diff --git a/hardware/parts/BOM.md b/hardware/parts/BOM.md
index 5549de8..5517b89 100644
--- a/hardware/parts/BOM.md
+++ b/hardware/parts/BOM.md
@@ -1,7 +1,8 @@
-| Part Name      | Quantity |   Note   |
-| --------------:|:--------:|:--------:|
-| base           |    1     |          |
-| U_horn_to_horn |    1     |          |
-| U_side_to_horn |    1     |          |
-| shift_one_side |    6     |          |
-| pen_holder     |    1     | Optional |
+| Part Name      | Quantity |       Note      |
+| --------------:|:--------:|:---------------:|
+| U_horn_to_horn |    1     |                 |
+| U_side_to_horn |    1     |                 |
+| shift_one_side |    6     |                 |
+| pen_holder     |    1     |     Optional    |
+| base           |    1     | Select one base |
+| raspberry_base |    1     | Select one base |
diff --git a/hardware/parts/generate_stl.sh b/hardware/parts/generate_stl.sh
index d2af874..9a37aa8 100755
--- a/hardware/parts/generate_stl.sh
+++ b/hardware/parts/generate_stl.sh
@@ -30,3 +30,6 @@ openscad -o stl/U_side_to_horn.stl U_side_to_horn.scad -D $scadArg
 
 echo "Generating pen_holder..."
 openscad -o stl/pen_holder.stl pen_holder.scad -D $scadArg
+
+echo "Generating raspberry_base..."
+openscad -o stl/raspberry_base.stl raspberry_base.scad -D $scadArg
diff --git a/hardware/parts/raspberry_base.scad b/hardware/parts/raspberry_base.scad
new file mode 100644
index 0000000..6ae0d92
--- /dev/null
+++ b/hardware/parts/raspberry_base.scad
@@ -0,0 +1,3 @@
+use <../specific_frames/raspberry_pi_Bplus_base_frame.scad>;
+
+raspberry_pi_Bplus_base_frame();
diff --git a/hardware/poppy_ergo_jr.scad b/hardware/poppy_ergo_jr.scad
index 4c31aae..3f01ded 100644
--- a/hardware/poppy_ergo_jr.scad
+++ b/hardware/poppy_ergo_jr.scad
@@ -1,18 +1,21 @@
 include <robotis-scad/ollo/ollo_def.scad>
 include <robotis-scad/dynamixel/xl320_def.scad>
+include <specific_frames/specific_frame_def.scad>
 include <poppy_ergo_jr_def.scad>
 
-use <robotis-scad/dynamixel/xl320.scad>;
+use <robotis-scad/dynamixel/xl320.scad>
 
-use <specific_frames/base_frame.scad>;
-use <specific_frames/pen_holder_frame.scad>;
+use <specific_frames/base_frame.scad>
+use <specific_frames/pen_holder_frame.scad>
+use <specific_frames/raspberry_pi_Bplus_base_frame.scad>
 
-use <robotis-scad/frames/side_to_side_frame.scad>;
-use <robotis-scad/frames/three_ollo_to_horn_frame.scad>;
-use <robotis-scad/frames/U_horn_to_horn_frame.scad>;
-use <robotis-scad/frames/U_three_ollo_to_horn_frame.scad>;
 
-use <MCAD/rotate.scad>;
+use <robotis-scad/frames/side_to_side_frame.scad>
+use <robotis-scad/frames/three_ollo_to_horn_frame.scad>
+use <robotis-scad/frames/U_horn_to_horn_frame.scad>
+use <robotis-scad/frames/U_three_ollo_to_horn_frame.scad>
+
+use <MCAD/rotate.scad>
 
 module poppy_ergo_jr(){
   xl320();
@@ -65,4 +68,13 @@ p = 1;
 if (p==1) {
   circular_base_frame(BaseRadius, BaseHeight);
   poppy_ergo_jr();
+
+  translate([100,0,0]) {
+    translate([0, - RaspberryPiBplusWidth/2 - RaspberryPiBplusFrameDistanceBoardToMotor - MotorLength + MotorAxisOffset, -MotorHeight/2-ollo_segment_thickness(1)])
+      raspberry_pi_Bplus_base_frame_with_raspberry_board();
+
+    poppy_ergo_jr();
+  }
+
+
 }
diff --git a/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad b/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad
index 0f3170f..7c4888c 100644
--- a/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad
+++ b/hardware/specific_frames/raspberry_pi_Bplus_base_frame.scad
@@ -55,6 +55,15 @@ module raspberry_pi_Bplus_base_frame(boardHeight=5, holeType="spike", cornerRadi
 
 }
 
+module raspberry_pi_Bplus_base_frame_with_raspberry_board(boardHeight=5, holeType="spike", cornerRadius=RaspberryPiBplusFrameCornerRadius, nLayer=1) {
+
+  raspberry_pi_Bplus_base_frame();
+
+  translate([0,0,ollo_segment_thickness(nLayer)+boardHeight])
+    add_raspberry_pi_Bplus();
+
+}
+
 // Testing
 echo("##########");
 echo("In raspberry_pi_Bplus_base_frame.scad");
@@ -65,8 +74,5 @@ use <../robotis-scad/dynamixel/xl320.scad>
 
 p = 1;
 if (p==1) {
-  raspberry_pi_Bplus_base_frame();
-
-  translate([0,0,ollo_segment_thickness(1)+5])
-    add_raspberry_pi_Bplus();
+  raspberry_pi_Bplus_base_frame_with_raspberry_board();
 }
diff --git a/hardware/specific_frames/specific_frame_def.scad b/hardware/specific_frames/specific_frame_def.scad
index b0427c3..c836f2b 100644
--- a/hardware/specific_frames/specific_frame_def.scad
+++ b/hardware/specific_frames/specific_frame_def.scad
@@ -12,7 +12,7 @@ PenHolderInnerDiameter = 12;
 RaspberryPiBplusFrameWidth = RaspberryPiBplusLength;
 
 RaspberryPiBplusFrameDistanceBoardToMotor = 10;
-RaspberryPiBplusFrameDistanceMotorToEnd = 10;
+RaspberryPiBplusFrameDistanceMotorToEnd = 20;
 RaspberryPiBplusFrameEndWidth = MotorWidth + 10;
 
 RaspberryPiBplusFrameLenght = RaspberryPiBplusWidth + RaspberryPiBplusFrameDistanceBoardToMotor + MotorLength + RaspberryPiBplusFrameDistanceMotorToEnd;