diff --git a/hardware/dev.scad b/hardware/dev.scad
index d3f67d2..2449300 100644
--- a/hardware/dev.scad
+++ b/hardware/dev.scad
@@ -7,3 +7,6 @@ poppy_ergo_jr();
 
 translate([100,0,0])
   poppy_4dof_arm_mini();
+
+translate([200,0,0])
+  poppy_4dof_arm_mini_v2();
diff --git a/hardware/poppy_4dof_arm_mini/parts/smart/generate_stl.sh b/hardware/poppy_4dof_arm_mini/parts/smart/generate_stl.sh
index b835cc5..8ae974a 100755
--- a/hardware/poppy_4dof_arm_mini/parts/smart/generate_stl.sh
+++ b/hardware/poppy_4dof_arm_mini/parts/smart/generate_stl.sh
@@ -19,6 +19,9 @@ mkdir -p stl;
 echo "Generating base..."
 openscad -o stl/base.stl base.scad -D $scadArg
 
+echo "Generating side_to_side..."
+openscad -o stl/side_to_side.stl side_to_side.scad -D $scadArg
+
 echo "Generating U_horn_to_horn..."
 openscad -o stl/U_horn_to_horn.stl U_horn_to_horn.scad -D $scadArg
 
diff --git a/hardware/poppy_4dof_arm_mini/parts/smart/side_to_side.scad b/hardware/poppy_4dof_arm_mini/parts/smart/side_to_side.scad
new file mode 100644
index 0000000..9bac1fb
--- /dev/null
+++ b/hardware/poppy_4dof_arm_mini/parts/smart/side_to_side.scad
@@ -0,0 +1,5 @@
+include <../../poppy_4dof_arm_mini_def.scad>
+
+use <../../../robotis-scad/frames/side_to_side_frame.scad>;
+
+side_branch(BB2);
diff --git a/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini.scad b/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini.scad
index fd56e4a..9e5ef84 100644
--- a/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini.scad
+++ b/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini.scad
@@ -11,6 +11,7 @@ use <../robotis-scad/frames/side_to_side_frame.scad>;
 use <../robotis-scad/frames/U_horn_to_horn_frame.scad>;
 use <../robotis-scad/frames/three_ollo_frame.scad>;
 use <../robotis-scad/frames/horn_to_horn_frame.scad>;
+use <../robotis-scad/frames/add_side_to_side_frame>;
 
 use <../MCAD/rotate.scad>;
 
@@ -41,6 +42,30 @@ module poppy_4dof_arm_mini() {
                 }
     }
 }
+
+module poppy_4dof_arm_mini_v2() {
+  circular_base_frame(BaseRadius, BaseHeight);
+  xl320();
+  translate_to_xl320_top()
+    verticalize_U_horn_to_horn_frame(AA){
+      U_horn_to_horn_frame(AA);
+      xl320_two_horns();
+          rotate([180,0,0])
+            add_side_to_side_frame(BB2)
+              rotate([0,-180,0]){
+                  xl320_two_horns();
+                  rotate([0,-90,90])
+                    add_horn_to_horn_frame(CC)
+                      rotate([180,-90,0]){
+                        xl320_two_horns();
+                        translate_to_box_back()
+                          translate([0,OlloLayerThickness,0])
+                            rotate([0,90,180])
+                              pen_holder_frame(DD);
+                      }
+                }
+    }
+}
 // Testing
 echo("##########");
 echo("In poppy_4dof_arm_mini.scad");
@@ -50,4 +75,6 @@ echo("##########");
 p = 1;
 if (p==1) {
   poppy_4dof_arm_mini();
+  translate([100,0,0])
+    poppy_4dof_arm_mini_v2();
 }
diff --git a/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini_def.scad b/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini_def.scad
index 46c1ae6..2df86ce 100644
--- a/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini_def.scad
+++ b/hardware/poppy_4dof_arm_mini/poppy_4dof_arm_mini_def.scad
@@ -7,5 +7,6 @@ BaseHeight = CircularBaseFrameHeight+FrameTolerance;
 
 AA = 25;
 BB = 51;
+BB2 = 81;
 CC = 102;
 DD = OlloSpacing+FrameTolerance;
diff --git a/hardware/robotis-scad b/hardware/robotis-scad
index d4a2126..556d5e5 160000
--- a/hardware/robotis-scad
+++ b/hardware/robotis-scad
@@ -1 +1 @@
-Subproject commit d4a2126e57c72214d1b166ec0915225f22bbf699
+Subproject commit 556d5e5199b60263807f9c76588500bb5d691dbb