Community builds & reproductions of AlohaMini

[liyiteng]

Feel free to share your AlohaMini build here — photos, videos, or even small issues you ran into are all welcome.
Your experience will help others get started more easily.

[WilsonVinson]

大成功(o゜▽゜)o☆

遇到了有几个小问题

问题一

pip install -e . 之后还会缺两个库
pip install pyzmq 和 pip install feetech-servo-sdk
PS：我看pyproject.toml里有feetech-servo-sdk但是没有装上，好像是传入不同的执行不同可选安装？

问题二

树莓派部分文档不清晰
如：
文档中是x86的安装版本，树莓派是arm版本

# 下载 ARM 版
wget https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-Linux-aarch64.sh \
     -O ~/miniforge3/miniforge.sh

有几个改进意见

改进一

文档需要完善！！！可能是我Linux用的少而且第一次接触硬件的关系（之前一直是纯软件。。）
这次除了：
https://github.com/liyiteng/AlohaMini
https://github.com/liyiteng/lerobot_alohamini
https://github.com/liyiteng/lerobot_alohamini/tree/main
还参考了：
https://wiki.seeedstudio.com/cn/lerobot_so100m_new/
https://github.com/TheRobotStudio/SO-ARM100
https://huggingface.co/docs/lerobot/so101
以及询问作者和ai魔法驱动才搞定

改进二

底盘电机应该与升降机电机分开
应该是 升降机电机->左臂
底盘三电机单独一块驱动板
因为所有连接线都整理完后 升降机电机->底盘电机 的线没办法理线！！！

---

🇺🇸 English (translated by maintainer)

Big success! (o゜▽゜)o☆

I ran into a few small issues during setup:

Issue 1: Missing dependencies after pip install -e .

After running pip install -e ., I still had to manually install:

• pip install pyzmq
• pip install feetech-servo-sdk

Note: feetech-servo-sdk is listed in pyproject.toml, but it wasn’t installed. It might be behind optional dependencies / extras?

Issue 2: Raspberry Pi documentation is unclear

Some parts of the docs use x86 installation examples, but Raspberry Pi requires ARM builds, e.g.

# ARM build
wget https://github.com/conda-forge/miniforge/releases/latest/download/Miniforge3-Linux-aarch64.sh \
     -O ~/miniforge3/miniforge.sh

Suggestions

Suggestion 1: Improve documentation completeness

Since I’m relatively new to Linux/hardware, I needed to reference multiple sources to finish the setup:
https://github.com/liyiteng/AlohaMini
https://github.com/liyiteng/lerobot_alohamini
https://wiki.seeedstudio.com/cn/lerobot_so100m_new/
https://github.com/TheRobotStudio/SO-ARM100
https://huggingface.co/docs/lerobot/so101
and also asked the author + AI to resolve issues.

Suggestion 2: Separate motor drivers (base vs lift)

The lift motor wiring should be separated from the base motors:
Lift motor should connect to the left arm controller
The 3 base motors should use a dedicated driver board
After cable management, routing the lift motor cable through the base motor wiring becomes very hard / messy.

[liyiteng]

@WilsonVinson Thanks for the detailed feedback — this is exactly the kind of input that helps improve AlohaMini for everyone.
I’ll follow up with doc and dependency updates soon. Really appreciate your contribution!

[rohan600-11]

@liyiteng @WilsonVinson @lemon198 Hello myself rohan from india iam currently pursuing a degree in mechatronics. I am intrested in replicating the alohamini, is it possible to contact you guys to solve my doubts, can you give your to-mail or social platform where we can connect.

[liyiteng]

@liyiteng @WilsonVinson @lemon198 Hello myself rohan from india iam currently pursuing a degree in mechatronics. I am intrested in replicating the alohamini, is it possible to contact you guys to solve my doubts, can you give your to-mail or social platform where we can connect.

You can join our Discord community to get in touch with me.
https://discord.gg/CacMUBaFgJ