3D Print Open Source AI Robots

AlohaMini — Dual-Arm Mobile Manipulation Platform A miniaturized Aloha-style dual-arm mobile platform with a motorized vertical lift column. Two SO-ARM101 follower arms sit on a shared lift tower mounted to a three-wheel omni base, giving the platform a tabletop-to-floor reach envelope that makes real household-scale manipulation possible at hobbyist cost. What makes AlohaMini distinctive Most DIY bi-manual mobile bases have one big gap: they're too short. An SO-ARM on a fixed 20-cm pedestal can't pick up something on the floor or reach a countertop — the workspace is stuck at one height. AlohaMini solves this with a powered vertical lift that raises both arms together, scanning the full vertical reach of a human workspace. Paired with: Two SO-ARM101 follower arms (leader arms for teleop are also included in the STL set) A three-omniwheel kiwi drive base (bearing-mounted axles, printed chassis) Seeed Studio XIAO + WaveShare Dynamixel bus driver mounts Camera wrist mounts on both arms What you can do with it Imitation learning at floor and table height — record bimanual episodes where the arms need to descend to grab something off the floor, then lift to place it on a surface. Mobile bimanual teleop — pair with two leader arms (also in the STL set) to drive both follower arms plus the base from a single operator. VLA training data collection — the shared base frame + lift + dual arms is close to the canonical "robot" embodiment used in recent VLA papers (RT-2, OpenVLA). Household tasks — clearing a dining table, loading a dishwasher, or picking laundry off the floor — all things a fixed-height arm can't attempt. Printed parts ~60 STLs — dual SO-ARM101 arms (follower grippers + leader handles), motorized lift column, 3-omniwheel base, battery tray, VR teleop handles; see Print Files. Attribution & license Designer: Yi-Teng Li (liyiteng) Upstream: https://github.com/liyiteng/AlohaMini License: Apache 2.0 Built on: SO-ARM101, LeKiwi base geometry, and the ALOHA/ALOHA2 dual-arm research lineage from Stanford Links Upstream: https://github.com/liyiteng/AlohaMini LeRobot: https://github.com/huggingface/lerobot ALOHA paper: https://tonyzhaozh.github.io/aloha/ Build Guide Hardware assembly guide (BOM, wiring, mechanical assembly): github.com/liyiteng/AlohaMini/blob/main/docs/hardwareassembly.md Printing This is one complete dual-arm mobile platform: two SO-ARM101 follower arms + two leader arms (for teleop) on a shared lift column over a 3-omniwheel base. The 20 STLs use a role-prefix naming scheme, and most are printed in multiples — printing one of each gives only a fraction of a build. Quantities below are per platform: — shared SO-ARM101 arm parts (print 4× each: 2 followers + 2 leaders): DBaseSO101Lekiwi, DBasemotorholderSO101, DMotorholderSO101Base, DMotorholderSO101Wrist, DRotationPitchSO101, DUnderarmSO101, DUpperarmSO101, DWristRollPitchSO101, DWristRollSO101 These are the common arm-segment parts every SO-ARM101 needs, so each is printed ×4 (one per arm). The two controller-mount plates are an either/or per your electronics: DSeeedstudioMountingPlate (Seeed XIAO) vs DWaveShareMountingPlate (WaveShare bus driver) — print whichever board(s) you use, ×4 if used on all arms. — follower-only parts (print 2×: one per follower arm): FFollowerMovingJawSO101, FFollowerWristRollFollowerSO101, FFollowerSO-ARM101camerawristmount — leader-only parts (print 2×: one per leader/teleop handle): LLeaderHandleSO101, LLeaderTriggerSO101 — omni-base (kiwi drive, 3 wheels): OBChassisServoMount ×3, OBChassisBearingCover ×3, OBChassisShaftSleeve1224 ×3 (one set per omni wheel) OBChassisSidePanel ×2–3 (chassis sides — match to your frame) So the 20 unique STLs expand to roughly ~60 physical prints (≈4 kg PLA per the BOM). Servo count: 16× STS3215-C018 (4 base + 12 follower arms) and 12× STS3215-C046 (leader arms). Leader and follower parts are both required for teleop data collection — they are not** alternates. Note: the lift-column structural parts referenced in the build guide are large and may be cut/printed per the upstream folder; this Print All set covers the arm, gripper, base and teleop-handle parts.