This codebase is forked from the ALOHA repo, and contains implementation for teleoperation and data collection with the Mobile ALOHA hardware. To build ALOHA, follow the Hardware Assembly Tutorial and the quick start guide below. To train imitation learning algorithms, you would also need to install ACT for Mobile ALOHA which is forked from ACT.

• config: a config for each robot, designating the port they should bind to, more details in quick start guide.
• launch: a ROS launch file for all 4 cameras and all 4 robots.
• aloha_scripts: python code for teleop and data collection