Build and reproduce DIYRobot

The public release now includes the reviewed lower-host implementation under hardware/diyrobot/lower_host, source hashes, calibration procedures, camera-reference data, a parameter register, a core BOM, and explicit mechanical provenance. The source host was read only: no remote file or hardware state was changed during this audit.

DIYRobot is the only public platform and runtime name. The earlier internal name appears only in immutable source-provenance and historical-checkpoint records; it does not identify a second robot or a public code path.

Open the DIYRobot source and full operator documentation.

The current TRLC-DK1 repository publishes v0.3.0; it is an upstream reference, not the exact geometry of the local v0.2.0-derived assembly. Apache-2.0 attribution and modification notices will accompany every released derivative CAD file.

Use the LeRobot revision validated for the platform. The release does not claim compatibility with every upstream revision.

cd /path/to/lerobot
python3 -m venv .venv
. .venv/bin/activate
python -m pip install -e .
python -m pip install pyserial opencv-python scservo-sdk

cp -a /path/to/KinRT/hardware/diyrobot/lower_host \
  src/lerobot/robots/diyrobot

python -m pip install -e \
  /path/to/KinRT/policy/pi05/packages/openpi-client

python -c "from lerobot.robots.diyrobot import DIYRobot; print(DIYRobot.name)"

The release omits the original serial numbers and USB topology. Create target-specific udev rules that map verified devices to these semantic paths:

ls -l /dev/serial/by-id /dev/serial/by-path
ls -l /dev/v4l/by-id /dev/v4l/by-path
lsusb
udevadm info --query=property --name=/dev/ttyUSB0
udevadm info --query=property --name=/dev/video0

Confirm each physical role without trial motion. The active strict path uses separate left and right follower buses; the generic class also retains a single-bus compatibility mode. Do not mix their calibration or port model.

Generate all calibration files on the target robot. The tools do not issue pose targets, but follower sampling may briefly enable and disable the selected RobStride motor.

cd /path/to/lerobot/src/lerobot/robots/diyrobot

python diyrobot_rest_range_calibrate.py rest \
  --device both --side left
python diyrobot_rest_range_calibrate.py range \
  --device follower --side left --duration 20
python diyrobot_rest_range_calibrate.py show \
  --device both --side left

Move joints by hand only through a conservative working range; do not use mechanical stops as limits. Repeat for the right side, record direction/scale evidence, and physically validate each joint before marking it validated.

The complete commands, file schemas, lift-zero procedure, and recalibration triggers are in the calibration guide.

The current code does not rectify images or apply a homography. Its browser overlay uses the overhead rectangle (128,151) to (458,416) at 640 x 480. The saved overlay JSON is not consumed by recording or policy inference.

./start_diyrobot_three_camera_webui.sh
# Stop the preview before collection or policy inference.

Exact per-camera mounting geometry, task-mat dimensions, and the printable reference are coming soon. See the camera-alignment guide for normalized corners, acceptance checks, and the future homography release contract.

TASK="Put the pill box into the center of the notebook." \
REPO_ID="local/diyrobot_smoke" ROOT="/data/diyrobot/smoke" \
EPISODES=1 EPISODE_TIME=20 RESET_TIME=0 FPS=20 \
./start_diyrobot_pi05_record.sh

Each frame must contain finite 14-D observation.state, the 14-D target actually sent as action, three RGB views, and exact task text. Strict-teleop JSONL is diagnostic data, not training data.

Freeze the dataset digest, then create and verify K=4 supervision using the KinRT method procedure with the DIYRobot dataset path. FULL and LoRA are optimization regimes of the same method.

cd /path/to/KinRT/policy/pi05
uv run python scripts/compute_norm_stats.py \
  --config-name kinrt_full_diyrobot
uv run python scripts/train.py kinrt_full_diyrobot \
  --exp-name diyrobot_kinrt_full

Use kinrt_lora_diyrobot for LoRA. Keep the selected name identical across normalization, training, checkpoint serving, and reporting. The reported DIYRobot runs use 8,000 steps and effective batch size 32.

POLICY_SERVER="<gpu-host>:<port>" TASK_ID=0 \
  ./start_diyrobot_pi05_policy_client.sh

POLICY_SERVER="<gpu-host>:<port>" TASK_ID=0 \
ALLOW_MOTION=1 DURATION=30 ACTION_CHUNK_STEPS=1 \
  ./start_diyrobot_pi05_policy_client.sh

Stop immediately on startup mismatch, unexpected direction, drift, stale feedback, camera failure, policy timeout, invalid action shape, or collision risk. Software cleanup is not a substitute for the physical stop.

Evaluate the five prompt-v3 tasks with 50 trials each in the original environment. Record task, prompt variant, checkpoint, calibration digests, camera reference, operator, outcome, and stop reason for every trial.