Dual Scorpion
A 7-DOF dual-arm bimanual robot platform derived from the SO-101 design, with matching leader arms for teleoperation.
- Robot arm
- Open source
- Works with AI
- LeRobot
- 3D printable
Suggested by Robotheca, created by @momoiorg-repository (opens in a new tab), from github.com/momoiorg-repository/dual_scorpion (opens in a new tab). Pinned to commit 82956e2 (opens in a new tab).
- Hardware license
- Apache-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
Some folders have their own license: telegrip_teleoperation/ (MIT).
This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.
Photo and 3D model
3D preview converted from github.com/momoiorg-repository/dual_scorpion at 82956e2, under Apache-2.0. View the original files from GitHub (55.0 MB) (opens in a new tab)
- Degrees of freedom
- 7
- Height
- 60 cm
What it can do
Written by Robotheca from the project's documents.
- Dual 7-DOF follower arms with matching leader arms for real-time bimanual teleoperation.
- Teleoperation mirrors leader joint commands to the follower arms while streaming configured cameras.
- Records demonstration datasets locally and can push them to the Hugging Face Hub.
- Replays recorded policies or datasets on the follower robot.
- Calibrates encoders per joint, with the ability to recalibrate a single joint.
- Includes a Meta Quest arm teleoperation add-on (Telegrip WebXR) in a separate folder.
Works with AI
Found by Robotheca in the project's files at commit 82956e2, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Runs LeRobot
Stated in robot.yamlHas LeRobot code
In the project files: src/lerobotShips trained model files: default_transforms.safetensors and 36 more
In the project files: tests/artifacts/image_transforms/default_transforms.safetensorsUses a language model: Qwen
In the project files: src/lerobot/policies/wall_x/qwen_modelUses a vision-language-action model
In the project files: examples/tutorial/smolvlaUses a vision-language-action model: GR00T
In the project files: src/lerobot/robots/unitree_g1/gr00t_locomotion.py“Assign motor IDs for each arm with lerobot-setup-motors, using the left, right, or both option.”
Robotheca's notes: How to run it“Calibrate the follower and leader arms with lerobot-calibrate, using degree units.”
Robotheca's notes: How to run it“Run lerobot-teleoperate with the follower and leader ports to mirror the leader arms onto the follower arms.”
Robotheca's notes: How to run it
Bill of materials
2 parts2 of 2 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | STS3215 Servo 7.4V, 19kg·cm, 1:345 gear | 32 | $13.89≈ €12 | Alibaba: buy STS3215 Servo 7.4V, 19kg·cm, 1:345 gear, opens in a new tab |
| 2 | Motor Control Board | 4 | $10.60≈ €9 | Amazon US: buy Motor Control Board, opens in a new tab |
≈ € amounts use the ECB reference rate of 14 Oct 2026, for comparison only.
Parts total: $486.88. Read from README.md at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Print and assemble the follower and leader parts from dual_scorpion_3d_printer_p
- 2Wire servos to their controllers, mirroring IDs between left and right buses
- 3Probe USB ports with lerobot-find-port to map device names
- 4Set motor IDs with lerobot-setup-motors
- 5Calibrate encoders with lerobot-calibrate
The guide appears here as you scroll.
Guide by @momoiorg-repository (README.md), under Apache-2.0.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- STS3215 Servo 7.4V, 19kg·cm, 1:345 gear servos, 32 in total (8 per arm, 4 arms).
- Motor Control Board, 4 units, one per servo bus.
- Optional cameras (for example OpenCV-compatible USB cameras); cameras are not part of the parts list.
- Metal frame and connectors for the body; a 12V servo variant is also mentioned as possible.
Connections
- Each arm's servos form a daisy chain on a serial bus through its motor control board.
- The left and right arms each connect to their own serial port on the host computer.
- Each servo has a unique motor ID; joint IDs are set per side with the setup wizard.
- Power and wiring must match the servo voltage variant (7.4V or 12V); the power supply should be chosen accordingly.