AlohaMini2
Based on published sources · Not tested by us ·
License: Apache-2.0 · Details by part
Overview
Printable three-wheel mobile base with a motorized lift and two AM-ARM200 arms, run as a Raspberry Pi 5 host with a PC client through the lerobot_alohamini fork. [S001] [S004] [S011]
AlohaMini2 is a three-wheel mobile base with a vertical lift and two AM-ARM200 follower arms, teleoperated from two AM-ARM200 leader arms. Li Yiteng and Wu Zhiyong publish it as the June 2026 successor to AlohaMini1, which used SO-ARM100/101 arms. The README claims a 70 kg base load, 30 kg lift capacity, 1 kg arm payload, 52 cm reach and five cameras. These are upstream figures; nothing was printed, assembled or driven for this entry. [S001]
Specifications
| Detail | Description |
|---|---|
| Type | Three-wheel omni base with a motorized vertical lift carrying two 6+1 DoF arms; separate leader arms. Reported by source [S001] [S004] · Checked 2026-10-05 |
| Intended users | Researchers and makers with a Bambu P2S-class printer who can assemble servo-driven arms and run a Pi host / PC client LeRobot workflow Editorial assessment [S001] [S011] · Checked 2026-10-05 |
| Assembly | Mobile Base 2 guide: assign servo IDs, epoxy chassis segments, install wheels, stack and epoxy the lift tower, then shoulder lift block; arms built per AM-ARM200 guide. Reported by source [S005] [S008] · Checked 2026-10-05 |
| Calibration | Follower calibration on the Pi with --robot_model alohamini2; leader calibration from the PC with am-leader-6dof; power-cycle afterwards. Reported by source [S011] · Checked 2026-10-05 |
| Operating system | Not known |
| Computer needed | Raspberry Pi 5 (2 GB) on the robot as host; PC workstation as client for leader arms, recording and training. Reported by source [S004] [S011] · Checked 2026-10-05 |
3D preview
Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Model sources
Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Assembly and use
Who it suits
It suits LeKiwi or ALOHA-style builders who want two 6+1 DoF arms on a lift and can print about 6 kg of filament on a Bambu P2S-class printer. The README estimates about 120 minutes of assembly with the arms already built. [S001] [S006]
Configuration a builder must reconcile
The system splits like LeKiwi: a Raspberry Pi 5 host on the robot runs the base, lift, follower arms and cameras, while a PC client runs the leader arms, recording and training on the same LAN. The base uses three STS3215 wheel servos, an STS3095 lift servo, 127 mm omni wheels, two 12 V 11200 mAh batteries and a 12 V to 5 V buck converter. Each follower uses four STS3215 and three STS3095 servos plus a wrist camera; the leaders use fourteen 7.4 V STS3215 servos in this BOM. [S004] [S011]
Three cross-checks matter. The arms are not in this repository; AlohaMini2's arm folder points to the separate AM-ARM repository. The BOM points to hardware/mobile_base/stl and hardware/arms/stl, but the tree contains mobile_base2/stl and no arms STL folder. The AM-ARM BOM specifies 5 V leader servos, while this BOM lists 7.4 V servos with a 5 V supply. [S004] [S008] [S009] [S010]
Assembly uses epoxy on chassis and tower joints. The print guide offers printed substitutes for the aluminium T-frame and steel pins, but warns they significantly reduce strength. [S005] [S006]
Software route
Software lives in the separate lerobot_alohamini fork, which the repository calls the single source of truth. Its v0.6.0 notes state a sync with LeRobot 0.6. The workflow calibrates followers on the Pi with --robot_model alohamini2, then runs teleoperation, recording and replay from the PC with the am-leader-6dof profile. Recording uploads to the Hugging Face Hub unless push_to_hub is disabled. [S007] [S011] [S012]
Cost scope
The BOM's total estimate is ¥7,548, about US$1,097, for the base, two followers, two leaders and fasteners, self-printed and excluding filament (the BOM note says about 5 kg; the README says about 6 kg). The README instead gives about US$950 for major components without the leader arms. Common tools are not listed, and the BOM does not price the client PC, shipping or tax. These are dated upstream figures, not re-quoted prices. [S001] [S004]
Licenses and gaps
The root LICENSE is Apache-2.0, the only license file identified; it is declared at repository level for STL, STEP and URDF files, and no hardware-specific license was found. The arms and software sit under their own repositories' licenses. The full repository, about 613 MB of files, exceeded the 150 MiB intake limit, so only selected documents and the file tree were preserved, and CAD and URDF geometry were not inspected. The reviewed commit, 17c6a98 of July 1, 2026, had 1,076 GitHub stars at retrieval, a dated popularity signal only. Load, lift and battery-runtime claims remain unverified. [S002] [S003] [S009] [S013]
Cost
| Version | Price |
|---|---|
| AlohaMini2 complete set: mobile base, two followers, two leaders, fasteners (BOM.md at 17c6a98) | USD 1097.00 [S004] Parts estimate |
Upstream USD column (CNY total also given) · Checked 2026-10-05
| Included | Mobile base parts incl. Raspberry Pi 5, cameras, batteries, omni wheels; Two follower arms; Two leader arms; Fasteners and consumables |
|---|---|
| Not included | Filament (about 5 to 6 kg); Common tools; Client PC; Shipping, taxes and assembly labor |
| Stock | Vendor stock not rechecked. |
| Delivery and tax | Not established. |
Price details
Upstream BOM total estimate ¥7,548 / ~US$1,097 (self-print); not re-quoted.
Upstream USD column (CNY total also given) · Checked 2026-10-05 · Quantity 1
Printed parts, client PC.
| Version | Price |
|---|---|
| AlohaMini2 robot major components without leader arms (README summary) | USD 950.00 [S001] Parts estimate |
Upstream USD approximation · Checked 2026-10-05
| Included | Servos, bus controllers, Raspberry Pi 5, five cameras, omni wheels, batteries |
|---|---|
| Not included | Leader arms; Filament (about 5 to 6 kg); Common tools; Client PC; Shipping, taxes and assembly labor |
| Stock | Vendor stock not rechecked. |
| Delivery and tax | Not established. |
Price details
README summary of major components, excluding leader arms; approximate; not re-quoted.
Upstream USD approximation · Checked 2026-10-05 · Quantity 1
Printed parts, leader arms for teleoperation, client PC.
Source files and licenses
Base CAD, URDF and documentation plus a separately licensed software fork are available; electronics and firmware sources are not, and the full archive could not be preserved.
| Layer | Availability / license |
|---|---|
| mechanical design | available · Apache-2.0 Mobile Base 2 STL and STEP files and URDF in the tree; arms are in the AM-ARM repository. Root Apache-2.0 is the only license file; no hardware-specific license. Full archive not preserved (size); geometry not inspected. [S003] [S006] [S009] |
| electronics | not found · License not fully assessed Purchased Raspberry Pi, buck converter, servo adapters and batteries; no custom electronics design files identified. [S004] [S009] |
| firmware | not found · License not fully assessed No firmware source identified; servos run vendor firmware. Arm pointer mentions firmware notes in AM-ARM, where none were identified. [S008] [S009] |
| software | available · Apache-2.0 Separate lerobot_alohamini fork (v0.6.0 preserved); upstream dependencies carry their own terms. [S007] [S011] [S013] |
| documentation | available · Apache-2.0 README, BOM, print and assembly guides under the root Apache-2.0 license file. [S001] [S003] [S004] [S005] |
No trained weights distributed in the inspected sources.
No dataset distributed in the inspected sources; users record their own.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
AlohaMini README
Accessed 2026-10-05 · README.md at 17c6a98d79881a45ab869c1f392ed89c0723a298; preserved snapshot sha256 f7163abb6b84… of the pinned raw file (full repository archive blocked by size)Source notes
AlohaMini2 overview, updates, comparison with AlohaMini1, summary BOM, quick start, product line and team.
- S002 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
Repository revision and acquisition metadata
Accessed 2026-10-05 · 17c6a98d79881a45ab869c1f392ed89c0723a298; commit date 2026-07-01T16:17:18Z; manifest retrieved 2026-10-05Source notes
No published release; archive blocked by the 150 MiB intake limit; dated repository popularity.
- S003 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
Repository license
Accessed 2026-10-05 · LICENSE; preserved snapshot sha256 c71d239df917… of the pinned raw file (full repository archive blocked by size)Source notes
Apache License 2.0 text at the repository root.
- S004 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
AlohaMini2 bill of materials
Accessed 2026-10-05 · AlohaMini2/docs/BOM.md; preserved snapshot sha256 80eddaab3564… of the pinned raw file (full repository archive blocked by size)Source notes
Host/client split, mobile base, follower and leader arm parts, fasteners and total estimate.
- S005 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
AlohaMini2 assembly guide
Accessed 2026-10-05 · AlohaMini2/docs/assembly_guide.md; preserved snapshot sha256 36e022a22f36… of the pinned raw file (full repository archive blocked by size)Source notes
Mobile Base 2 assembly: servo IDs, chassis epoxy, wheels, lift tower.
- S006 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
AlohaMini2 print guide
Accessed 2026-10-05 · AlohaMini2/docs/print_guide.md; preserved snapshot sha256 064b93bb19dd… of the pinned raw file (full repository archive blocked by size)Source notes
Printer class, settings, STL list under mobile_base2/stl, printed-substitute warning.
- S007 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
AlohaMini software pointer
Accessed 2026-10-05 · software/README.md; preserved snapshot sha256 634958346071… of the pinned raw file (full repository archive blocked by size)Source notes
Software maintained in lerobot_alohamini as single source of truth.
- S008 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
AlohaMini2 arm pointer
Accessed 2026-10-05 · AlohaMini2/hardware/am_arm200/README.md; preserved snapshot sha256 8f8893dc3688… of the pinned raw file (full repository archive blocked by size)Source notes
Arm CAD, assembly guide and firmware notes maintained in liyiteng/AM-ARM.
- S009 · Li Yiteng and Wu Zhiyong / AlohaMini contributors
Repository file tree at the reviewed commit
Accessed 2026-10-05 · GitHub git/trees API, recursive, 360 entries, not truncated; filenames and sizes onlySource notes
AlohaMini1 and AlohaMini2 hardware, URDF and docs folders; no arm STL folder under AlohaMini2.
- S010 · Li Yiteng and Wu Zhiyong / AM-ARM contributors
AM-ARM200 bill of materials
Accessed 2026-10-05 · am-arm200/bom.md at 5b03af1ef6c80595bd988e0137cf8e7c35811eb6 (preserved archive)Source notes
Arm-level leader and follower servo specifications.
- S011 · Li Yiteng / lerobot_alohamini contributors (fork of Hugging Face LeRobot)
lerobot_alohamini AlohaMini workflow and profiles
Accessed 2026-10-05 · docs/alohamini/alohamini.md and profiles.md at e9d6362a969581ee0486966be1daa527c4b679e6 (release v0.6.0)Source notes
Pi host / PC client architecture, calibration, teleoperation, recording; robot_model profiles.
- S012 · Li Yiteng / lerobot_alohamini contributors (fork of Hugging Face LeRobot)
lerobot_alohamini release notes
Accessed 2026-10-05 · GitHub releases v0.6.0 and v0.3.0Source notes
v0.6.0 sync with LeRobot 0.6; v0.3.0 added AlohaMini2 support.
- S013 · Li Yiteng / lerobot_alohamini contributors (fork of Hugging Face LeRobot)
lerobot_alohamini license
Accessed 2026-10-05 · LICENSE (Apache License 2.0)Source notes
Software repository license file.
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5
Change history
2026-10-05 — Created from Growbotics-listing lead; all claims checked against preserved upstream sources. No physical build or test.