TRLC-DK1 Bimanual Arm
B✓ Links verified May 19, 2026
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The TRLC-DK1 is an open-source developer kit for AI-native robotics from The Robot Learning Company. It is a bimanual leader-follower teleop arm system designed to be the go-to hardware platform for collecting robot learning data with the LeRobot framework.
Source: https://github.com/robot-learning-co/trlc-dk1
The system includes a follower arm with a custom parallel gripper (camera holder-equipped, with RealSense D405 support) and a leader arm for natural teleoperation. The gripper uses a gear-rack drive mechanism for precise actuation and features soft TPU fingers for compliant grasping. All 30 3D-printable components are provided as STL files, with full STEP CAD available.
The DK1 is designed around LeRobot's plugin conventions — it auto-detects as a device when installed in the same Python environment, enabling immediate use with lerobot-teleoperate, lerobot-record, and lerobot-train commands. Single-arm and bimanual teleoperation, data collection, and policy evaluation are all documented.
Available as a kit and open source. Discord community active for support. License: Apache 2.0.
🖨 Print Files (30)
d405-holder_v0.1.0.stl
finger-holder_v0.2.0.stl
finger_v0.2.0.stl
gear-rack_v0.1.0.stl
gear-shaft_v0.1.0.stl
soft-finger-holder_v0.2.0.stl
soft-finger_v0.2.0.stl
U30CAM4K-S1-frame_v0.3.0.stl
3030-cam-extrusion-mount.stl
3030-U30CAM4K-S1-frame.stl
4080-endcap.stl
gello_handle_45deg.stl
Required Hardware
| Item | Qty | Unit Cost | Notes |
|---|---|---|---|
| STS3215 servo 7.4V, 1/345 gear ratio | 14 | $13.89 | Primary follower joints (per upstream SO-100 spec) |
| STS3215 servo 7.4V, 1/191 gear ratio | 4 | $13.89 | Leader arm joints |
| STS3215 servo 7.4V, 1/147 gear ratio | 6 | $13.89 | Leader arm joints |
| Feetech motor control board (waveshare) | 4 | $10.60 | One per arm (4 arms total in bimanual setup) |
| USB-C cable (2-pack) | 2 | $7.00 | Connect control boards to host |
| 7.4V / 5A DC power supply | 4 | $10.00 | One per arm |
| Table clamp (4-pack) | 2 | $9.00 | Mount arms to bench |
| Screwdriver set | 1 | $6.00 | Assembly tool |
| M2/M3 fastener kit | 1 | $15.00 | (inferred) Servo horns and bracket screws |
| Jumper / extension cable kit | 1 | $10.00 | (inferred) Servo daisy-chain extensions |
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