Building a robotics research setup that lives next to my desk

Quick framing, since the post is long: I did robotic manipulation research at OpenAI from 2017–2020, and the tabletop setup back then cost roughly 10x this one and took a team to run. This project is me testing whether a single person can now do meaningful work on the same class of problems: starting with physical and software setup.A few decisions I'm least settled on, and would love some pushback/feedback on:- single arm vs. bimanual (I went single for cost/space, knowing it rules out things l...