Shiqi Yang · Minghuan Liu · Yuzhe Qin · Runyu Ding · Jialong Li
Xuxin Cheng · Ruihan Yang · Sha Yi · Xiaolong Wang

This repository contains all the necessary hardware components for ACE. If you have already assembled your ACE, please refer to this repository for software setup and usage instructions. For detailed hardware assembly guidance, please visit the complete instructions.

ACE is organized into modular parts to simplify assembly and customization. The following parts are currently supported:

• ARM: Includes two sizes for flexibility in different use cases.
• BASE: Offers both desktop and mobile base options to suit various operational environments.
• CAM MOUNT: Two DoF camera mount; note that the left and right mounts are different.
• LINK: Encompasses the linkage parts that connect various modules together.
• SUP: This part is optional. It provides a better placement for the ACE arm when not in use, and assists with donning and doffing during operation.
• WRIST: Includes two sizes. Note that wrist_1 is best printed with soft material (TPU 95A); if unavailable, this part can be omitted.

Each part has its own folder with the necessary components, making it easy to find and print the required STL files. M stands for mid size, and L stands for large size.

• The installation of the left and right arms has slight differences; they are symmetrical, so please pay attention.
• If you would like access to the source files (SolidWorks or Onshape), please feel free to contact me.
• If you encounter any issues during assembly, kindly open a GitHub issue.

If you've made any improvements to ACE, please contribute by submitting a pull request. Let's make it better together!

This code base refers a lot to many previous amazing works like BunnyVisionPro, OpenTeleVision, GELLO. Also, the codes are built on some superior public project, such as pinocchio and dex-retargeting.