Hardware Profile Reference#

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Please confirm the applicable models based on the hardware configuration on this page.

The host-side --robot_model flag and PC-side --robot.robot_model / --teleop.arm_profile flags select your hardware variant.

Use the same model value for host-side --robot_model and PC-side --robot.robot_model. Use --teleop.arm_profile only for the leader arm connected to the PC.

AlohaMini host-side (--robot_model)#

--robot_model

Follower arm

Base wheels

Lift motor

Lead screw

alohamini1

so-arm-5dof

STS3215 ×3

STS3215

84 mm/rev

alohamini2

am-follower-6dof

STS3215 ×3

STS3095

131 mm/rev

alohamini2pro

am-follower-6dof-hd

STS3250 ×3

STS3095

131 mm/rev

AM-ARM200 arm profiles (--teleop.arm_profile)#

Product SKU

Role

--teleop.arm_profile

AM-ARM200

Leader (5V)

am-leader-6dof

AM-ARM200

Follower (12V)

am-follower-6dof

AM-ARM200 Pro

Leader (5V)

am-leader-6dof

AM-ARM200 Pro

Follower (12V HD)

am-follower-6dof-hd