Open-source ALOHA 2.

Co-authored-by: Baruch Tabanpour <[email protected]> Co-authored-by: Ayzaan Wahid <[email protected]> Co-authored-by: Yuval Tassa <[email protected]> PiperOrigin-RevId: 604462695 Change-Id: I118402267efec26697f68faf14dc5e3996fbf403
google-deepmind · Feb 6, 2024 · 94ea114 · 94ea114
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diff --git a/LICENSE b/LICENSE
@@ -23,6 +23,39 @@ FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
 IN THE SOFTWARE.
 
 
+================================================================================
+License for contents in the directory 'aloha/'
+================================================================================
+
+Copyright (c) 2023, Trossen Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
 ================================================================================
 License for contents in the directory 'anybotics_anymal_b/'
 ================================================================================

diff --git a/README.md b/README.md
@@ -167,6 +167,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | [xArm7](ufactory_xarm7/README.md)|[<img src="ufactory_xarm7/xarm7.png" width="400">](ufactory_xarm7/README.md)|C|
 | [Lite 6](ufactory_lite6/README.md)|[<img src="ufactory_lite6/lite6.png" width="400">](ufactory_lite6/README.md)|C|
 | [ViperX 300 6DOF](trossen_vx300s/README.md)|[<img src="trossen_vx300s/vx300s.png" width="400">](trossen_vx300s/README.md)|A|
+| [ALOHA 2](aloha/README.md)|[<img src="aloha/aloha.png" width="400">](aloha/README.md)|A|
 | [Unitree Z1](unitree_z1/README.md)|[<img src="unitree_z1/z1.png" width="400">](unitree_z1/README.md)|B|
 | Mobile Manipulators|              |         |
 | [Google Robot](google_robot/README.md)|[<img src="google_robot/robot.png" width="400">](google_robot/README.md)|B|

diff --git a/aloha/LICENSE b/aloha/LICENSE
@@ -0,0 +1,27 @@
+Copyright (c) 2023, Trossen Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/aloha/README.md b/aloha/README.md
@@ -0,0 +1,41 @@
+# ALOHA Description (MJCF)
+
+Requires MuJoCo 2.2.2 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the bimanual [ALOHA 2](https://aloha-2.github.io/) robot. It is derived from the publicly available [ViperX 300 6DOF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/trossen_vx300s) MJCF model.
+
+<p float="left">
+  <img src="aloha.png" width="400">
+  <img src="aloha_wrist.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Branched XML from [ViperX 300](../trossen_vx300s/), duplicating robot kinematic tree twice, one for the left arm and one for the right arm.
+2. Replaced default ViperX gripper model with the updated ALOHA 2 design and modeled the actuation using a position controlled linear actuator with an equality constraint between the left and right gripper fingers.
+3. Performed system identification of actuator gain and torque limits and joint damping, armature and friction parameters as follows:
+    1. Collected 11 trajectories in real using the leader arms consisting of sinusoidal motions targeting the control limits of the motors in the follower arms.
+    2. Recorded joint positions and velocities on the follower arms.
+    3. Solved a box-constrained nonlinear least squares problem that minimizes the residual between real and simulated data.
+    4. Updated aforementioned parameters in the MJCF model.
+4. Added `scene.xml` which includes the robots mounted on an aluminum extrusion frame bolted to a wooden table.
+5. Added 4 cameras: overhead camera, worms-eye camera and left and right wrist cameras. The intrinsic parameters of the simulated cameras are matched with an [Intel RealSense D405](https://www.intelrealsense.com/depth-camera-d405/).
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Publications
+
+If you use this model in your work, please use the following citation:
+
+```bibtex
+@misc{aloha2_2024,
+    title = {ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation},
+    url = {https://aloha-2.github.io/},
+    author = {ALOHA 2 Team},
+    year = {2024},
+}
+```
diff --git a/aloha/aloha.png b/aloha/aloha.png