Warning
The Interbotix ALOHA stack that has recently been updated to v2.0. See our announcement here 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 | See drawing for minimum and maximum dimensions |
| Weight | 122 kg |
| Maximum Speed | 1m/s |
| Leader Arms | WidowX 250 S - Aloha Version |
| Follower Arms | ViperX 300 S - Aloha Version |
| Camera | 3x USB Camera |
| Stability | Adjustable Training Wheels |
| USB Hubs | Yes 2X |
| Gravity Compensators | Software-enabled gravity compensation |
| Mobile Power Station Battery | Yes - 1.4kWh |
Aloha Solo
Solo Packing List
| Sub-Assembly or Part | Qty |
| M2.5x6s | 20 |
| M3x8s | 10 |
| M3x12s | 5 |
| M5x8b | 25 |
| M5x10b | 50 |
| M5x12b | 20 |
| M5x14b | 25 |
| M3 T-Driver | 1 |
| WX Leader Bag | 1 |
Large Electronics (Cameras + Computer) |
|
| Control Laptop (Delayed) | 1 |
| Intel RealSense D405 | 2 |
Small Electronics |
|
| USB 3.0 A Male to Micro B Male, Right Angled with Locking Screws | 2 |
| 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 |
| Camera Tripod Stand | 1 |
| Sabrent 7-Port USB Hub | 1 |
3D Printed Components |
|
| Overhead Cam Mount | 1 |
| Worms-Eye Cam Mount | 1 |
| ViperX Wrist Cam Mount | 1 |
| WX Wrist Clip | 3 |
| 2040 USB Cable Clip | 10 |
| 2020 USB Cable Clip | 10 |
Robots |
|
| Aloha ViperX 300 6DOF | 1 |
| Aloha WidowX 250 6DOF | 1 |
| Aloha Finger Bag | 1 |
| 12v20A Power Supply | 1 |
| 12V10A Power Supply | 1 |
| USB-A to Micro USB, 10 Foot, Black | 2 |
Solo Specifications
| Dimensions | 1019D x 1066H x 1225W mm |
| Leader Arms | WidowX 250 S - Aloha Version |
| Follower Arms | ViperX 300 S - Aloha Version |
| Camera | 2x Intel RealSense D405 |
| Chassis | Modular |
| Computer | Coming Soon |
| USB Hubs | Yes 1X |
Solo 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
ALOHA Pre-configured Mini PC
Trossen Robotics offers the option of providing a mini computer pre-configured to work with any variant of the ALOHA kit. The computer is the Meerkat (meer8) from System76 with the following specifications:
- Ubuntu 22.04 LTS
- 4.5 GHz i5-1340P
- 32 GB DDR5 3200 MHz (2x 16GB)
- 500 GB PCIe4 M.2 SSD
- WiFi 6E + Bluetooth 5
- i5-1340P: Intel® Iris® Xe Graphics