AlohaMini

AlohaMini is a dual-arm mobile robot with a motorized vertical lift — beautifully designed, fully 3D-printable, and affordable.

Built for embodied AI research and real-world manipulation. Assemble at home in ~60 minutes, customize every part, and train or deploy with LeRobot.

Note: Use ROS only if you need URDF visualization, RViz inspection, or Gazebo simulation.

Updates

• [2026-02-26] Update the fine-tuning and deployment guide for Pi 0.5 on Alohamini ('examples/pi0.5_openpi')
• [2025-12-18] — URDF and simulation assets are now available for visualization and simulation (simulation/src/Aloha/)
• [2025-11-27] STEP (CAD) files are now available (/hardware/mobile_base/step/)

What Makes It Different

• Motorized vertical lift — 0–60 cm travel (floor-to-table reach)
• 5-camera perception system — top, front, back, and dual arm cameras engineered for embodied-AI reproducibility
• Completely open-source — hardware and software freely available
• LeRobot-compatible — works out of the box
• Clean, modern design — built for both function and aesthetics
• Low-cost & accessible — engineered so anyone can build a capable robot at home

📸 Gallery

<p align="center"> <img src="docs/media/alohamini_git.png" width="100%"/> </p>

⚙️ Bill of Materials (BOM)

Main Components

| Component | Model / Notes | Qty | Unit Price (USD) | |-----------|---------------|-----|------------------| | Servo motors | Feetech STS3215 (12V bus) | 16 | $13.89 | | Motor control boards | Waveshare Bus Servo Adapter (A) | 2 | $10.55 | | Compute platform | Raspberry Pi 5 (4/8GB) | 1 | $80 | | Cameras | 720p USB cameras (2 for arms, 3 for mobile base) | 5 | $20 | | Mobility system | Omni wheels | 3 | $36.00 | | Battery | 12V Li-ion pack | 2 | $32.99 | | Frame | 3D-printed body (ABS / PETG / PLA) | — | ~4kg filament (self-print) | | Total | — | — | ~$600 (self-print) |

Note:

• Printable STL files under /hardware/
• Compute platform can be replaced with Jetson Nano or similar SBCs if desired.
• URDF files will be released soon

Quick Start

Start building and running AlohaMini:

1. Hardware acquisition — Purchase components and 3D print parts
   See BOM & 3D-Print

2. Assembly — build the robot in ~60 minutes (SO-ARM pre-assembled)
   See assembly guide

3. Software setup & teleoperation — install, connect, and control the robot
   See software guide

Product Line

| Model | Build | Rigidity | Target Users | Official Store (US) | Official Store (CN) | |---|---|---|---|---|---| | AlohaMini | Fully 3D-printed | Standard | Education, makers, research labs, home builds | - | taobao | | AlohaMini Pro | Hybrid 3D-print + metal | ~3×–5× stiffer | Researchers needing plug-and-play, stable hardware | - | taobao |

Same URDF & control stack across both versions — only structural materials differ.
Official store links are optional purchase channels for complete robots / kits.
AlohaMini remains open-source and can be self-built from the BOM, 3D-print files, and assembly docs.

Contact

Email: liyiteng+github@gmail.com
WeChat: liyiteng
Videos & tutorials soon on: Bilibili / YouTube / TikTok

Team

AlohaMini is created by:
Li Yiteng / Wu Zhiyong

Acknowledgements

Thanks to the open robotics community:
ALOHA · LeKiwi · SO-ARM100 · SO-ARM100-Track-Axis · Pi-0.5 · LeRobot · Hugging Face

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