Claimed by maintainer

ALOHA

Stationary dual-arm teleoperation workcell for fine manipulation.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to tonyzhaozh/aloha: 2024-04-19 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility63/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
ALOHA open-source 14-DoF bimanual robot arms, 3D render from 4arms_teleop.launch
simplified 3D ยท Aloha cam wrist mount v13.stl

About ALOHA

ALOHA is a low-cost open-source bimanual teleoperation workcell from Stanford for imitation-learning data collection and ACT policy training. The repository provides ROS launch and config code, a hardware assembly tutorial, ALOHA 2 workcell and accessory STL meshes, and links to the ACT code and the RSS 2023 paper. The hardware tutorial's BOM totals USD 19,529.03, not counting the additional power and cable parts it lists.

Licenses

Hardware
MITrepository license; upstream states no separate hardware license
Software
MIT
Docs
Not published

Degrees of freedom

14 DoF

No per-group breakdown has been sourced yet.

BimanualStationary workcellLeader-follower pairsource

How to build ALOHA

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Build the T-slot frame

    Assemble the cage from 120 cm, 100 cm and 15 cm aluminium extrusion bars and corner brackets on a 48 x 30 inch standing desk, following the tutorial's 3D assembly model, then secure the frame to the desk with L-brackets.

    Motari summarydocs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK...

  2. Mount the four arms

    Mount each WidowX 250 leader with two M5 x 14 bolts and each ViperX 300 follower with three M5 x 14 bolts, using drop-in T-nuts on the extrusion frame. Fit the printed leader handles and follower fingers from the tutorial.

    Motari summarydocs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK...

  3. Wire power and USB

    Power all four arms from one shared power supply, fitting fork spade connectors to the power cables. Plug each arm directly into the computer with its own USB cable, with no hub or extension.

    Upstream stepdocs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK...

  4. Place the cameras

    Mount a Logitech C922x on each follower wrist with the printed camera mount, one on the top bar and one at the front (cam_high and cam_low), then adjust the views to match the tutorial's reference images.

    Motari summarydocs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK...

  5. Calibrate and record

    Bind each arm and camera to a fixed udev symlink, set the follower gripper motor current limit to 200 in Dynamixel Wizard, then launch the four-arm teleop and record episodes with record_episodes.py.

    Motari summarydocs.google.com/document/d/1sgRZmpS7HMcZTPfGy3kAxDrqFMtNNzmK...
Print timenot published
Assembly time2 h

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

ALOHA bill of materials

12 rows

Cost to build

$19,529.03USDsource total
  • tutorial BOM total; additional power and cable items listed separately$19,529.03source total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

ALOHA parts, as the source lists them (read 2026-06-07). Prices are the source's, not checked against vendors.

ALOHA bill of materials
PartQtySpecSourceConfidence
ViperX 300 Robot Arm 6DOFALOHA puppet/follower arms; launch robot_model_puppet=vx300s
2vx300s / ViperX 300 6DOF
Trossen RoboticsUSD 5,695.95 eachHardware tutorial BOM lines 41-47; launch/4arms_teleop.launch lines 3-4, 17-20, 44-62
high
WidowX 250 Robot Arm 6DOFALOHA master/leader arms; launch robot_model_master=wx250s
2wx250s / WidowX 250 6DOF
Trossen RoboticsUSD 3,295.95 eachHardware tutorial BOM lines 48-53; launch/4arms_teleop.launch lines 3-4, 17-20, 23-41
high
Standing desk work surfaceRobot cage base table
148x30 in, black
Amazon link from the project's BOMUSD 199.99Hardware tutorial BOM lines 54-61
high
Aluminum extrusion frame setRobot cage extrusion bars
110x 1220 mm, 10x 1000 mm, 2 packs of 4x 150 mm black extrusion
Amazon link from the project's BOMpriced per lineHardware tutorial BOM lines 62-82
high
Frame brackets and fasteners setCorner brackets, M5 nuts/bolts, M3/M2.5 screws
13x 20-set M5x8 corner brackets, 4x black L-4 brackets, M3 screws, M2.5 screws, nuts and bolts
Amazon links from the project's BOMpriced per lineHardware tutorial BOM lines 83-98 and 161-178
high
Logitech C922x Pro Stream WebcamTwo wrist cameras plus two stationary cameras
4C922x Pro Stream Webcam
Amazon link from the project's BOMUSD 98.35 eachHardware tutorial BOM lines 112-118; README.md lines 88-99; launch/4arms_teleop.launch lines 90-140
high
Camera mounting hardwareTop/front/wrist camera mounts
11/4 in screw C-clamp tripod mount plus printed cam mounts
Amazon link from the project's BOM plus parts you 3D printUSD 21.99 for purchased mount; printed parts not pricedHardware tutorial BOM lines 119-125 and CAD parts lines 271-284
high
USB hubFor camera organization; robots connect directly
2USB hub, max two cameras per hub per tutorial
Amazon link from the project's BOMUSD 19.99 eachHardware tutorial BOM lines 126-129 and lines 230-232; README.md lines 18-20
high
Gravity compensation and frame-rigidity hardwareCarbon tube, rubber bands, cable ties, rope crimping tool, wire tensioner kit
110x12x500 mm carbon fiber tube, rubber band, cable tie, 15 in crimping tool, 60 m cable plus M5 turnbuckle kit
Amazon links from the project's BOMpriced per lineHardware tutorial BOM lines 99-111 and 130-149
high
Assembly tools and consumablesElectronics screwdriver, adhesive foam, grip tape, zip ties, hot glue, printer filament, file set, WD-40, wood screws
1Common equipment/tooling bundle from tutorial BOM
mixed: some from the project's BOM, some common equipmentpriced per line; some common items not pricedHardware tutorial BOM lines 150-214
med
Additional required power and cablingReplacement power supply, 4 adapter cables, longer Micro-B to USB-A cable; listed after BOM total
11x power supply for all 4 robots, 4x robot power cables, 10 ft Micro-B to USB-A cable
Amazon links from the project's BOMprice not listed in exported tutorialHardware tutorial lines 226-232
high
3D-printed ALOHA custom parts setHandles, levers, sliders, rotors, fingers, camera mounts
25Handle_lower x2, Handle_upper x2, Lever1 x2, Lever2 x2, Slider x4, Rotor x2, Rotor_arm x4, Finger1 x2, Finger2 x2, Cam_mount x2, Cam_mount_2 x1
make yourself from the project's CAD/STLprice not listed; PLA/FDM printer notedHardware tutorial CAD parts lines 237-307; ALOHA repo aloha2 STL/PDF assets at commit 06369f0
high

Rows from the source's own parts list 8

README.md@06369f0markdown

Source rowQtyPrice and vendorLine
hardware tutorial / ACT dependency
docs.google.comgithub.comno price listed
L6
ALOHA hardware tutorial and ACT dependency
vendor not listedno price listed
L6
ALOHA host computer USB requirement
host computer x1
vendor not listedno price listed
L18
ALOHA robot USB setup
four robot connections
vendor not listedno price listed
L43
ALOHA camera setup
4 cameras
vendor not listedno price listed
L88

launch/4arms_teleop.launch@06369f0xml

Source rowQtyPrice and vendorLine
ALOHA wx250s master arms
wx250s x2
vendor not listedno price listed
L3
ALOHA vx300s puppet arms
vx300s x2
vendor not listedno price listed
L4
ALOHA usb camera launch nodes
4 camera nodes
vendor not listedno price listed
L90

ALOHA source files

9 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

ALOHA in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from launch/4arms_teleop.launch at 06369f0.

Builds of ALOHA

0 reviewed

No reviewed builds of ALOHA yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by the maintainer before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to tonyzhaozh/aloha: 2024-04-19 (checked 2026-10-01)

Related links

How this page was made

First assembled from public sources on 2026-05-09 and now claimed by a GitHub contributor of the project. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: 2026-06-07 ALOHA hardware tutorial BOM.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain ALOHA? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 63/100

Markdown
[![Motari reproducibility score for ALOHA](https://motari.io/api/v1/badge/aloha)](https://motari.io/r/aloha)
HTML
<a href="https://motari.io/r/aloha"><img src="https://motari.io/api/v1/badge/aloha" alt="Motari reproducibility score for ALOHA" height="20"></a>

Not fully met yet: cad / mesh present (partial), bom evidence (partial), wiring diagram (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed