Aloha Mini robot configuration

Aloha Mini robot configuration#

The preset configures the complete Aloha Mini 2 Pro asset, its five control parts, arm and torso solvers, and local serial chains for all five parts.

Public import#

AlohaMiniCfg

Configure Aloha Mini 2 Pro from its complete, source-named URDF.
class embodichain.lab.sim.robots.AlohaMiniCfg[source]#

Configure Aloha Mini 2 Pro from its complete, source-named URDF.

The arms have six joints each, the hands one gripper joint each, and the torso one vertical prismatic joint. Arm solvers target the URDF TCP links; the torso solver constrains position only. Hands use joint-space control.

The source’s planar base joints and wheels remain outside these five control parts and have position drives to hold their initial positions.

Example

>>> cfg = AlohaMiniCfg.from_dict({"uid": "aloha_mini"})
>>> robot = sim.add_robot(cfg=cfg)

Methods:

__init__([uid, init_pos, init_rot, ...])

__new__(**kwargs)

build_pk_serial_chain([device])

Build one local serial chain for each of the five control parts.

from_dict(init_dict)

Build the robot defaults and apply configuration overrides.
__init__(uid=<factory>, init_pos=<factory>, init_rot=<factory>, init_local_pose=<factory>, fpath=<factory>, body_scale=<factory>, compute_uv=<factory>, asset_physics_mode=<factory>, attrs=<factory>, link_attrs=<factory>, root_props=<factory>, joint_drive_props=<factory>, init_qpos=<factory>, qpos_limits=<factory>, build_pk_chain=<factory>, control_parts=<factory>, urdf_cfg=<factory>, solver_cfg=<factory>, workspace_cfg=<factory>)#
__new__(**kwargs)#
build_pk_serial_chain(device=device(type='cpu'), **kwargs)[source]#

Build one local serial chain for each of the five control parts.

Arm chains end at the fixed TCP links, hand chains at the moving jaws, and the torso chain at the vertical link. The arm chains exclude torso and base motion; their poses are relative to the corresponding Base.

Parameters:

  • device (device) – Device for the kinematics tensors. Defaults to CPU.

  • **kwargs (Any) – Reserved for compatibility with RobotCfg.

Return type:

dict[str, SerialChain]

Returns:

Serial chains keyed by control-part name, in control-joint order.

classmethod from_dict(init_dict)[source]#

Build the robot defaults and apply configuration overrides.

Parameters:

init_dict (dict[str, Any]) – Robot configuration fields to override.

Return type:

AlohaMiniCfg

Returns:

The configured Aloha Mini robot preset.

Implementation module#

AlohaMiniCfg

Configure Aloha Mini 2 Pro from its complete, source-named URDF.
class embodichain.lab.sim.robots.aloha_mini.AlohaMiniCfg[source]

Configure Aloha Mini 2 Pro from its complete, source-named URDF.

The arms have six joints each, the hands one gripper joint each, and the torso one vertical prismatic joint. Arm solvers target the URDF TCP links; the torso solver constrains position only. Hands use joint-space control.

The source’s planar base joints and wheels remain outside these five control parts and have position drives to hold their initial positions.

Example

>>> cfg = AlohaMiniCfg.from_dict({"uid": "aloha_mini"})
>>> robot = sim.add_robot(cfg=cfg)

Methods:

__init__([uid, init_pos, init_rot, ...])

__new__(**kwargs)

__init__(uid=<factory>, init_pos=<factory>, init_rot=<factory>, init_local_pose=<factory>, fpath=<factory>, body_scale=<factory>, compute_uv=<factory>, asset_physics_mode=<factory>, attrs=<factory>, link_attrs=<factory>, root_props=<factory>, joint_drive_props=<factory>, init_qpos=<factory>, qpos_limits=<factory>, build_pk_chain=<factory>, control_parts=<factory>, urdf_cfg=<factory>, solver_cfg=<factory>, workspace_cfg=<factory>)
__new__(**kwargs)
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