diff --git a/lerobot/configs/robot/aloha.yaml b/lerobot/configs/robot/aloha.yaml
new file mode 100644
index 00000000..6d1c0a2a
--- /dev/null
+++ b/lerobot/configs/robot/aloha.yaml
@@ -0,0 +1,92 @@
+_target_: lerobot.common.robot_devices.robots.koch.KochRobot
+calibration_path: .cache/calibration/aloha.pkl
+leader_arms:
+  left:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    #port: /dev/ttyDXL_master_left
+    port: /dev/tty.usbserial-FT89FM77
+    motors:  # window_x
+      # name: (index, model)
+      waist_a: [1, xm430-w350]
+      waist_b: [2, xm430-w350]
+      shoulder_a: [3, xm430-w350]
+      shoulder_b: [4, xm430-w350]
+      elbow: [5, xm430-w350]
+      forearm_roll: [6, xm430-w350]
+      wrist_angle: [7, xm430-w350]
+      wrist_rotate: [8, xl430-w250]
+      # gripper: [9, xl430-w250]
+      gripper: [9, xc430-w150]
+  right:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    #port: /dev/ttyDXL_master_right
+    port: /dev/tty.usbserial-FT891KPN
+    motors:  # window_x
+      # name: (index, model)
+      waist_a: [1, xm430-w350]
+      waist_b: [2, xm430-w350]
+      shoulder_a: [3, xm430-w350]
+      shoulder_b: [4, xm430-w350]
+      elbow: [5, xm430-w350]
+      forearm_roll: [6, xm430-w350]
+      wrist_angle: [7, xm430-w350]
+      wrist_rotate: [8, xl430-w250]
+      # gripper: [9, xl430-w250]
+      gripper: [9, xc430-w150]
+
+follower_arms:
+  left:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    #port: /dev/ttyDXL_puppet_left
+    port: /dev/tty.usbserial-FT891KBG
+    motors:
+      # name: [index, model]
+      waist_a: [1, xm540-w270]
+      waist_b: [2, xm540-w270]
+      shoulder_a: [3, xm540-w270]
+      shoulder_b: [4, xm540-w270]
+      elbow: [5, xm540-w270]
+      forearm_roll: [6, xm540-w270]
+      wrist_angle: [7, xm540-w270]
+      wrist_rotate: [8, xm430-w350]
+      gripper: [9, xm430-w350]
+  right:
+    _target_: lerobot.common.robot_devices.motors.dynamixel.DynamixelMotorsBus
+    #port: /dev/ttyDXL_puppet_right
+    port: /dev/tty.usbserial-FT89FM09
+    motors:
+      # name: [index, model]
+      waist_a: [1, xm540-w270]
+      waist_b: [2, xm540-w270]
+      shoulder_a: [3, xm540-w270]
+      shoulder_b: [4, xm540-w270]
+      elbow: [5, xm540-w270]
+      forearm_roll: [6, xm540-w270]
+      wrist_angle: [7, xm540-w270]
+      wrist_rotate: [8, xm430-w350]
+      gripper: [9, xm430-w350]
+cameras:
+  cam_high:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 0
+    fps: 30
+    width: 640
+    height: 480
+  cam_low:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 1
+    fps: 30
+    width: 640
+    height: 480
+  cam_left_wrist:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 2
+    fps: 30
+    width: 640
+    height: 480
+  cam_right_wrist:
+    _target_: lerobot.common.robot_devices.cameras.opencv.OpenCVCamera
+    camera_index: 3
+    fps: 30
+    width: 640
+    height: 480