Warning
You are viewing the documentation for a version of the Interbotix ALOHA stack that is no longer supported. Please upgrade to keep up to date with the latest features. See the v2.0 documentation for more information.
Specifications
Aloha Stationary
Stationary Packing List
| Sub-Assembly or Part | Qty |
Frame and Gravity Compensation |
|
| Upright “H” Sub-Assembly | 2 |
| Arm Mount “A” Sub-Assembly | 2 |
| 2020-305mm Bar “45” Sub-Assembly | 4 |
| 2020-200mm Bar “G” Sub-Assembly | 2 |
| 2020-200mm Bar “P” Sub-Assembly | 2 |
| 2020-1220mm Bar “F” Sub-Assembly | 1 |
| 2020-1220mm Bar “B” Sub-Assembly | 1 |
| 2040-890mm Bar “T” Sub-Assembly | 1 |
| Automatic-Return Hanging Retractor without Cable Lock, 1 to 2 lb. Capacity | 2 |
| Pulley for Wire Rope | 6 |
| 5” Long Extension Spring | 2 |
| 110mm Length 1/16 Steel Wire with Loop Crimped Ends | 2 |
| Spring Snap Hook Carabiners | 8 |
| C-Clamps | 4 |
| M2.5x6s | 20 |
| M3x8s | 10 |
| M3x12s | 5 |
| M5x8b | 25 |
| M5x10b | 50 |
| M5x12b | 20 |
| M5x14b | 25 |
| M3 T-Driver | 1 |
| WX Leader Pair Bag | 1 |
Large Electronics (Cameras + Computer) |
|
| Control Laptop (Delayed) | 1 |
| Intel RealSense D405 | 4 |
| Small Electronics | |
| USB 3.0 A Male to Micro B Male, Right Angled with Locking Screws | 4 |
| USB 3.0 A Male to USB 3.0 Female Extension 10ft | 2 |
| USB 3.0 A to B Cable in Black, 6 ft | 2 |
| Foot pedal switch (Delayed) | 1 |
| Sabrent 7-Port USB Hub | 2 |
| Belkin Power Strip Surge Protector - 10 AC Outlets, 15ft Heavy Duty Metal Extension Cord | 1 |
3D Printed Components |
|
| Overhead Cam Mount | 1 |
| Worms-Eye Cam Mount | 1 |
| ViperX Wrist Cam Mount | 2 |
| WX Wrist Clip | 3 |
| 2040 USB Cable Clip | 20 |
| 2020 USB Cable Clip | 20 |
Robots |
|
| Aloha ViperX 300 6DOF | 2 |
| Aloha WidowX 250 6DOF | 2 |
| Aloha Finger Bag | 2 |
| 12v20a Power Supply | 2 |
| 12v10a Power Supply | 2 |
| USB-A to Micro USB, 10 Foot, Black | 4 |
Stationary Specifications
| Dimensions | 1019D x 1066H x 1225W mm |
| Leader Arms | WidowX 250 S - Aloha Version |
| Follower Arms | ViperX 300 S - Aloha Version |
| Camera | 4x Intel RealSense D405 |
| Chassis | Modular |
| Computer | Coming Soon |
| USB Hubs | Yes 2X |
| Gravity Compensators | Yes |
Stationary Technical Drawing
Coming Soon!
Aloha Mobile
Mobile Packing List
| Sub-Assembly or Part | QTY |
Frame + Hardware |
|
| Podium with Adjustable Rails + Electronics Shelf | 1 |
| ViperX Vertical Mount with Left + Right VX Arm Mounts | 1 |
| WidowX Vertical Mount with Left + Right WX Arm Mounts + Cables | 1 |
| Caster Horizontal Mount with Foot Pedal | 1 |
| Camera Stand | 1 |
| M2.5x6s | 10 |
| M3x6s | 5 |
| M3x10s | 5 |
| M4x12b | 5 |
| M5x8b | 30 |
| M5x10b | 15 |
| M5x12b | 30 |
| M5x18s | 5 |
| M2.5 T-Driver | 1 |
| M3 Ball-End Driver | 1 |
| M4 T-Driver | 1 |
| Loctite | 3 |
| Zip Ties - 6 in | 10 |
| Zip Ties - 10 in | 10 |
3D Printed Parts |
|
| 2020 USB Cable Clip | 20 |
| 2040 USB Cable Clip | 20 |
| ViperX wrist cam mount | 4 |
| Overhead cam mount | 2 |
Electronics Shelf Inside Podium |
|
| 4 Outlet Power Strip | 1 |
| 12v20a Power Supply | 2 |
| 12v10a Power Supply | 2 |
| Sabrent 7-Port USB Hub | 2 |
| 1ft Outlet Extension | 2 |
Small Electronics |
|
| USB A 3.0 Male to Male Cable 6 Foot | 1 |
| USB 3.0 to Micro B Cable 3m Locking Right Angled | 3 |
| USB A to Micro USB 10 Foot | 1 |
| PS4 Controller | 1 |
| Foot Pedal Switch (NOT YET IMPLEMENTED) | 1 |
Cameras |
|
| Intel RealSense D405 | 3 |
Computer |
|
| System76 Serval WS | 1 |
| Power Supply Charger | 1 |
Power Supply |
|
| OUPES 1800W Portable Power Station, 1.4kWh | 1 |
| Power Station Charger | 1 |
Robot Base |
|
| SLATE | 1 |
| FS-i6S Controller | 1 |
| Contact Charger | 1 |
| Power Supply | 1 |
| Pigtail Cable | 1 |
| USB 3.0 A Male to A Male Cable 3 Foot | 1 |
Robot Arms |
|
| Aloha ViperX 6dof Mobile | 2 |
| Aloha WidowX 6dof | 2 |
| VX Finger Bag | 2 |
Mobile Specifications
| Dimensions | Coming Soon |
| Weight | Coming Soon |
| Maximum Speed | 1m/s | 3.6k/hr |
| Maximum Reach | Coming Soon |
| Leader Arms | WidowX 250 S - Aloha Version |
| Follower Arms | ViperX 300 S - Aloha Version |
| Camera | 3x USB Camera |
| Chassis | Modular |
| Stability | Adjustable Training Wheels |
| Vertical Adjustability | Infinite |
| Horizontal Adjustability | Infinite |
| Computer | Coming Soon |
| USB Hubs | Yes 2X |
| Gravity Compensators | No |
| Mobile Power Station Battery | Yes - 1.4kWh |
Mobile Technical Drawing
Coming Soon!
ALOHA Pre-configured Laptop
Trossen Robotics offers the option of providing a laptop pre-configured to work with either variant of the ALOHA kit. The laptop is the Serval WS (serw13) from System76 with the following specifications:
- Ubuntu 22.04 LTS
- 5.8 GHz i9-14900HX
- 32 GB DDR5 4800 MHz (2x 16GB)
- 1 TB PCIe4 M.2 SSD
- WiFi 6E + Bluetooth 5
- 8 GB GeForce RTX 4060 with 3072 CUDA Cores
- 17.3” Matte 2K QHD (240Hz) Display