Warning

The Interbotix ALOHA stack that has recently been updated to v2.0. See our announcement here for more information.

ALOHA

Attention

This documentation is for the Interbotix ALOHA kits sold by Trossen Robotics and related software. If you are looking for documentation on the Trossen AI Arms and related software and integrations, please visit the Trossen AI Arms Documentation.

What’s Here

• Specifications - Specifications for the ALOHA, Mobile ALOHA and related hardware.
• Getting Started - Guides to walk you through the process of setting up your ALOHA and Mobile ALOHA kits.
• Operation - Guides demonstrating usage of the ALOHA platforms.
• Training and Evaluation - Comprehensive guides on training models using the ALOHA platforms, covering dataset preparation and policy evaluation.
• Trossen Aloha UI - Guide to using the Trossen ALOHA GUI for intuitive control, data recording, and task management.
• Troubleshooting - Small guides to walk users through possible issues that may occur when using the ALOHA kits.

Table of Contents

• Specifications
  • Aloha Stationary
    • Stationary Packing List
    • Stationary Specifications
    • Stationary Technical Drawing
  • Aloha Mobile
    • Mobile Packing List
    • Mobile Specifications
    • Mobile Technical Drawing
  • Aloha Solo
    • Solo Packing List
    • Solo Specifications
    • Solo Technical Drawing
  • ALOHA Pre-configured Laptop
  • ALOHA Pre-configured Mini PC
• Getting Started
  • Mobile ALOHA Getting Started
    • Mobile ALOHA Hardware Setup
    • Mobile ALOHA Software Setup
    • Pairing Your Controller
  • Stationary ALOHA Getting Started
    • Stationary ALOHA Hardware Setup
    • Stationary ALOHA Software Setup
  • Solo ALOHA Getting Started
    • Solo ALOHA Hardware Setup
    • Solo ALOHA Software Setup
• Operation
  • Bringup & Shutdown
    • Bringup
    • Shutdown
    • What’s Next?
    • Configurations
  • Mobile Operation
    • Teleoperation
    • Joystick Base Teleoperation
    • What’s Next?
  • Stationary Operation
    • Teleoperation
    • What’s Next?
  • Solo Operation
    • Teleoperation
    • What’s Next?
  • Data Collection
    • Task Creation
    • Recording Episodes
    • Episode Playback
    • Episode Auto-Recording
    • Dataset Format
    • What’s Next?
  • Gravity Compensation
• Training and Evaluation
  • Virtual Environment Setup
    • Virtual Environment Installation and Setup
    • Conda Setup
  • Train and Evaluate
    • Aloha Mobile Training & Evaluation
    • Aloha Stationary Training & Evaluation
    • Aloha Solo Training & Evaluation
  • Hugging Face for Dataset storage
    • Hugging Face Guide
  • LeRobot Guide for Aloha
    • LeRobot X Aloha User Guide
    • LeRobot X Aloha Solo User Guide
    • Troubleshooting
• Trossen Aloha UI
  • Overview
  • Pre-Installation Setup
  • Installation
  • Post-Installation
  • Launching the Application
    • Desktop Application
    • Command Line
  • Application Features
  • Configuration Management
    • Task Configuration
    • Hugging Face Authentication
    • Robot Configuration
  • Hardware Setup
  • License
• Troubleshooting
  • X-Series Arms
  • SLATE Base
  • Device Connection Issues
    • USB Hubs