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

Mobile Technical Drawing

Mobile Minimum Dimensions

Aloha Mobile Minimum Dimensions Drawing

Mobile Maximum Dimensions

Aloha Mobile Maximum Dimensions Drawing

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