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Dual-arm robotic structure for the SO-101 arms for teleoperation, Diffusion Policies and VLAs.

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# Asimov 0 
![Intro](https://github.com/user-attachments/assets/14993297-130b-444a-8d7f-a7f0b98c5265)
This is a structure to simplify the training and execution of dexturous tasks using the [SO-ARM101](https://github.com/TheRobotStudio/SO-ARM100) and [lerobot](https://github.com/huggingface/lerobot/issues) library.

## Usa cases
Used in the Huggingface hackathon (June 2025), on [so101-tx](https://github.com/carlosdp/so101-tx)
![Demo](https://github.com/user-attachments/assets/5461d99c-9283-47dc-a9f7-6bbf86222614)

## Parts & Assembly 
![Parts](https://github.com/user-attachments/assets/1582573f-1f0b-4a0b-add5-3cfa00b8c62f)

### Assembly

![Assembly](https://github.com/user-attachments/assets/b793c4f4-4f84-4ef5-a802-8c9d5f2c8b91)
1. Using the 4 `L Brackets` combine 2 of `200mm Aluminium Extrusions` with 1 `400mm Aluminium Extrusion` (vertical). 
2. Connect the `Asimov Shoulders` to another `400mm Aluminium Extrusion` using 2 `M6 screws` per arm (4 total).
3. Connect the top bar with the core, and install the top camera

## Bill of materials
`Prices from June 16, 2025`
A total cost of `$793`

### Aluminium Structure

| Item                    | Link                                                                 | Price   |
|-------------------------|----------------------------------------------------------------------|---------|
| 400mm Aluminium Extrusions | [Amazon](https://www.amazon.com/dp/B0874387ZB)                        | $18.99  |
| 250mm Aluminium Extrusions | [Amazon](https://www.amazon.com/dp/B08CN9B5VC)                        | $16.99  |
| T Shape Joint Plates    | [Amazon](https://www.amazon.com/dp/B0B9JYV7NP)                        | $18.99  |
| L Shape Brackets        | [Amazon](https://www.amazon.com/dp/B0B9JVW5X8)                        | $12.99  |
| M6 Screws               | [Amazon](https://www.amazon.com/dp/B0DFWMGFDM)                        | $9.99   |
| M5 Screws               | [Amazon](https://www.amazon.com/dp/B0DFWM68PX)                        | $9.99   |
| M3 Screws               | [Amazon](https://www.amazon.com/dp/B0D3X7R5H2)                        | $8.99  |
| M2 Screws               | [Amazon](https://www.amazon.com/dp/B0D3X33XGB)                        | $8.99  |

**Total:** `$105.92`

### 3D Printed Parts

- **Asimov Shoulders**
These were designed to replace the original Base for the SO-ARM101. They fit perfectly in place and have screws mounts for 2 screws.

| Material | Filament Usage | Print time |
|----------|-------|-----|
| PLA      | 75g   | 2h 30min |

- **Camera Mount**
<img width="637" alt="image" src="https://github.com/user-attachments/assets/d00d4c4e-787b-4071-aa5b-f50655fef699" />

| Material | Filament Usage | Print time |
|----------|-------|-----|
| PLA      | 15g   | 50 min |

### Electronics

| Item                       | Link                                                            | Price     | Quantity
|----------------------------|-----------------------------------------------------------------|-----------| --------|
|  SO-ARM 100                | [GitHub](https://github.com/TheRobotStudio/SO-ARM100)           | ~ $200    |  2     |
| Arducam 5Mp USB Camera     | [Amazon](https://www.amazon.com/dp/B0972KK7BC)                  | $31.99    |  2     |
| OBSBOT Meet SE 1080P       | [Amazon](https://www.amazon.com/dp/B0DQ8TNZ4J)                  | $69.00    |  1     |
| Raspberry Pi 5 8Gb         | [Amazon](https://www.amazon.com/dp/B0CK2FCG1K)                  | $89.99    |  1    |
| 256Gb microSD card         | [Amazon](https://www.amazon.com/dp/B09X7DMBVF)                  | $29.71    |  1    |
| Raspberry Pi case*          | [Amazon](https://www.amazon.com/dp/B0DJM3934L)                  | $19.99    |  1    |
| Cable Sleeve Cover*        | [Amazon](https://www.amazon.com/dp/B0CGVDKB9P)                  | $13.99    |  1    |

**Total:** `$686.66`

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