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

format_version: "0.1"
name: AlohaScorpion
summary: A 7-DOF dual-arm mobile manipulator with lift, designed for research in manipulation and mobile robotics.
category: home
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/k1000dai/AlohaScorpion
  ref: cea96ee1911571d5f48d5df6e145b77cb74c00f2
tools:
  - 3D printer
files:
  parts_3d: hardware/
  cad: hardware/mobilebase/step/
  docs: docs/
software:
  framework: lerobot
specs:
  dof: 7
  power_wh: 288
build_steps:
  - title: Assemble the mobile base and lift mechanism following AlohaMini's instructions
  - title: Assemble the arms following dual_scorpion's instructions
  - title: Install the PincOpen parallel-finger gripper and updated mount plate (optional)
  - title: Set up the host environment with uv on a Raspberry Pi 5 or PC
  - title: Run the host and client software for teleoperation, data collection, replay and