What is now public
The AlohaMini2 deep profile selects 42 responsibility-party BOM rows at a pinned repository commit: 22 mobile-base rows, nine dual-follower rows, seven dual-leader rows and four fastener/consumable rows, with estimate-only summary rows excluded. The source itself defines the system split: Host is the mobile base plus follower arms plus Raspberry Pi 5 compute; Client is the PC workstation plus leader arms.
The profile now expresses that split as ten topology nodes and nine interface relations—servo-bus, USB, camera and power paths, each carrying its source rows and its unresolved details. One row also meets the exact-model bar: the published Raspberry Pi 5 with 2 GB RAM links to the Raspberry Pi 5 family record without inferring a PCB revision. The machine layers are robots.json and the interface-relation CSV; the AlohaMini1-to-AlohaMini2 generation change is a recorded relation in the lifecycle CSV, not a merged product page.
The ten nodes
| Side | Node | Selected configuration boundary |
|---|---|---|
| Host | Mobile base and lift assembly | Three ST-3215-C018 wheel servos, one ST-3095-C002 lift servo, three 127 mm omni wheels |
| Host | Raspberry Pi 5 compute | One Pi 5 with 2 GB RAM, 32 GB microSD and passive heatsink |
| Host | Mobile-base bus-servo controller | One Waveshare Bus Servo Adapter A listed with the base |
| Host | Two follower-arm controllers | Two Waveshare Bus Servo Adapter A controllers for the two follower arms |
| Host | Two AM-ARM200 follower arms | Eight ST-3215-C018 and six ST-3095-C002 servos across two 6+1 DoF arms |
| Host | Five H65V1 camera paths | Front, back and chest cameras plus two wrist cameras at published cable lengths |
| Host | 12 V power surface | Two 12 V 11,200 mAh DC5521 batteries, splitter, extensions and a 12 V-to-5 V / 5 A PD buck converter |
| Client | PC workstation | Assigned by the architecture; outside the purchasable BOM rows |
| Client | Two leader arms | Fourteen ST-3215-C046 7.4 V 1/147 servos, two controllers, two PC-facing USB Type-C cables |
| Client | 5 V power surface | One 5 V AC adapter and one 1-to-2, 70 cm DC splitter |
The nine relations connect these nodes: the Host/Client software-role boundary, the Feetech three-pin bus from controller to base, the follower-controller USB paths into the Pi 5, the twelve SCS three-pin extensions inside the follower arms, the leader-controller USB paths into the PC, the five camera paths, and three power branches—12 V to the Pi 5 through the buck converter, 12 V to the base loads, and 5 V to the leader arms.
Three unknowns the map holds open
- Four cables, two controllers. The follower-arm table publishes four one-meter USB Type-C arm-to-Pi 5 cables serving two controllers. The source does not explain the four-to-two count, the connector pairing or the USB topology, and RCI does not invent an explanation.
- Battery-branch allocation. Two 12 V batteries, one splitter and one buck converter are published together, but which battery branch feeds the converter versus the base and follower loads—along with polarity, fusing, wire gauge and load margin—is not published.
- Camera transport. The five H65V1 rows fix model, resolution class and cable lengths, but the selected BOM does not identify USB type, hub topology, Pi port assignment, enumeration order, synchronization or calibration.
What this is not
- Not an as-built inventory. No release tag, serial, receipt or unit manifest binds these 42 rows to one physical robot.
- Not a compatibility or performance claim. Aggregate two-arm quantities do not establish per-arm allocation, calibration, payload or synchronized operation.
- Zero RCI physical tests. No bus capture, powered motion, camera frame or power measurement exists; every relation carries a physical-validation state of none.
- Source cost and assembly-time statements remain project claims, not RCI benchmarks.
Corrections
If a node boundary, relation, quantity or held-open unknown above misstates the pinned source, use the corrections process. Corrections are logged; prior states are not erased.