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act-aloha-insertion

Automate bimanual peg-insertion tasks in OpenRAL MuJoCo simulations.

Updated Jul 5, 2026
Search Tags:#simulation#robotics#openral#rskill#peg-insertion
One-click install
npx skills add https://github.com/bensonlee5/openral --skill act-aloha-insertion
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: act-aloha-insertion
Source: https://github.com/bensonlee5/openral/tree/main/rskills/act-aloha-insertion
Command: npx skills add https://github.com/bensonlee5/openral --skill act-aloha-insertion

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill includes scripts (resource) and references (resource) components.

What problem does it solve?

The act-aloha-insertion Skill addresses the challenge of accurately and efficiently performing bimanual peg-insertion tasks in OpenRAL simulation environments, automating complex robotic manipulations.

Core Features & Use Cases

  • Bimanual Peg-Insertion Automation: Execute peg-insertion tasks with precision in simulation environments.
  • OpenRAL Integration: Seamlessly integrate with OpenRAL’s runtime and ecosystem.
  • Use Case: Automate the insertion of a peg into a socket using a 14-DoF arm in a MuJoCo-based simulation, ideal for testing robotic capabilities and algorithms.

Quick Start

Run the following command to simulate bimanual peg-insertion with OpenRAL: just sim-custom

Frequently Asked Questions about act-aloha-insertion

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I automate bimanual peg-insertion in OpenRAL simulations?▼

Bimanual peg-insertion in OpenRAL simulations is automated by integrating with OpenRAL's runtime to execute 14-DoF arm manipulation tasks in a MuJoCo environment. Running the `just sim-custom` command initiates the automated process.

What is bimanual peg-insertion in robotic simulations?▼

Bimanual peg-insertion is a robotic manipulation task where a dual-arm system precisely inserts a peg into a socket. This Skill automates the process within a MuJoCo physics simulation to test robotic capabilities using a 14-DoF arm.

Do I need specific model weights for OpenRAL peg-insertion tasks?▼

Yes, executing peg-insertion tasks requires compatible model weights and specified robot embodiment tags. You must also have the OpenRAL runtime and appropriate MuJoCo environment settings configured for the 14-DoF arm manipulation.

How many degrees of freedom does the robotic arm need for OpenRAL bimanual tasks?▼

The OpenRAL bimanual tasks require a 14-DoF arm for manipulation. This dual-arm configuration is supported within the MuJoCo simulation environment to execute the automated peg-insertion process.

Can I use MuJoCo environments with OpenRAL for robotic arm automation?▼

Yes, OpenRAL integrates with MuJoCo environments to automate robotic arm tasks. This Skill specifically leverages MuJoCo to run 14-DoF bimanual peg-insertion simulations via the OpenRAL runtime.

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