AlohaMini2
AlohaMini2 is cataloged as a physical design manipulator. The project is maintained by liyiteng under the Apache-2.0 license.
Source repository: https://github.com/liyiteng/alohamini
Project facts
- Category: manipulator
- Kind: physical design
- License: Apache-2.0
- GitHub stars: 1,012
- BOM lines indexed: 78
- Last updated: 2026-08-26
Bill of materials (78 lines)
- Servo motor — 4 each (purchased, unresolved)
- Omni wheel — 3 each (purchased, unresolved)
- USB camera — 3 each (purchased, unresolved)
- (optional) Bearing — 3 each (purchased, unresolved)
- Bearing — 8 each (purchased, unresolved)
- M2×12 Phillips screw — 12 each (purchased, unresolved)
- M3×12 hex socket screw — 36 each (purchased, unresolved)
- M3×18 hex socket screw — 12 each (purchased, unresolved)
- M3×30 hex socket screw — 8 each (purchased, unresolved)
- M3 hex nut — 8 each (purchased, unresolved)
- M3x5x4 heat-set insert — 36 each (purchased, unresolved)
- M4×12 hex socket screw — 20 each (purchased, unresolved)
- M4x6x5 heat-set insert — 12 each (purchased, unresolved)
- Adhesive — 1 each (purchased, unresolved)
- Servo extension cable — 2 each (purchased, unresolved)
- Battery — 2 each (purchased, unresolved)
- USB Type-C cable — 1 each (purchased, unresolved)
- Waveshare Bus Servo Controller — 1 each (purchased, unresolved)
- Compute board — 1 each (purchased, unresolved)
- DC converter — 1 each (purchased, unresolved)
- Monitor — 1 each (purchased, unresolved)
- Servo motor — 12 each (purchased, unresolved)
- Waveshare Bus Servo Controller — 2 each (purchased, unresolved)
- USB camera — 2 each (purchased, unresolved)
- 1-to-2 DC splitter cable — 1 each (purchased, unresolved)
- DC extension cable — 2 each (purchased, unresolved)
- USB Type-C cable — 2 each (purchased, unresolved)
- Servo motor — 12 each (purchased, unresolved)
- Waveshare Bus Servo Controller — 2 each (purchased, unresolved)
- Battery — 1 each (purchased, unresolved)
- 1-to-2 DC splitter cable — 1 each (purchased, unresolved)
- USB Type-C cable — 2 each (purchased, unresolved)
- Servo motors — 16 each (purchased, unresolved)
- Motor control boards — 2 each (purchased, unresolved)
- Compute platform — 1 each (purchased, unresolved)
- Cameras — 5 each (purchased, unresolved)
- Mobility system — 3 each (purchased, unresolved)
- Battery — 2 each (purchased, unresolved)
- Servo — STS-3215 (wheel) — 3 5.97 (purchased, unresolved)
- Servo — STS-3095 (lift) — 1 $50.37 (purchased, unresolved)
- Omni wheel — 3 $40 (purchased, unresolved)
- Aluminum extrusion (T-frame) — 1 ~.50 (purchased, unresolved)
- Steel pin (chassis) — 3 ~$0.50 (purchased, unresolved)
- Steel pin (lift axis) — 1 ~$0.50 (purchased, unresolved)
- Bearing — lift track — 8 ~$0.40 (purchased, unresolved)
- Bearing — chassis/arm/lift — 8 ~$0.80 (purchased, unresolved)
- Camera — front — 1 ~7 (purchased, unresolved)
- Camera — back — 1 ~7 (purchased, unresolved)
- Camera — chest — 1 ~7 (purchased, unresolved)
- Raspberry Pi 5 — 1 ~$93 (purchased, unresolved)
- DC buck converter — 1 ~$9 (purchased, unresolved)
- Heatsink — 1 ~$2.50 (purchased, unresolved)
- microSD card — 1 ~4 (purchased, unresolved)
- HDMI→Micro HDMI cable — 1 ~ (purchased, unresolved)
- Bus servo controller — 1 $5.00 (purchased, unresolved)
- Battery 12V — 2 ~6 (purchased, unresolved)
- DC splitter cable — 1 ~$0.60 (purchased, unresolved)
- DC extension cable — 2 ~$0.30 (purchased, unresolved)
- Servo extension cable — 2 ~$0.30 (purchased, unresolved)
- Servo — STS-3215 — 8 5.97 (purchased, unresolved)
Repository files indexed (72)
42 CAD models, 3 URDF robot descriptions, 2 bill-of-materials files, 3 configuration files, 8 documents, 14 images. Paths are exactly as they appear in the project's repository; RoboPartPicker lists only files it has actually indexed.
CAD models (42)
- AlohaMini1/hardware/arms/stl/D_Base_SO101_Lekiwi.stl
- AlohaMini1/hardware/arms/stl/D_Base_motor_holder_SO101.stl
- AlohaMini1/hardware/arms/stl/D_Motor_holder_SO101_Base.stl
- AlohaMini1/hardware/arms/stl/D_Motor_holder_SO101_Wrist.stl
- AlohaMini1/hardware/arms/stl/D_Rotation_Pitch_SO101.stl
- AlohaMini1/hardware/arms/stl/D_Seeedstudio_Mounting_Plate_SO101.stl
- 36 more CAD models are indexed in the catalogue.
URDF robot descriptions (3)
- AlohaMini1/simulation/src/Aloha/urdf/Aloha.urdf
- AlohaMini2/urdf/alohamini2/urdf/alohamini2.urdf
- AlohaMini2/urdf/alohamini2pro/urdf/alohamini2pro.urdf
bill-of-materials files (2)
- AlohaMini1/simulation/src/Aloha/urdf/Aloha.csv
- AlohaMini2/docs/BOM.md
configuration files (3)
- AlohaMini1/simulation/src/Aloha/config/joint_names_Aloha.yaml
- AlohaMini1/simulation/src/Aloha/launch/display.launch
- AlohaMini1/simulation/src/Aloha/launch/gazebo.launch
documents (8)
- AlohaMini1/README.md
- AlohaMini1/docs/BOM.md
- AlohaMini1/docs/hardware_assembly.md
- AlohaMini1/docs/software_setup.md
- AlohaMini1/hardware/arms/README.md
- AlohaMini2/docs/assembly_guide.md
- 2 more documents are indexed in the catalogue.
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