AlohaScorpion

AlohaScorpion is a 7 dof + gripper, dual-arm mobile manipulator with lift. It is designed for research and development in robotics, particularly in manipulation and mobile robotics. This project is heavily inspired by the

• Lerobot(https://github.com/k1000dai/lerobot)
• Alohamini(https://github.com/liyiteng/AlohaMini)
• Xlerobot(https://github.com/Vector-Wangel/XLeRobot)
• DualScorpion(https://github.com/momoiorg-repository/dual_scorpion)
• PincOpen(https://github.com/pollen-robotics/PincOpen)

Update Log

2/14 : Updated to the version 2.0. Better BOM, better chassis design, better arm position, pincopen gripper.

To Do

• Add more details to the assembly instructions.
• Support VLA training.
• Support URDF and simulators.

Images

Features

• 7 degrees of freedom per arm for enhanced manipulation capabilities. inspired by dual_scorpion

• Large battery capacity for extended operation time. based on the Xlerobot. Use Anker Solix C300 Portable Power Station 288Wh.

• Mobile base for navigation and mobility. based on alohamini. Using the Xlerobot chassis design, stronger and more stable than alohamini's chassis.

• Gripper for object handling. We use the PincOpen gripper, which is open-source parallel-finger gripper, derived from Pollen Robotics Reachy 2's gripper. It is compatible with the arms of AlohaScorpion.

• Lift mechanism for vertical movement. based on Alohamini.

• Data collection and logging capabilities for research purposes. based on the lerobot framework. compatible with lerobot v0.4.3.

Bill of Materials (BOM)

The complete Bill of Materials (BOM) can be found in the this Google Sheet : https://docs.google.com/spreadsheets/d/1W7IXB0Fid7SDyZUYEEcC63fRW-HXA5QO-rrAWQz4-Ek/edit?usp=sharing.

If you want to use parallel-finger gripper, you can refer PincOpen github repository[https://github.com/pollen-robotics/PincOpen] for the BOM and assembly instructions. The gripper is compatible with the arms of AlohaScorpion. You need to use the updated mount plate in hardware/misc/stl/sointerface.stl.

Assembly Instructions

Please see AlohaMini's assembly instructions as the mobile base and lift mechanism are almost the same.

Also, for the arms, please follow the dual_scorpion's assembly instructions. In order to keep the motor id, we use the 0 ~ 7 motor for the arms. 8,9,10,11 motors are used for the mobile base and lift mechanism.

Software

Environment Setup

We setup the host with raspberry pi 5. You can also use any PC or raspberry pi 5 as the host.

install uv

curl -LsSf https://astral.sh/uv/install.sh | sh

git clone https://github.com/k1000dai/AlohaScorpion.git
cd AlohaScorpion
uv sync  --extra feetech
uv pip install zmq

Running the Software

teleoperation

host side

python -m lerobot.robots.alohamini_scorpion.lekiwi_host

client side

python examples/alohamini_scorpion/teleoperate_bi.py \
--remote_ip ip_address_of_host \

data collection

• sample dataset : https://huggingface.co/datasets/k1000dai/alohascorpion_pick_plate_put_box host side

python -m lerobot.robots.alohamini_scorpion.lekiwi_host

client side

python examples/alohamini_scorpion/record_bi.py \
--remote_ip ip_address_of_host \
--dataset user/my_dataset_name 

Replay

host side

python -m lerobot.robots.alohamini_scorpion.lekiwi_host

client side

python examples/alohamini_scorpion/replay_bi.py \
--remote_ip ip_address_of_host \
--dataset user/my_dataset_name

VLA training

ACT

lerobot-train \
  --dataset.repo_id=k1000dai/alohascorpion_pick_plate_put_box \
  --policy.type=act \
  --output_dir=outputs/train/alohascorpion_pick_plate_put_box\
  --job_name=alohascorpion_act \
  --policy.device=cuda \
  --wandb.enable=true \
  --policy.repo_id=k1000dai/alohascorpion_act

PI05

lerobot-train \↲
    --dataset.repo_id=k1000dai/alohascorpion_pick_plate_put_box \
    --policy.type=pi05 \
    --policy.pretrained_path=lerobot/pi05_base \
    --policy.compile_model=true \
    --policy.gradient_checkpointing=true \
    --output_dir=outputs/train/alohascorpion_pick_plate_put_box\
    --job_name=alohascorpion_pi05 \
    --policy.device=cuda \
    --policy.dtype=bfloat16 \
    --policy.freeze_vision_encoder=false \
    --policy.train_expert_only=false \
    --wandb.enable=true \
    --policy.repo_id=k1000dai/alohascorpion_pi05 \
    --batch_size=32

Evaluation model

python examples/alohamini_scorpion/evaluate_bi.py \
  --num_episodes 1 \
  --fps 10 \
  --episode_time 180  \
  --task_description "task_description"  \
  --hf_model_id k1000dai/act_alohascorpion  \
  --hf_dataset_id k1000dai/evaldataset   \
  --remote_ip ip_address_of_host

License

This project is licensed under the Apache 2.0 License - see the LICENSE file for details.