# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: AlohaMini2
summary: AlohaMini2 is an open-source dual-arm mobile robot with a motorized vertical lift, built for embodied AI research and real-world manipulation.
category: home
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/liyiteng/AlohaMini
  ref: 17c6a98d79881a45ab869c1f392ed89c0723a298
estimated_cost:
  amount: 1000
  currency: USD
tools:
  - 3D printer
files:
  urdf: AlohaMini1/simulation/src/Aloha/urdf/Aloha.urdf
  parts_3d: AlohaMini1/hardware/
  cad: AlohaMini2/hardware/mobile_base2/stp/
  bom: AlohaMini1/docs/BOM.md
  images:
    - AlohaMini1/docs/media/alohamini_git.png
software:
  framework: lerobot
specs:
  reach_cm: 52
  payload_kg: 70
build_steps:
  - title: Review the bill of materials and source parts
  - title: 3D print all structural parts on a Bambu P2S
  - title: Assemble the robot following the assembly guide
  - title: Install the software and set up teleoperation