Joint limit warnings when using stationary ALOHA checkpoint (pi0_aloha_towel)

[BongBolle]

Environment Hardware: Mobile ALOHA (4x vx300s arms, 3x RealSense D405 cameras) Checkpoint: pi0_aloha_towel (trained on stationary ALOHA) Setup: Docker deployment using compose.yml Issue When running the pi0_aloha_towel checkpoint on mobile ALOHA hardware, the system generates continuous joint limit warnings for the waist joint (joint 1): The policy attempts to command waist positions between approximately -2.0 and -1.85 radians, which exceeds the standard vx300s URDF joint limits.

Root Cause The pi0_aloha_towel checkpoint was trained on stationary ALOHA where the arms are mounted further apart on a table. Mobile ALOHA has arms mounted closer together on a mobile base, requiring different waist joint angles to reach similar workspace positions. The policy commands are valid for stationary ALOHA but fall outside mobile ALOHA's configured joint limits.

Current Behavior

• ROS safety system clamps commanded positions to stay within limits
• Robot operates but with constrained motion on waist joints
• Continuous warning messages flood the console

Expected Behavior

• Provide a mobile ALOHA-specific checkpoint (e.g., pi0_mobile_aloha_towel)
• Provide documentation on adapting stationary checkpoints for mobile ALOHA
• Include coordinate transformation utilities to map stationary→mobile workspace

Attempted Solutions

• Changed URDF from vx300s to aloha_vx300s (wider limits: -π to +π)
• File doesn't exist in Interbotix installation inside Docker container
• Modified motor configuration files (profile_type, operating_mode)
• Successfully applied but doesn't address geometric mismatch

Questions

1. Are there plans to release mobile ALOHA checkpoints?
2. Should mobile ALOHA users modify URDF joint limits to accommodate stationary checkpoints?
3. Is there a recommended coordinate transformation approach for using stationary checkpoints on mobile hardware?