AlohaScorpion
A 7-DOF dual-arm mobile manipulator with lift, designed for research in manipulation and mobile robotics.
- Home
- Open source
- Works with AI
- LeRobot
- 3D printable
Suggested by Robotheca, created by @k1000dai (opens in a new tab), from github.com/k1000dai/AlohaScorpion (opens in a new tab). Pinned to commit cea96ee (opens in a new tab).
- Hardware license
- Apache-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
3D preview converted from github.com/k1000dai/AlohaScorpion at cea96ee, under Apache-2.0. View the original files from GitHub (71.3 MB) (opens in a new tab)
- Degrees of freedom
- 7
- Power
- 288 Wh
What it can do
Written by Robotheca from the project's documents.
- Dual-arm mobile manipulator with a lift mechanism, built for robotics research in manipulation and mobile robotics.
- Each arm has 7 degrees of freedom plus a gripper.
- Mobile base with a large battery (Anker Solix C300 288Wh) for extended operation.
- Teleoperation: a host robot runs a server and a client machine controls it remotely.
- Supports training ACT and PI05 policies on recorded datasets.
Works with AI
Found by Robotheca in the project's files at commit cea96ee, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Runs LeRobot
Stated in robot.yamlHas LeRobot code
In the project files: src/lerobotUses a language model: Qwen
In the project files: src/lerobot/policies/wall_x/qwen_modelUses a vision-language-action model
In the project files: examples/tutorial/smolvlaUses a vision-language-action model: GR00T
In the project files: examples/unitree_g1/gr00t_locomotion.py“On the host, start python -m lerobot.robots.alohamini_scorpion.lekiwi_host.”
Robotheca's notes: How to run it“For training, run lerobot-train with the ACT or PI05 policy type on the dataset.”
Robotheca's notes: How to run it
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The creator's steps, each with its instructions.
- 1Assemble the mobile base and lift mechanism following AlohaMini's instructions
- 2Assemble the arms following dual_scorpion's instructions
- 3Install the PincOpen parallel-finger gripper and updated mount plate (optional)
- 4Set up the host environment with uv on a Raspberry Pi 5 or PC
- 5Run the host and client software for teleoperation, data collection, replay and
The guide appears here as you scroll.
Guide by @k1000dai (README.md), under Apache-2.0.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Raspberry Pi 5 used as the host computer (any PC or Raspberry Pi 5 may be used).
- Feetech motors (installed via the feetech extra).
- PincOpen parallel-finger gripper on each arm.
- Anker Solix C300 Portable Power Station 288Wh as battery.
Connections
- The gripper requires the updated mount plate hardware/misc/stl/sointerface.stl to mount on the arms.