The Nuna Pipa Lite goes on the Stokke YOYO² with the Stokke YOYO car seat adapters (L) (model 655502), about $59. With the carrier on, you are pushing about 18.9 lb (13.6 lb stroller, 5.3 lb carrier). The seat itself is rated up to 32 lb and up to 32 in, per Nuna.
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5 other infant seats fit the Stokke YOYO².
Summary from the makers' published data.
How to set up the Nuna Pipa Lite on the Stokke YOYO²
What you need
The Stokke YOYO²
The Nuna Pipa Lite carrier (its car base stays in the car)
The Stokke YOYO car seat adapters (L) (model 655502)
The adapter maker shows the fitting steps in pictures; see the manuals below.
Before every walk
Check that the carrier is locked on both sides the way your manual describes. How we check our answers
Last check: give the carrier handle a gentle tug. A seat that is fully latched does not lift off.
Stokke says it needs an adapter (YOYO car seat adapters (L)).
“Which car seat can you install on YOYO²? ... The car seat adapters L : Available in Central and North America: • Cybex Aton Q • Cybex Aton 2 • Nuna Pipa Lite • Nuna Pipa • Clek Liing • Maxi Cosi Mico Max Plus”