Open Source RoboticsRobots, software & learning

ALOHA 2

Robot / hardware build

A bimanual teleoperation workcell with revised rail grippers, passive leader-arm gravity compensation and published parts for adapting four purchased robot arms. [3] [4] [5]

Build & first use →Official websiteSource codeUpstream build guideBill of materials

For
Robot-learning labs able to assemble and maintain a four-arm workcell [3]
Cost
No current cost yet. Upstream bill of materials [3]
Source rights
Some licenses are unresolved. Review licenses

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
MIT · license not fully assessed for mechanical design, documentation · Details by part

Requirements · Research details and dates

On this page

Overview

ALOHA 2 is useful when a lab wants the revised bimanual teleoperation workcell rather than the original ALOHA build. It retains the four-arm leader–follower arrangement, while publishing new gripper parts, gravity-compensation clips, camera mounts and a workcell model. The commercially supplied arms remain separate from these fabrication files. [1] [3] [4]

Is this for you?

Use cases
  • Bimanual teleoperation
  • Manipulation demonstration collection

[1] [3]

Known limitations
  • Purchased arms and controllers are separate from the published workcell modifications.
  • Linked BOM could not be retrieved during this review.
  • The frame guide contains an unresolved 250 cm versus 250 mm inconsistency.

Editorial assessment from the cited sources.

[3] [6] · Editorial assessment

What you need

Operating system
  • Ubuntu 20.04 with ROS 1 Noetic, as listed in the shared upstream README; not installed or tested here

[1]

Host computer

Host PC with USB expansion; tutorial distinguishes camera connections from robot USB connections.

[3]

Dependencies
  • Four purchased leader/follower robot arms
  • Printed mounts and gripper parts
  • Aluminum-extrusion workcell
  • Host PC and USB expansion board

[3] [5]

Tools
  • PA6-capable 3D printer
  • Mechanical assembly tools
  • Power-cable soldering equipment for the documented wiring option

Editorial assessment from the cited sources.

[3] · Editorial assessment

Skills
  • Mechanical assembly
  • 3D printing
  • Power wiring and USB diagnosis
  • Robot teleoperation setup

Editorial assessment from the cited sources.

[3] · Editorial assessment

Hardware & parts

Upstream bill of materials [3]

Hardware configuration

Stationary two-leader, two-follower manipulation workcell.

[1] [3]

Actuators
  • Purchased WidowX/ViperX arms and grippers

[1] [5]

Sensors
  • Overhead, lower and follower-wrist cameras

[3]

Assembly & first use

Open the upstream getting-started guide [3]

  • Read the ALOHA 2 changes alongside the original ALOHA setup.
  • Resolve the BOM and frame dimension inconsistency before ordering or cutting.
  • Print the mounts and clips, assemble the frame and gravity compensation, then install the four arms.
  • Fit the correct leader/follower grippers and cameras; follow upstream software and teleoperation checks.

Editorial assessment from the cited sources.

[3] [5] · Editorial assessment

Assembly

Frame, gravity compensation, robot mounting, grippers, cameras and cable routing are documented separately.

[3]

Calibration

Adjust spring tension for supported leader arms and follow original ALOHA teleoperation setup.

[3]

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. Design files are available. File-level reuse and a configuration-matched assembly preview remain under review.

Model sources

Design files are available. File-level reuse and a configuration-matched assembly preview remain under review.

Project notes

What is available to fabricate

This review pins the shared ALOHA repository at 06369f03cd8e0a47e16d3a90167853fd33af7557 and inspects its aloha2 directory, rather than treating the original ALOHA page as the same configuration. The archive contains a workcell STL, printable camera mounts and clips, gripper archives, joint-adapter STEP files and a gripper assembly PDF. The nested archives contain real STL and STEP payloads, not just download links. [4]

Use the January 2024 ALOHA 2 guide alongside the original software instructions. Its mechanical work includes a revised extrusion frame, passive spring support for the leader arms, separate leader and follower grippers, and camera placement and cable routing. The guide specifies PA6 printing with a 0.2 mm layer height and approximately 35% triangular infill; these are upstream settings, not settings we have validated on printed parts. [3] [5]

Resolve two ordering details first

The guide's linked bill of materials returned an access error during this review. We therefore have no verified current parts subtotal or complete-system quote. A realistic configuration must account for all four arms, grippers, frame, cameras, printed or machined parts, power, host computer, USB expansion, tools and delivery costs. Treat an arm price or an original ALOHA estimate as insufficient for budgeting this workcell. [3] [6]

The frame instructions also say “250cm” in one extrusion line and “250 mm” in the following reference. Confirm that dimension against the workcell design and upstream clarification before cutting material. In the gripper PDF's WidowX parts table, the rail description and part-number column differ between 6725K27 and 6725K23; check the intended rail against the assembly before ordering. These inconsistencies are preserved as unresolved, rather than silently corrected. [3] [5]

Power and USB need configuration-specific checks

The authors describe a replacement supply for all four robots after encountering stability problems, while noting that newer vendor supplies had not been tested in that guide. Camera cable quality and USB placement also matter: the instructions put cameras on the expansion board and robots on motherboard ports. Follow the actual chosen hardware configuration instead of assuming any current kit reproduces the documented wiring. [3]

After assembly, adjust leader-arm spring support and use the original repository's software and teleoperation checks linked from the guide. No assembly, electrical validation, calibration or physical teleoperation was performed for this profile. [1] [3]

Reuse scope

The shared repository carries an MIT license. Its software license is recorded, but the separate scope of all hardware drawings, purchased arms, electronics and guide media has not been established here. The available CAD makes this a useful partial-source hardware profile; it does not establish an entirely open four-arm robot or unrestricted reuse of every asset. [2] [4]

What we checked

Source research only; no fabrication, hardware operation, runtime or performance testing. No affiliate links.

Updates

Upstream last updated
Not established
Latest release
Not established
Profile updated
Oct 17, 2026
Sources last checked
Oct 17, 2026
Next review
Nov 17, 2026
Reviewed revision
ALOHA repository 06369f03cd8e0a47e16d3a90167853fd33af7557; January 2024 ALOHA 2 guide retrieved 2026-10-17

Source files and licenses

Distinct hardware design with accessible design artifacts; purchased components, missing artifacts and rights are qualified independently.

LayerAvailability / license
mechanical designavailable · License not fully assessed
Actual STL/STEP parts and assembly PDF; asset-specific license scope not established separately from root software license. [4]
electronicsnot found · License not fully assessed
Purchased arms and power components; complete electronics manufacturing sources not established in reviewed files. [3]
firmwarenot found · License not fully assessed
Purchased controller firmware is not established by the workcell modification files. [1] [3]
softwareavailable · MIT
[2]
documentationavailable · License not fully assessed
Public guide; reuse license not established. [3]

Not required to reproduce the hardware design; optional robot-learning assets are outside this hardware review.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history