action: np.ndarray) -> dict:
+ return {f"joint_{i}.pos": float(action[i-1]) for i in range(1, 7)} | {"gripper.pos": float(action[6])}
+
+
+# =============================================================================
+# Main
+# =============================================================================
+
+def main():
+ print("=" * 60)
+ print("PI05 RTC Inference - Action Analysis Mode")
+ print("=" * 60)
+ print(f"\nUSE_RTC={USE_RTC}, GUIDANCE={MAX_GUIDANCE_WEIGHT}, SMOOTH={SMOOTH_ALPHA}\n")
+
+ # Setup
+ rtc_config = RTCConfig(
+ enabled=USE_RTC,
+ execution_horizon=EXECUTION_HORIZON,
+ max_guidance_weight=MAX_GUIDANCE_WEIGHT,
+ prefix_attention_schedule=RTCAttentionSchedule.EXP,
+ )
+
+ print("Loading model...")
+ policy = PI05Policy.from_pretrained(MODEL_PATH, device="cuda")
+ policy.eval()
+
+ if USE_RTC:
+ policy.config.rtc_config = rtc_config
+ rtc_processor = RTCProcessor(rtc_config)
+ policy.rtc_processor = rtc_processor
+ if hasattr(policy, 'model'):
+ policy.model.config.rtc_config = rtc_config
+ policy.model.rtc_processor = rtc_processor
+
+ tokenizer = AutoTokenizer.from_pretrained(TOKENIZER_NAME)
+
+ print("Connecting to robot...")
+ robot_config = DK1FollowerConfig(
+ port=ROBOT_PORT,
+ cameras={
+ "top": OpenCVCameraConfig(index_or_path=TOP_CAMERA_INDEX, width=640, height=360, fps=30),
+ "wrist": OpenCVCameraConfig(index_or_path=WRIST_CAMERA_INDEX, width=640, height=360, fps=30),
+ },
+ )
+ robot = DK1Follower(robot_config)
+ robot.connect()
+ print("Ready!\n")
+
+ # Analyze initial state
+ raw_obs = robot.get_observation()
+ current_pos = np.array([raw_obs[f"joint_{i}.pos"] for i in range(1, 7)] + [raw_obs["gripper.pos"]])
+
+ print("=" * 40)
+ print("POSITION ANALYSIS")
+ print("=" * 40)
+ print(f"Current: {np.round(current_pos, 3)}")
+ print(f"Mean: {np.round(STATE_MEAN.cpu().numpy(), 3)}")
+ print(f"Delta: {np.round(current_pos - STATE_MEAN.cpu().numpy(), 3)}")
+ print()
+
+ # Test inference and analyze
+ obs = format_observation(raw_obs, tokenizer)
+ with torch.enable_grad():
+ action_tensor = policy.predict_action_chunk(obs)
+
+ actions_np = (action_tensor[0] * ACTION_STD + ACTION_MEAN).detach().cpu().numpy()
+
+ print("=" * 40)
+ print("ACTION CHUNK ANALYSIS")
+ print("=" * 40)
+ print(f"First action: {np.round(actions_np[0], 3)}")
+ print(f"Last action: {np.round(actions_np[-1], 3)}")
+ print(f"Chunk range: {np.round(np.ptp(actions_np, axis=0), 3)}")
+ print(f"Mean step size: {np.round(np.mean(np.abs(np.diff(actions_np, axis=0)), axis=0), 4)}")
+ print()
+
+ # Show trajectory
+ print("Action trajectory (joint 1,2,3 at steps 0,10,20,30,40,49):")
+ for i in [0, 10, 20, 30, 40, 49]:
+ print(f" [{i:2d}] {np.round(actions_np[i, :3], 3)}")
+ print()
+
+ input("Press Enter to start execution...")
+
+ # Shared state
+ action_queue = RTCActionQueue()
+ smoother = ActionSmoother(SMOOTH_ALPHA)
+ latest_obs = None
+ obs_lock = threading.Lock()
+ running = True
+ first_chunk_ready = threading.Event()
+ inference_times = []
+
+ def inference_loop():
+ nonlocal running
+
+ while running:
+ with obs_lock:
+ obs = latest_obs
+ if obs is None:
+ time.sleep(0.01)
+ continue
+
+ try:
+ formatted = format_observation(obs, tokenizer)
+ prev_actions = action_queue.get_left_over_for_rtc() if USE_RTC else None
+
+ if inference_times:
+ delay = int(np.ceil(np.mean(inference_times[-10:]) * CONTROL_FREQ))
+ delay = max(1, min(delay, CHUNK_SIZE - EXECUTION_HORIZON - 1))
+ else:
+ delay = 10
+
+ start = time.time()
+ with torch.enable_grad():
+ actions = policy.predict_action_chunk(
+ formatted,
+ inference_delay=delay if USE_RTC else 0,
+ prev_chunk_left_over=prev_actions,
+ )
+ elapsed = time.time() - start
+ inference_times.append(elapsed)
+
+ action_queue.set_new_chunk(actions, delay)
+ first_chunk_ready.set()
+
+ # Log with chunk stats
+ stats = action_queue.get_chunk_stats()
+ if stats:
+ print(f"Inference: {elapsed*1000:.0f}ms | queue: {action_queue.remaining()} | "
+ f"mean_delta: {stats['mean_delta']:.4f} | max_delta: {stats['max_delta']:.4f}")
+
+ while running and action_queue.remaining() > EXECUTION_HORIZON:
+ time.sleep(0.005)
+
+ except Exception as e:
+ print(f"[ERROR] {e}")
+ traceback.print_exc()
+ time.sleep(1)
+
+ threading.Thread(target=inference_loop, daemon=True).start()
+
+ raw_obs = robot.get_observation()
+ with obs_lock:
+ latest_obs = raw_obs
+
+ first_chunk_ready.wait(timeout=60)
+ print("\nRunning!\n")
+
+ step = 0
+ loop_period = 1.0 / CONTROL_FREQ
+
+ # Track executed actions for analysis
+ executed_actions = []
+
+ try:
+ while running:
+ t0 = time.time()
+
+ raw_obs = robot.get_observation()
+ with obs_lock:
+ latest_obs = raw_obs
+
+ action = action_queue.get()
+ if action is not None:
+ action = smoother(action)
+ robot.send_action(action_to_dict(action))
+ executed_actions.append(action.copy())
+ step += 1
+
+ if step % 200 == 0:
+ # Analyze recent execution
+ recent = np.array(executed_actions[-200:])
+ total_movement = np.sum(np.abs(np.diff(recent, axis=0)))
+ print(f"Step {step} | Total movement (last 200): {total_movement:.2f} rad")
+
+ dt = time.time() - t0
+ if dt < loop_period:
+ time.sleep(loop_period - dt)
+
+ except KeyboardInterrupt:
+ print("\n\nStopping...")
+
+ # Final analysis
+ if len(executed_actions) > 100:
+ all_actions = np.array(executed_actions)
+ print("\n" + "=" * 40)
+ print("EXECUTION SUMMARY")
+ print("=" * 40)
+ print(f"Total steps: {len(executed_actions)}")
+ print(f"Position range: {np.round(np.ptp(all_actions, axis=0), 3)}")
+ print(f"Mean step size: {np.round(np.mean(np.abs(np.diff(all_actions, axis=0)), axis=0), 4)}")
+ print(f"Total movement: {np.sum(np.abs(np.diff(all_actions, axis=0))):.2f} rad")
+ finally:
+ running = False
+ robot.disconnect()
+ print("Done!")
+
+
+if __name__ == "__main__":
+ main()
\ No newline at end of file
diff --git a/src/trlc_dk1/__init__.py b/src/trlc_dk1/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/trlc_dk1/bi_follower.py b/src/trlc_dk1/bi_follower.py
new file mode 100644
index 0000000000000000000000000000000000000000..a470732f9877f2849e624ab36726fa675f7b1bfa
--- /dev/null
+++ b/src/trlc_dk1/bi_follower.py
@@ -0,0 +1,157 @@
+# Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). 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
+#
+# 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.
+
+from dataclasses import dataclass, field
+from functools import cached_property
+import time
+import logging
+from typing import Any
+
+from lerobot.cameras import CameraConfig
+from lerobot.cameras.utils import make_cameras_from_configs
+from lerobot.robots import Robot, RobotConfig
+
+from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
+from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
+
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.DEBUG)
+
+
+def map_range(x: float, in_min: float, in_max: float, out_min: float, out_max: float) -> float:
+ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
+
+
+@RobotConfig.register_subclass("bi_dk1_follower")
+@dataclass
+class BiDK1FollowerConfig(RobotConfig):
+ left_arm_port: str
+ right_arm_port: str
+ disable_torque_on_disconnect: bool = False
+ joint_velocity_scaling: float = 0.2
+ max_gripper_torque: float = 1.0 # Nm (/0.00875m spur gear radius = 114N gripper force)
+ cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+
+class BiDK1Follower(Robot):
+ """
+ Bimanual TRLC-DK1 Follower Arm designed by The Robot Learning Company.
+ """
+
+ config_class = BiDK1FollowerConfig
+ name = "bi_dk1_follower"
+
+ def __init__(self, config: BiDK1FollowerConfig):
+ super().__init__(config)
+
+ self.config = config
+
+ left_arm_config = DK1FollowerConfig(
+ port=self.config.left_arm_port,
+ disable_torque_on_disconnect=self.config.disable_torque_on_disconnect,
+ joint_velocity_scaling=self.config.joint_velocity_scaling,
+ max_gripper_torque=self.config.max_gripper_torque,
+ )
+ right_arm_config = DK1FollowerConfig(
+ port=self.config.right_arm_port,
+ disable_torque_on_disconnect=self.config.disable_torque_on_disconnect,
+ joint_velocity_scaling=self.config.joint_velocity_scaling,
+ max_gripper_torque=self.config.max_gripper_torque,
+ )
+
+ self.left_arm = DK1Follower(left_arm_config)
+ self.right_arm = DK1Follower(right_arm_config)
+ self.cameras = make_cameras_from_configs(config.cameras)
+
+ @property
+ def _motors_ft(self) -> dict[str, type]:
+ return {f"left_{motor}.pos": float for motor in self.left_arm.motors} | {
+ f"right_{motor}.pos": float for motor in self.right_arm.motors
+ }
+
+ @property
+ def _cameras_ft(self) -> dict[str, tuple]:
+ return {
+ cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+ }
+
+ @cached_property
+ def observation_features(self) -> dict[str, type | tuple]:
+ return {**self._motors_ft, **self._cameras_ft}
+
+ @cached_property
+ def action_features(self) -> dict[str, type]:
+ return self._motors_ft
+
+ @property
+ def is_connected(self) -> bool:
+ return self.left_arm.is_connected and self.right_arm.is_connected and all(cam.is_connected for cam in self.cameras.values())
+
+ def connect(self) -> None:
+ self.left_arm.connect()
+ self.right_arm.connect()
+
+ for cam in self.cameras.values():
+ cam.connect()
+
+ @property
+ def is_calibrated(self) -> bool:
+ return True
+
+ def calibrate(self) -> None:
+ pass
+
+ def configure(self) -> None:
+ self.left_arm.configure()
+ self.right_arm.configure()
+
+ def get_observation(self) -> dict[str, Any]:
+ obs_dict = {}
+
+ left_obs = self.left_arm.get_observation()
+ obs_dict.update({f"left_{key}": value for key, value in left_obs.items()})
+
+ right_obs = self.right_arm.get_observation()
+ obs_dict.update({f"right_{key}": value for key, value in right_obs.items()})
+
+ for cam_key, cam in self.cameras.items():
+ start = time.perf_counter()
+ obs_dict[cam_key] = cam.async_read()
+ dt_ms = (time.perf_counter() - start) * 1e3
+ logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
+
+ return obs_dict
+
+ def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+ left_action = {
+ key.removeprefix("left_"): value for key, value in action.items() if key.startswith("left_")
+ }
+ right_action = {
+ key.removeprefix("right_"): value for key, value in action.items() if key.startswith("right_")
+ }
+
+ send_action_left = self.left_arm.send_action(left_action)
+ send_action_right = self.right_arm.send_action(right_action)
+
+ prefixed_send_action_left = {f"left_{key}": value for key, value in send_action_left.items()}
+ prefixed_send_action_right = {f"right_{key}": value for key, value in send_action_right.items()}
+
+ return {**prefixed_send_action_left, **prefixed_send_action_right}
+
+ def disconnect(self):
+ self.left_arm.disconnect()
+ self.right_arm.disconnect()
+
+ for cam in self.cameras.values():
+ cam.disconnect()
diff --git a/src/trlc_dk1/bi_leader.py b/src/trlc_dk1/bi_leader.py
new file mode 100644
index 0000000000000000000000000000000000000000..56620dca207d77c3dee606366011532e417c697d
--- /dev/null
+++ b/src/trlc_dk1/bi_leader.py
@@ -0,0 +1,105 @@
+# Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). 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
+#
+# 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.
+
+from dataclasses import dataclass
+import logging
+from lerobot.teleoperators.teleoperator import Teleoperator, TeleoperatorConfig
+
+from trlc_dk1.leader import DK1Leader, DK1LeaderConfig
+
+logger = logging.getLogger(__name__)
+
+
+@TeleoperatorConfig.register_subclass("bi_dk1_leader")
+@dataclass
+class BiDK1LeaderConfig(TeleoperatorConfig):
+ left_arm_port: str
+ right_arm_port: str
+ gripper_open_pos: int = 2280
+ gripper_closed_pos: int = 1670
+
+
+class BiDK1Leader(Teleoperator):
+ config_class = BiDK1LeaderConfig
+ name = "bi_dk1_leader"
+
+ def __init__(self, config: BiDK1LeaderConfig):
+ super().__init__(config)
+ self.config = config
+
+ left_arm_config = DK1LeaderConfig(
+ port=self.config.left_arm_port,
+ gripper_open_pos=self.config.gripper_open_pos,
+ gripper_closed_pos=self.config.gripper_closed_pos,
+ )
+ right_arm_config = DK1LeaderConfig(
+ port=self.config.right_arm_port,
+ gripper_open_pos=self.config.gripper_open_pos,
+ gripper_closed_pos=self.config.gripper_closed_pos,
+ )
+
+ self.left_arm = DK1Leader(left_arm_config)
+ self.right_arm = DK1Leader(right_arm_config)
+
+ @property
+ def action_features(self) -> dict[str, type]:
+ return {f"left_{motor}.pos": float for motor in self.left_arm.bus.motors} | {
+ f"right_{motor}.pos": float for motor in self.right_arm.bus.motors
+ }
+
+ @property
+ def feedback_features(self) -> dict[str, type]:
+ return {}
+
+ @property
+ def is_connected(self) -> bool:
+ return self.left_arm.is_connected and self.right_arm.is_connected
+
+ def connect(self, calibrate: bool = False) -> None:
+ self.left_arm.connect()
+ self.right_arm.connect()
+
+ @property
+ def is_calibrated(self) -> bool:
+ return True
+
+ def calibrate(self) -> None:
+ pass
+
+ def configure(self) -> None:
+ self.left_arm.configure()
+ self.right_arm.configure()
+
+ def setup_motors(self) -> None:
+ self.left_arm.setup_motors()
+ self.right_arm.setup_motors()
+
+ def get_action(self) -> dict[str, float]:
+ action_dict = {}
+
+ left_action = self.left_arm.get_action()
+ action_dict.update({f"left_{key}": value for key, value in left_action.items()})
+
+ right_action = self.right_arm.get_action()
+ action_dict.update({f"right_{key}": value for key, value in right_action.items()})
+
+ return action_dict
+
+ def send_feedback(self, feedback: dict[str, float]) -> None:
+ # TODO(rcadene, aliberts): Implement force feedback
+ raise NotImplementedError
+
+ def disconnect(self) -> None:
+ self.left_arm.disconnect()
+ self.right_arm.disconnect()
\ No newline at end of file
diff --git a/src/trlc_dk1/follower.py b/src/trlc_dk1/follower.py
new file mode 100644
index 0000000000000000000000000000000000000000..2a67589677467badb9c2b8a3c9baa2ce369fb1d9
--- /dev/null
+++ b/src/trlc_dk1/follower.py
@@ -0,0 +1,246 @@
+# Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). 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
+#
+# 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.
+
+from dataclasses import dataclass, field
+from functools import cached_property
+import serial
+import time
+import logging
+from typing import Any
+
+from lerobot.cameras import CameraConfig
+from lerobot.cameras.utils import make_cameras_from_configs
+from lerobot.robots import Robot, RobotConfig
+from lerobot.robots.utils import ensure_safe_goal_position
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+
+from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
+
+logger = logging.getLogger(__name__)
+
+
+def map_range(x: float, in_min: float, in_max: float, out_min: float, out_max: float) -> float:
+ return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
+
+
+@RobotConfig.register_subclass("dk1_follower")
+@dataclass
+class DK1FollowerConfig(RobotConfig):
+ port: str
+ disable_torque_on_disconnect: bool = False
+ joint_velocity_scaling: float = 0.2
+ max_gripper_torque: float = 1.0 # Nm (/0.00875m spur gear radius = 114N gripper force)
+ cameras: dict[str, CameraConfig] = field(default_factory=dict)
+
+
+class DK1Follower(Robot):
+ """
+ TRLC-DK1 Follower Arm designed by The Robot Learning Company.
+ """
+
+ config_class = DK1FollowerConfig
+ name = "dk1_follower"
+
+ def __init__(self, config: DK1FollowerConfig):
+ super().__init__(config)
+
+ # Constants for EMIT control
+ self.DM4310_TORQUE_CONSTANT = 0.945 # Nm/A
+ self.EMIT_VELOCITY_SCALE = 100 # rad/s
+ self.EMIT_CURRENT_SCALE = 1000 # A
+
+ self.JOINT_LIMITS = {
+ "joint_4": (-100/180*np.pi, 100/180*np.pi),
+ "joint_5": (-90/180*np.pi, 90/180*np.pi),
+ }
+
+ self.DM4310_SPEED = 200/60*2*np.pi # rad/s (200 rpm | 20.94 rad/s)
+ self.DM4340_SPEED = 52.5/60*2*np.pi # rad/s (52.5 rpm | 5.49 rad/s)
+
+ self.config = config
+ self.motors = {
+ "joint_1": Motor(DM_Motor_Type.DM4340, 0x01, 0x11),
+ "joint_2": Motor(DM_Motor_Type.DM4340, 0x02, 0x12),
+ "joint_3": Motor(DM_Motor_Type.DM4340, 0x03, 0x13),
+ "joint_4": Motor(DM_Motor_Type.DM4310, 0x04, 0x14),
+ "joint_5": Motor(DM_Motor_Type.DM4310, 0x05, 0x15),
+ "joint_6": Motor(DM_Motor_Type.DM4310, 0x06, 0x16),
+ "gripper": Motor(DM_Motor_Type.DM4310, 0x07, 0x17),
+ }
+ self.control = None
+ self.serial_device = None
+ self.bus_connected = False
+
+ self.gripper_open_pos = 0.0
+ self.gripper_closed_pos = -4.7
+
+ self.cameras = make_cameras_from_configs(config.cameras)
+
+ @property
+ def _motors_ft(self) -> dict[str, type]:
+ return {f"{motor}.pos": float for motor in self.motors}
+
+ @property
+ def _cameras_ft(self) -> dict[str, tuple]:
+ return {
+ cam: (self.config.cameras[cam].height, self.config.cameras[cam].width, 3) for cam in self.cameras
+ }
+
+ @cached_property
+ def observation_features(self) -> dict[str, type | tuple]:
+ return {**self._motors_ft, **self._cameras_ft}
+
+ @cached_property
+ def action_features(self) -> dict[str, type]:
+ return self._motors_ft
+
+ @property
+ def is_connected(self) -> bool:
+ return self.bus_connected and all(cam.is_connected for cam in self.cameras.values())
+
+ def connect(self) -> None:
+ if self.is_connected:
+ raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+ self.serial_device = serial.Serial(
+ self.config.port, 921600, timeout=0.5)
+ time.sleep(0.5)
+
+ self.control = MotorControl(self.serial_device)
+ self.bus_connected = True
+ self.configure()
+
+ for cam in self.cameras.values():
+ cam.connect()
+
+ @property
+ def is_calibrated(self) -> bool:
+ return True
+
+ def calibrate(self) -> None:
+ pass
+
+ def configure(self) -> None:
+
+ for key, motor in self.motors.items():
+ self.control.addMotor(motor)
+
+ for _ in range(3):
+ self.control.refresh_motor_status(motor)
+ time.sleep(0.01)
+
+ if self.control.read_motor_param(motor, DM_variable.CTRL_MODE) is not None:
+ print(f"{key} ({motor.MotorType.name}) is connected.")
+
+ self.control.switchControlMode(motor, Control_Type.POS_VEL)
+ self.control.enable(motor)
+ else:
+ raise Exception(
+ f"Unable to read from {key} ({motor.MotorType.name}).")
+
+ for joint in ["joint_1", "joint_2", "joint_3"]:
+ self.control.change_motor_param(self.motors[joint], DM_variable.ACC, 10.0)
+ self.control.change_motor_param(self.motors[joint], DM_variable.DEC, -10.0)
+ self.control.change_motor_param(self.motors[joint], DM_variable.KP_APR, 200)
+ self.control.change_motor_param(self.motors[joint], DM_variable.KI_APR, 10)
+
+ for joint in ["gripper"]:
+ self.control.change_motor_param(
+ self.motors[joint], DM_variable.KP_APR, 100)
+
+ # Open gripper and set zero position
+ self.control.switchControlMode(
+ self.motors["gripper"], Control_Type.VEL)
+ self.control.control_Vel(self.motors["gripper"], 10.0)
+ while True:
+ self.control.refresh_motor_status(self.motors["gripper"])
+ tau = self.motors["gripper"].getTorque()
+ if tau > 1.2:
+ self.control.control_Vel(self.motors["gripper"], 0.0)
+ self.control.disable(self.motors["gripper"])
+ self.control.set_zero_position(self.motors["gripper"])
+ time.sleep(0.2)
+ self.control.enable(self.motors["gripper"])
+ break
+ time.sleep(0.01)
+ self.control.switchControlMode(
+ self.motors["gripper"], Control_Type.Torque_Pos)
+
+ def get_observation(self) -> dict[str, Any]:
+ if not self.is_connected:
+ raise DeviceNotConnectedError(f"{self} is not connected.")
+
+ # Read arm position
+ start = time.perf_counter()
+
+ obs_dict = {}
+ for key, motor in self.motors.items():
+ self.control.refresh_motor_status(motor)
+ if key == "gripper":
+ # Normalize gripper position between 1 (closed) and 0 (open)
+ obs_dict[f"{key}.pos"] = map_range(
+ motor.getPosition(), self.gripper_open_pos, self.gripper_closed_pos, 0.0, 1.0)
+ else:
+ obs_dict[f"{key}.pos"] = motor.getPosition()
+
+ dt_ms = (time.perf_counter() - start) * 1e3
+ logger.debug(f"{self} read state: {dt_ms:.1f}ms")
+
+ # Capture images from cameras
+ for cam_key, cam in self.cameras.items():
+ start = time.perf_counter()
+ obs_dict[cam_key] = cam.async_read()
+ dt_ms = (time.perf_counter() - start) * 1e3
+ logger.debug(f"{self} read {cam_key}: {dt_ms:.1f}ms")
+
+ return obs_dict
+
+ def send_action(self, action: dict[str, Any]) -> dict[str, Any]:
+ if not self.is_connected:
+ raise DeviceNotConnectedError(f"{self} is not connected.")
+
+ goal_pos = {key.removesuffix(
+ ".pos"): val for key, val in action.items() if key.endswith(".pos")}
+
+ # Send goal position to the arm
+ for key, motor in self.motors.items():
+ if key == "gripper":
+ self.control.refresh_motor_status(motor)
+ gripper_goal_pos_mapped = map_range(goal_pos[key], 0.0, 1.0, self.gripper_open_pos, self.gripper_closed_pos)
+ self.control.control_pos_force(motor, gripper_goal_pos_mapped, self.DM4310_SPEED*self.EMIT_VELOCITY_SCALE,
+ i_des=self.config.max_gripper_torque/self.DM4310_TORQUE_CONSTANT*self.EMIT_CURRENT_SCALE)
+ else:
+ if key in self.JOINT_LIMITS:
+ goal_pos[key] = np.clip(goal_pos[key], self.JOINT_LIMITS[key][0], self.JOINT_LIMITS[key][1])
+
+ self.control.control_Pos_Vel(
+ motor, goal_pos[key], self.config.joint_velocity_scaling*self.DM4340_SPEED)
+
+ return {f"{motor}.pos": val for motor, val in goal_pos.items()}
+
+ def disconnect(self):
+ if not self.is_connected:
+ raise DeviceNotConnectedError(f"{self} is not connected.")
+
+ if self.config.disable_torque_on_disconnect:
+ for motor in self.motors.values():
+ self.control.disable(motor)
+ else:
+ self.control.serial_.close()
+ self.bus_connected = False
+
+ for cam in self.cameras.values():
+ cam.disconnect()
+
+ logger.info(f"{self} disconnected.")
diff --git a/src/trlc_dk1/leader.py b/src/trlc_dk1/leader.py
new file mode 100644
index 0000000000000000000000000000000000000000..fea4c8eede60a1ee8f13318dc6151de6d068cd97
--- /dev/null
+++ b/src/trlc_dk1/leader.py
@@ -0,0 +1,130 @@
+# Copyright 2025 The Robot Learning Company UG (haftungsbeschränkt). 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
+#
+# 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.
+
+from dataclasses import dataclass
+import logging
+import time
+import numpy as np
+
+from lerobot.teleoperators.teleoperator import Teleoperator, TeleoperatorConfig
+from lerobot.utils.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
+from lerobot.motors import Motor, MotorNormMode
+from lerobot.motors.dynamixel import (
+ DynamixelMotorsBus,
+ OperatingMode,
+)
+
+logger = logging.getLogger(__name__)
+
+
+@TeleoperatorConfig.register_subclass("dk1_leader")
+@dataclass
+class DK1LeaderConfig(TeleoperatorConfig):
+ port: str
+ gripper_open_pos: int = 2280
+ gripper_closed_pos: int = 1670
+
+
+class DK1Leader(Teleoperator):
+ config_class = DK1LeaderConfig
+ name = "dk1_leader"
+
+ def __init__(self, config: DK1LeaderConfig):
+ super().__init__(config)
+ self.config = config
+ self.bus = DynamixelMotorsBus(
+ port=self.config.port,
+ motors={
+ "joint_1": Motor(1, "xl330-m288", MotorNormMode.DEGREES),
+ "joint_2": Motor(2, "xl330-m288", MotorNormMode.DEGREES),
+ "joint_3": Motor(3, "xl330-m077", MotorNormMode.DEGREES),
+ "joint_4": Motor(4, "xl330-m077", MotorNormMode.DEGREES),
+ "joint_5": Motor(5, "xl330-m288", MotorNormMode.DEGREES),
+ "joint_6": Motor(6, "xl330-m288", MotorNormMode.DEGREES),
+ "gripper": Motor(7, "xl330-m077", MotorNormMode.DEGREES),
+ },
+ )
+
+ @property
+ def action_features(self) -> dict[str, type]:
+ return {f"{motor}.pos": float for motor in self.bus.motors}
+
+ @property
+ def feedback_features(self) -> dict[str, type]:
+ return {}
+
+ @property
+ def is_connected(self) -> bool:
+ return self.bus.is_connected
+
+ def connect(self, calibrate: bool = False) -> None:
+ if self.is_connected:
+ raise DeviceAlreadyConnectedError(f"{self} already connected")
+
+ self.bus.connect()
+ self.configure()
+
+ logger.info(f"{self} connected.")
+
+ @property
+ def is_calibrated(self) -> bool:
+ return True
+
+ def calibrate(self) -> None:
+ pass
+
+ def configure(self) -> None:
+ self.bus.disable_torque()
+ self.bus.configure_motors()
+
+ # Enable torque and set to position to open
+ self.bus.write("Torque_Enable", "gripper", 0, normalize=False)
+ self.bus.write("Operating_Mode", "gripper", OperatingMode.CURRENT_POSITION.value, normalize=False)
+ self.bus.write("Current_Limit", "gripper", 100, normalize=False)
+ self.bus.write("Torque_Enable", "gripper", 1, normalize=False)
+ self.bus.write("Goal_Position", "gripper", self.config.gripper_open_pos, normalize=False)
+
+ def setup_motors(self) -> None:
+ for motor in self.bus.motors:
+ input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+ self.bus.setup_motor(motor)
+ print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
+ def get_action(self) -> dict[str, float]:
+ if not self.is_connected:
+ raise DeviceNotConnectedError(f"{self} is not connected.")
+
+ start = time.perf_counter()
+
+ action = self.bus.sync_read(normalize=False, data_name="Present_Position")
+ action = {f"{motor}.pos": (val/4096*2*np.pi-np.pi) if motor != "gripper" else val for motor, val in action.items()}
+
+ # # Normalize gripper position between 1 (closed) and 0 (open)
+ gripper_range = self.config.gripper_open_pos - self.config.gripper_closed_pos
+ action["gripper.pos"] = 1 - (action["gripper.pos"] - self.config.gripper_closed_pos) / gripper_range
+
+ dt_ms = (time.perf_counter() - start) * 1e3
+ logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+ return action
+
+ def send_feedback(self, feedback: dict[str, float]) -> None:
+ # TODO(rcadene, aliberts): Implement force feedback
+ raise NotImplementedError
+
+ def disconnect(self) -> None:
+ if not self.is_connected:
+ raise DeviceNotConnectedError(f"{self} is not connected.")
+
+ self.bus.disconnect()
+ logger.info(f"{self} disconnected.")
\ No newline at end of file
diff --git a/src/trlc_dk1/motors/DM_Control_Python/DM_CAN.py b/src/trlc_dk1/motors/DM_Control_Python/DM_CAN.py
new file mode 100644
index 0000000000000000000000000000000000000000..d548f7fa04b1c6307b79e9b809bc8b518089ce55
--- /dev/null
+++ b/src/trlc_dk1/motors/DM_Control_Python/DM_CAN.py
@@ -0,0 +1,624 @@
+from time import sleep
+import numpy as np
+from enum import IntEnum
+from struct import unpack
+from struct import pack
+
+
+class Motor:
+ def __init__(self, MotorType, SlaveID, MasterID):
+ """
+ define Motor object 定义电机对象
+ :param MotorType: Motor type 电机类型
+ :param SlaveID: CANID 电机ID
+ :param MasterID: MasterID 主机ID 建议不要设为0
+ """
+ self.Pd = float(0)
+ self.Vd = float(0)
+ self.state_q = float(0)
+ self.state_dq = float(0)
+ self.state_tau = float(0)
+ self.SlaveID = SlaveID
+ self.MasterID = MasterID
+ self.MotorType = MotorType
+ self.isEnable = False
+ self.NowControlMode = Control_Type.MIT
+ self.temp_param_dict = {}
+
+ def recv_data(self, q: float, dq: float, tau: float):
+ self.state_q = q
+ self.state_dq = dq
+ self.state_tau = tau
+
+ def getPosition(self):
+ """
+ get the position of the motor 获取电机位置
+ :return: the position of the motor 电机位置
+ """
+ return self.state_q
+
+ def getVelocity(self):
+ """
+ get the velocity of the motor 获取电机速度
+ :return: the velocity of the motor 电机速度
+ """
+ return self.state_dq
+
+ def getTorque(self):
+ """
+ get the torque of the motor 获取电机力矩
+ :return: the torque of the motor 电机力矩
+ """
+ return self.state_tau
+
+ def getParam(self, RID):
+ """
+ get the parameter of the motor 获取电机内部的参数，需要提前读取
+ :param RID: DM_variable 电机参数
+ :return: the parameter of the motor 电机参数
+ """
+ if RID in self.temp_param_dict:
+ return self.temp_param_dict[RID]
+ else:
+ return None
+
+
+class MotorControl:
+ send_data_frame = np.array(
+ [0x55, 0xAA, 0x1e, 0x03, 0x01, 0x00, 0x00, 0x00, 0x0a, 0x00, 0x00, 0x00, 0x00, 0, 0, 0, 0, 0x00, 0x08, 0x00,
+ 0x00, 0, 0, 0, 0, 0, 0, 0, 0, 0x00], np.uint8)
+ # 4310 4310_48 4340 4340_48
+ Limit_Param = [[12.5, 30, 10], [12.5, 50, 10], [12.5, 8, 28], [12.5, 10, 28],
+ # 6006 8006 8009 10010L 10010
+ [12.5, 45, 20], [12.5, 45, 40], [12.5, 45, 54], [12.5, 25, 200], [12.5, 20, 200],
+ # H3510 DMG62150 DMH6220
+ [12.5 , 280 , 1],[12.5 , 45 , 10],[12.5 , 45 , 10]]
+
+ def __init__(self, serial_device):
+ """
+ define MotorControl object 定义电机控制对象
+ :param serial_device: serial object 串口对象
+ """
+ self.serial_ = serial_device
+ self.motors_map = dict()
+ self.data_save = bytes() # save data
+ if self.serial_.is_open: # open the serial port
+ print("Serial port is open")
+ serial_device.close()
+ self.serial_.open()
+
+ def controlMIT(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float):
+ """
+ MIT Control Mode Function 达妙电机MIT控制模式函数
+ :param DM_Motor: Motor object 电机对象
+ :param kp: kp
+ :param kd: kd
+ :param q: position 期望位置
+ :param dq: velocity 期望速度
+ :param tau: torque 期望力矩
+ :return: None
+ """
+ if DM_Motor.SlaveID not in self.motors_map:
+ print("controlMIT ERROR : Motor ID not found")
+ return
+ kp_uint = float_to_uint(kp, 0, 500, 12)
+ kd_uint = float_to_uint(kd, 0, 5, 12)
+ MotorType = DM_Motor.MotorType
+ Q_MAX = self.Limit_Param[MotorType][0]
+ DQ_MAX = self.Limit_Param[MotorType][1]
+ TAU_MAX = self.Limit_Param[MotorType][2]
+ q_uint = float_to_uint(q, -Q_MAX, Q_MAX, 16)
+ dq_uint = float_to_uint(dq, -DQ_MAX, DQ_MAX, 12)
+ tau_uint = float_to_uint(tau, -TAU_MAX, TAU_MAX, 12)
+ data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+ data_buf[0] = (q_uint >> 8) & 0xff
+ data_buf[1] = q_uint & 0xff
+ data_buf[2] = dq_uint >> 4
+ data_buf[3] = ((dq_uint & 0xf) << 4) | ((kp_uint >> 8) & 0xf)
+ data_buf[4] = kp_uint & 0xff
+ data_buf[5] = kd_uint >> 4
+ data_buf[6] = ((kd_uint & 0xf) << 4) | ((tau_uint >> 8) & 0xf)
+ data_buf[7] = tau_uint & 0xff
+ self.__send_data(DM_Motor.SlaveID, data_buf)
+ self.recv() # receive the data from serial port
+
+ def control_delay(self, DM_Motor, kp: float, kd: float, q: float, dq: float, tau: float, delay: float):
+ """
+ MIT Control Mode Function with delay 达妙电机MIT控制模式函数带延迟
+ :param DM_Motor: Motor object 电机对象
+ :param kp: kp
+ :param kd: kd
+ :param q: position 期望位置
+ :param dq: velocity 期望速度
+ :param tau: torque 期望力矩
+ :param delay: delay time 延迟时间 单位秒
+ """
+ self.controlMIT(DM_Motor, kp, kd, q, dq, tau)
+ sleep(delay)
+
+ def control_Pos_Vel(self, Motor, P_desired: float, V_desired: float):
+ """
+ control the motor in position and velocity control mode 电机位置速度控制模式
+ :param Motor: Motor object 电机对象
+ :param P_desired: desired position 期望位置
+ :param V_desired: desired velocity 期望速度
+ :return: None
+ """
+ if Motor.SlaveID not in self.motors_map:
+ print("Control Pos_Vel Error : Motor ID not found")
+ return
+ motorid = 0x100 + Motor.SlaveID
+ data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+ P_desired_uint8s = float_to_uint8s(P_desired)
+ V_desired_uint8s = float_to_uint8s(V_desired)
+ data_buf[0:4] = P_desired_uint8s
+ data_buf[4:8] = V_desired_uint8s
+ self.__send_data(motorid, data_buf)
+ # time.sleep(0.001)
+ self.recv() # receive the data from serial port
+
+ def control_Vel(self, Motor, Vel_desired):
+ """
+ control the motor in velocity control mode 电机速度控制模式
+ :param Motor: Motor object 电机对象
+ :param Vel_desired: desired velocity 期望速度
+ """
+ if Motor.SlaveID not in self.motors_map:
+ print("control_VEL ERROR : Motor ID not found")
+ return
+ motorid = 0x200 + Motor.SlaveID
+ data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+ Vel_desired_uint8s = float_to_uint8s(Vel_desired)
+ data_buf[0:4] = Vel_desired_uint8s
+ self.__send_data(motorid, data_buf)
+ self.recv() # receive the data from serial port
+
+ def control_pos_force(self, Motor, Pos_des: float, Vel_des, i_des):
+ """
+ control the motor in EMIT control mode 电机力位混合模式
+ :param Pos_des: desired position rad 期望位置 单位为rad
+ :param Vel_des: desired velocity rad/s 期望速度 为放大100倍
+ :param i_des: desired current rang 0-10000 期望电流标幺值放大10000倍
+ 电流标幺值：实际电流值除以最大电流值，最大电流见上电打印
+ """
+ if Motor.SlaveID not in self.motors_map:
+ print("control_pos_vel ERROR : Motor ID not found")
+ return
+ motorid = 0x300 + Motor.SlaveID
+ data_buf = np.array([0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+ Pos_desired_uint8s = float_to_uint8s(Pos_des)
+ data_buf[0:4] = Pos_desired_uint8s
+ Vel_uint = np.uint16(Vel_des)
+ ides_uint = np.uint16(i_des)
+ data_buf[4] = Vel_uint & 0xff
+ data_buf[5] = Vel_uint >> 8
+ data_buf[6] = ides_uint & 0xff
+ data_buf[7] = ides_uint >> 8
+ self.__send_data(motorid, data_buf)
+ self.recv() # receive the data from serial port
+
+ def enable(self, Motor):
+ """
+ enable motor 使能电机
+ 最好在上电后几秒后再使能电机
+ :param Motor: Motor object 电机对象
+ """
+ self.__control_cmd(Motor, np.uint8(0xFC))
+ sleep(0.1)
+ self.recv() # receive the data from serial port
+
+ def enable_old(self, Motor ,ControlMode):
+ """
+ enable motor old firmware 使能电机旧版本固件，这个是为了旧版本电机固件的兼容性
+ 可恶的旧版本固件使能需要加上偏移量
+ 最好在上电后几秒后再使能电机
+ :param Motor: Motor object 电机对象
+ """
+ data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xfc], np.uint8)
+ enable_id = ((int(ControlMode)-1) << 2) + Motor.SlaveID
+ self.__send_data(enable_id, data_buf)
+ sleep(0.1)
+ self.recv() # receive the data from serial port
+
+ def disable(self, Motor):
+ """
+ disable motor 失能电机
+ :param Motor: Motor object 电机对象
+ """
+ self.__control_cmd(Motor, np.uint8(0xFD))
+ sleep(0.1)
+ self.recv() # receive the data from serial port
+
+ def set_zero_position(self, Motor):
+ """
+ set the zero position of the motor 设置电机0位
+ :param Motor: Motor object 电机对象
+ """
+ self.__control_cmd(Motor, np.uint8(0xFE))
+ sleep(0.1)
+ self.recv() # receive the data from serial port
+
+ def recv(self):
+ # 把上次没有解析完的剩下的也放进来
+ data_recv = b''.join([self.data_save, self.serial_.read_all()])
+ packets = self.__extract_packets(data_recv)
+ for packet in packets:
+ data = packet[7:15]
+ CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
+ CMD = packet[1]
+ self.__process_packet(data, CANID, CMD)
+
+ def recv_set_param_data(self):
+ data_recv = self.serial_.read_all()
+ packets = self.__extract_packets(data_recv)
+ for packet in packets:
+ data = packet[7:15]
+ CANID = (packet[6] << 24) | (packet[5] << 16) | (packet[4] << 8) | packet[3]
+ CMD = packet[1]
+ self.__process_set_param_packet(data, CANID, CMD)
+
+ def __process_packet(self, data, CANID, CMD):
+ if CMD == 0x11:
+ if CANID != 0x00:
+ if CANID in self.motors_map:
+ q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
+ dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
+ tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
+ MotorType_recv = self.motors_map[CANID].MotorType
+ Q_MAX = self.Limit_Param[MotorType_recv][0]
+ DQ_MAX = self.Limit_Param[MotorType_recv][1]
+ TAU_MAX = self.Limit_Param[MotorType_recv][2]
+ recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
+ recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
+ recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
+ self.motors_map[CANID].recv_data(recv_q, recv_dq, recv_tau)
+ else:
+ MasterID=data[0] & 0x0f
+ if MasterID in self.motors_map:
+ q_uint = np.uint16((np.uint16(data[1]) << 8) | data[2])
+ dq_uint = np.uint16((np.uint16(data[3]) << 4) | (data[4] >> 4))
+ tau_uint = np.uint16(((data[4] & 0xf) << 8) | data[5])
+ MotorType_recv = self.motors_map[MasterID].MotorType
+ Q_MAX = self.Limit_Param[MotorType_recv][0]
+ DQ_MAX = self.Limit_Param[MotorType_recv][1]
+ TAU_MAX = self.Limit_Param[MotorType_recv][2]
+ recv_q = uint_to_float(q_uint, -Q_MAX, Q_MAX, 16)
+ recv_dq = uint_to_float(dq_uint, -DQ_MAX, DQ_MAX, 12)
+ recv_tau = uint_to_float(tau_uint, -TAU_MAX, TAU_MAX, 12)
+ self.motors_map[MasterID].recv_data(recv_q, recv_dq, recv_tau)
+
+
+ def __process_set_param_packet(self, data, CANID, CMD):
+ if CMD == 0x11 and (data[2] == 0x33 or data[2] == 0x55):
+ masterid=CANID
+ slaveId = ((data[1] << 8) | data[0])
+ if CANID==0x00: #防止有人把MasterID设为0稳一手
+ masterid=slaveId
+
+ if masterid not in self.motors_map:
+ if slaveId not in self.motors_map:
+ return
+ else:
+ masterid=slaveId
+
+ RID = data[3]
+ # 读取参数得到的数据
+ if is_in_ranges(RID):
+ #uint32类型
+ num = uint8s_to_uint32(data[4], data[5], data[6], data[7])
+ self.motors_map[masterid].temp_param_dict[RID] = num
+
+ else:
+ #float类型
+ num = uint8s_to_float(data[4], data[5], data[6], data[7])
+ self.motors_map[masterid].temp_param_dict[RID] = num
+
+
+ def addMotor(self, Motor):
+ """
+ add motor to the motor control object 添加电机到电机控制对象
+ :param Motor: Motor object 电机对象
+ """
+ self.motors_map[Motor.SlaveID] = Motor
+ if Motor.MasterID != 0:
+ self.motors_map[Motor.MasterID] = Motor
+ return True
+
+ def __control_cmd(self, Motor, cmd: np.uint8):
+ data_buf = np.array([0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, cmd], np.uint8)
+ self.__send_data(Motor.SlaveID, data_buf)
+
+ def __send_data(self, motor_id, data):
+ """
+ send data to the motor 发送数据到电机
+ :param motor_id:
+ :param data:
+ :return:
+ """
+ self.send_data_frame[13] = motor_id & 0xff
+ self.send_data_frame[14] = (motor_id >> 8)& 0xff #id high 8 bits
+ self.send_data_frame[21:29] = data
+ self.serial_.write(bytes(self.send_data_frame.T))
+
+ def __read_RID_param(self, Motor, RID):
+ can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+ can_id_h = (Motor.SlaveID >> 8)& 0xff #id high 8 bits
+ data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x33, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
+ self.__send_data(0x7FF, data_buf)
+
+ def __write_motor_param(self, Motor, RID, data):
+ can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+ can_id_h = (Motor.SlaveID >> 8)& 0xff #id high 8 bits
+ data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0x55, np.uint8(RID), 0x00, 0x00, 0x00, 0x00], np.uint8)
+ if not is_in_ranges(RID):
+ # data is float
+ data_buf[4:8] = float_to_uint8s(data)
+ else:
+ # data is int
+ data_buf[4:8] = data_to_uint8s(int(data))
+ self.__send_data(0x7FF, data_buf)
+
+ def switchControlMode(self, Motor, ControlMode):
+ """
+ switch the control mode of the motor 切换电机控制模式
+ :param Motor: Motor object 电机对象
+ :param ControlMode: Control_Type 电机控制模式 example:MIT:Control_Type.MIT MIT模式
+ """
+ max_retries = 20
+ retry_interval = 0.1 #retry times
+ RID = 10
+ self.__write_motor_param(Motor, RID, np.uint8(ControlMode))
+ for _ in range(max_retries):
+ sleep(retry_interval)
+ self.recv_set_param_data()
+ if Motor.SlaveID in self.motors_map:
+ if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
+ if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - ControlMode) < 0.1:
+ return True
+ else:
+ return False
+ return False
+
+ def save_motor_param(self, Motor):
+ """
+ save the all parameter to flash 保存所有电机参数
+ :param Motor: Motor object 电机对象
+ :return:
+ """
+ can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+ can_id_h = (Motor.SlaveID >> 8)& 0xff #id high 8 bits
+ data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xAA, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+ self.disable(Motor) # before save disable the motor
+ self.__send_data(0x7FF, data_buf)
+ sleep(0.001)
+
+ def change_limit_param(self, Motor_Type, PMAX, VMAX, TMAX):
+ """
+ change the PMAX VMAX TMAX of the motor 改变电机的PMAX VMAX TMAX
+ :param Motor_Type:
+ :param PMAX: 电机的PMAX
+ :param VMAX: 电机的VMAX
+ :param TMAX: 电机的TMAX
+ :return:
+ """
+ self.Limit_Param[Motor_Type][0] = PMAX
+ self.Limit_Param[Motor_Type][1] = VMAX
+ self.Limit_Param[Motor_Type][2] = TMAX
+
+ def refresh_motor_status(self,Motor):
+ """
+ get the motor status 获得电机状态
+ """
+ can_id_l = Motor.SlaveID & 0xff #id low 8 bits
+ can_id_h = (Motor.SlaveID >> 8) & 0xff #id high 8 bits
+ data_buf = np.array([np.uint8(can_id_l), np.uint8(can_id_h), 0xCC, 0x00, 0x00, 0x00, 0x00, 0x00], np.uint8)
+ self.__send_data(0x7FF, data_buf)
+ self.recv() # receive the data from serial port
+
+ def change_motor_param(self, Motor, RID, data):
+ """
+ change the RID of the motor 改变电机的参数
+ :param Motor: Motor object 电机对象
+ :param RID: DM_variable 电机参数
+ :param data: 电机参数的值
+ :return: True or False ,True means success, False means fail
+ """
+ max_retries = 20
+ retry_interval = 0.05 #retry times
+
+ self.__write_motor_param(Motor, RID, data)
+ for _ in range(max_retries):
+ self.recv_set_param_data()
+ if Motor.SlaveID in self.motors_map and RID in self.motors_map[Motor.SlaveID].temp_param_dict:
+ if abs(self.motors_map[Motor.SlaveID].temp_param_dict[RID] - data) < 0.1:
+ return True
+ else:
+ return False
+ sleep(retry_interval)
+ return False
+
+ def read_motor_param(self, Motor, RID):
+ """
+ read only the RID of the motor 读取电机的内部信息例如 版本号等
+ :param Motor: Motor object 电机对象
+ :param RID: DM_variable 电机参数
+ :return: 电机参数的值
+ """
+ max_retries = 20
+ retry_interval = 0.05 #retry times
+ self.__read_RID_param(Motor, RID)
+ for _ in range(max_retries):
+ sleep(retry_interval)
+ self.recv_set_param_data()
+ if Motor.SlaveID in self.motors_map:
+ if RID in self.motors_map[Motor.SlaveID].temp_param_dict:
+ return self.motors_map[Motor.SlaveID].temp_param_dict[RID]
+ return None
+
+ # -------------------------------------------------
+ # Extract packets from the serial data
+ def __extract_packets(self, data):
+ frames = []
+ header = 0xAA
+ tail = 0x55
+ frame_length = 16
+ i = 0
+ remainder_pos = 0
+
+ while i <= len(data) - frame_length:
+ if data[i] == header and data[i + frame_length - 1] == tail:
+ frame = data[i:i + frame_length]
+ frames.append(frame)
+ i += frame_length
+ remainder_pos = i
+ else:
+ i += 1
+ self.data_save = data[remainder_pos:]
+ return frames
+
+
+def LIMIT_MIN_MAX(x, min, max):
+ if x <= min:
+ x = min
+ elif x > max:
+ x = max
+
+
+def float_to_uint(x: float, x_min: float, x_max: float, bits):
+ LIMIT_MIN_MAX(x, x_min, x_max)
+ span = x_max - x_min
+ data_norm = (x - x_min) / span
+ return np.uint16(data_norm * ((1 << bits) - 1))
+
+
+def uint_to_float(x: np.uint16, min: float, max: float, bits):
+ span = max - min
+ data_norm = float(x) / ((1 << bits) - 1)
+ temp = data_norm * span + min
+ return np.float32(temp)
+
+
+def float_to_uint8s(value):
+ # Pack the float into 4 bytes
+ packed = pack('f', value)
+ # Unpack the bytes into four uint8 values
+ return unpack('4B', packed)
+
+
+def data_to_uint8s(value):
+ # Check if the value is within the range of uint32
+ if isinstance(value, int) and (0 <= value <= 0xFFFFFFFF):
+ # Pack the uint32 into 4 bytes
+ packed = pack('I', value)
+ else:
+ raise ValueError("Value must be an integer within the range of uint32")
+
+ # Unpack the bytes into four uint8 values
+ return unpack('4B', packed)
+
+
+def is_in_ranges(number):
+ """
+ check if the number is in the range of uint32
+ :param number:
+ :return:
+ """
+ if (7 <= number <= 10) or (13 <= number <= 16) or (35 <= number <= 36):
+ return True
+ return False
+
+
+def uint8s_to_uint32(byte1, byte2, byte3, byte4):
+ # Pack the four uint8 values into a single uint32 value in little-endian order
+ packed = pack('<4B', byte1, byte2, byte3, byte4)
+ # Unpack the packed bytes into a uint32 value
+ return unpack('=2.0.1
+pyserial>=3.5
\ No newline at end of file
diff --git a/src/trlc_dk1/motors/__init__.py b/src/trlc_dk1/motors/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
+
+
+
+