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)

Features

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

• Gripper for object handling. use xlerobot tpu gripper. Also, some base parts are compatible with xlerobot.

• Mobile base for navigation and mobility. based on alohamini.

• Lift mechanism for vertical movement. based on Alohamini.

• Data collection and logging capabilities for research purposes. based on the lerobot framework.

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

Bill of Materials (BOM)

The complete Bill of Materials (BOM) can be found in the BOM.md file.

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 jetson nano. You can also use any PC or raspberry pi 5 as the host.

if you use raspberry pi 5 or PC, please follow the instructions below to setup conda environment.

mkdir -p ~/miniconda3
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh -O ~/miniconda3/miniconda.sh
bash ~/miniconda3/miniconda.sh -b -u -p ~/miniconda3
rm ~/miniconda3/miniconda.sh
~/miniconda3/bin/conda init bash
source ~/.bashrc
conda create -y -n lerobot_alohamini python=3.10
conda activate lerobot_alohamini
cd ~/lerobot_alohamini
pip install -e .[all]
conda install ffmpeg=7.1.1 -c conda-forge

if you stack with jetson nano, please follow the instructions below to setup conda environment.

conda create -y -n lerobot_alohamini python=3.10
conda activate lerobot_alohamini
conda install -c conda-forge pyarrow
# remove torchvision and rerun-sdk, datasets
pip install -e .[feetech]
conda install -c huggingface -c conda-forge datasets
conda install ffmpeg=7.1.1 -c conda-forge
pip install torchvision==0.20.1
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

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