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Official Aloha Kit

Trossen Robotics Makes THE Official Aloha Kits

Widow Aloha Set

WidowX Aloha Set

Two WidowX Leader Arms for Aloha Robotic Machine Learning Research


+ Shipping and any applicable taxes and tarrifs

WidowX Aloha Set Features






Degrees of Freedom



Upgraded Grippers, Haptics, and Joints

  • New all-metal gripper linkages for long-term reliability

  • Compression-proof bearings with no risk of overtightening or wearing out over thousands of hours of use

  • Dual industrial-grade rails and carriages

  • ViperX follower-arms have new, easily swappable 3D-printed fingers for future design iterations.

  • WidowX leader-arms have new, easily swappable 3D-printed ergonomic handles and finger paddles with universal mounting brackets for support of custom handles and finger paddles.

  • New all-metal bracket joints

Aloha Gripper

Easily Repairable

The X-Series arms are made for the lab, our arms are intended to be worked on and we've made it as easy as possible to keep your manipulator up and running. Quickly and easily swap out motors that need to be replaced, lengthen or shorten the arm to your needs. Everything you need to repair your platform is kept in stock, making it easy to keep your equipment up and running with minimal downtime.

ROS 2 Support

Packages for ROS and ROS 2 make it easy to get started with the arm. These packages include full meshes and URDFs (including accurate inertial models for the links), a driver node to control the physical robot arm and publish joint states, as well as simulation (Gazebo) and motion planning (MoveIt) support. Several example packages are also included to demonstrate the potential uses of the core packages.

ROS Logo

MoveIt Support

MoveIt is the most widely used software for manipulation and has been used on over 150 robots. It is released under the terms of the BSD license, and thus free for industrial, commercial, and research use. By incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation, MoveIt is state of the art software for mobile manipulation.

Moveit logo

Gazebo Support

Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.

Gazebo Logo

WidowX Aloha Set Specifications

WidowX Aloha Set Technical Drawing

Aloha Research Kits


Aloha Mobile

Go Anywhere


Aloha Stationary

Table-Top Use

Viper Aloha Set.jpg

ViperX - Aloha

Set of Two Follower Arms

Widow Aloha Set.jpg

WidowX - Aloha

Set of Two Leader Arms

If you need product support, please visit the product support page.

Frequently Asked Questions (FAQs)

Q: What are the Aloha Kits designed to do?

A: Aloha Kits are designed to gather the data necessary to develop machine learning models by researchers and engineers at your organization. The Aloha Kits can perform mimicry as a playback of your tasks and come with ACT/ACT++, machine learning policy architectures designed by researchers at Stanford, as well as a simple pre-trained “Hello ALOHA” task policy. This serves as a demonstration of the Kit’s capabilities, and as a baseline for further policy and architecture development.

Q: What data do Aloha Kits gather?

A: An Aloha Kit can record many sources of data. Both Stationary and Mobile kits come with 2 Leader Arms and 2 Follower arms and 3-4 Intel RealSense stereo depth cameras. You can derive joint positions and speed from each servo and image data from each camera. For the Mobile, you can also derive linear and angular speeds from the base motor encoders.

Q: What is the data used for?

A: The data gathered using the Aloha Kit hardware is used for feeding into machine learning models, neural networks or language models. These models can then be used for custom robotic automation applications you develop.

Q: Are the Aloha Kits rated for a commercial or production environment?

A: While we design our hardware for long-term repeated use, it is not designed nor intended for production or commercial environments.

WidowX Aloha Change Log

  • 4/1/2024 - Version 2.0

    • Upgraded gripper and forearm servos​

    • All-metal gripper with dual mounting rails

    • Enhanced gripper ergonomics for better comfort

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