updated one-piece wrist camera for SO-101 (#114)

* updated integrated UVC camera holder for SO-101

* updated image

* updated descriptions

* Update README.md

---------

Co-authored-by: Philip Fung <no@one>

Optional/Wrist_Cam_Mount_32x32_UVC_Module/README.md

@@ -1,9 +1,10 @@
-# Wrist Camera (MF) Installation Guide for SO-100
+# Wrist Camera Integrated/One-Piece Installation Guide for SO-100/SO-101
 
-<img height="300" src="https://github.com/user-attachments/assets/c3816e51-f116-44f0-aaf8-302b3836c210" />
+<img width="250" src="../../media/Wrist_Cam_Mount_32x32_UVC_module_1.jpg" /> 
+<img width="250" src="../../media/Wrist_Cam_Mount_32x32_UVC_module_2.jpg" />
 
 ## Overview
-This guide provides step-by-step instructions for installing a **Wrist Camera** (alternate "McGartoll-Fung" design) on the SO-100 robot using a **Camera Module** and a 3D-printed **Jaw Replacement Part**.
+This guide provides step-by-step instructions for installing a **Wrist Camera** on the SO-100/SO-101 robots using a **Camera Module** and a 3D-printed **Jaw Replacement Part**.
 
 ## Comparison to Main Design
 #### Advantages:
@@ -17,16 +18,16 @@ This guide provides step-by-step instructions for installing a **Wrist Camera**
 ## Required Components
 ### Hardware:
 - **USB Camera Module** (1) - this is the [recommended model](https://www.amazon.com/innomaker-Computer-Raspberry-Support-Windows/dp/B0CNCSFQC1/ref=pd_lpo_d_sccl_3/132-7372155-9780230?pd_rd_w=eYz4L&content-id=amzn1.sym.4c8c52db-06f8-4e42-8e56-912796f2ea6c&pf_rd_p=4c8c52db-06f8-4e42-8e56-912796f2ea6c&pf_rd_r=XC3EXZRSSXKDB1G0Z5D7&pd_rd_wg=1wTpn&pd_rd_r=932b1976-9ac7-4cef-9774-f0f9c3acb804&pd_rd_i=B0CNCSFQC1&psc=1), but any 32mm x 32mm USB camera module with min 720p / 30 fps spec will likely work
-- [3D-printed Wrist Roll Replacement](Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Camera_Holder_Alternate_MF.stl) (1)
+- 3D-printed Wrist Roll Replacement ([SO-100](/Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Wrist_Cam_Mount_32x32_UVC_Module_SO100.stl), [SO-101](/Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Wrist_Cam_Mount_32x32_UVC_Module_SO101.stl)) (1)
 - **M2 Screws** (4) - these are the smaller screws that came with your Feetech servos.
 
 
 <img height="200" alt="Screenshot 2025-03-04 at 7 43 33 PM" src="https://github.com/user-attachments/assets/18099e1d-754c-4877-871f-9113a0dff062" />
 
 ## Assembly Instructions
-### Step 1: Replace the old [Wrist Roll](../../stl_files_for_3dprinting/Individual/Follower/Print_Follower_SO_ARM100_08k_UP_Prusa%20-%20Wrist_Roll_08c-1.STL) piece with the new one
-1. If a [Moving Jaw](../../stl_files_for_3dprinting/Individual/Follower/Print_Follower_SO_ARM100_08k_UP_Prusa%20-%20Moving_Jaw_08d-1.STL) is already installed on the arm, leave it attached. Remove the gripper servo from the existing Wrist Roll piece:
- - unscrewing all 6 of **M3 Screws** from the front and back of the servo attaching it to the Wrist Roll piece 
+### Step 1: Replace the [Wrist Roll](../../STL/SO101/Individual/Wrist_Roll_Follower_SO101.stl) with our new one
+1. If a [Moving Jaw](../../STL/SO101/Individual/Moving_Jaw_SO101.stl) is already installed on the arm, leave it attached. Remove the gripper servo from the existing Wrist Roll piece by:
+ - unscrewing all 6 of **M3 Screws** from the front and back of the servo which attach it to the Wrist Roll piece 
  - gently pulling the motor out
  - unscrew the remaining 4 **M3 Screws** holding the Wrist Roll piece to the next servo
    
@@ -46,4 +47,10 @@ This guide provides step-by-step instructions for installing a **Wrist Camera**
 1. In your software, set your resolution and FPS. 
 - **Note**: You will likely want to set your resolution to *640 x 480* and FPS to *30* even if the camera module's max resolution/frame rate is higher, as most models work with lower resolutions and any higher will just be data bloat.
 2. Turn on your arm.  Look at the video feed from your newly installed camera (On Mac, you can also use *QuickTime*->*New Movie Recording* to see this feed).  
-- **Note**: The focus on the camera is manual and will look very blurry initially. Adjust the focus by twisting the lens counterclockwise or clockwise until the video feed is clear.
+3. **Important** - The focus on the camera is manual and will look very blurry initially. Adjust the focus by twisting the lens counterclockwise or clockwise until the video feed is clear.
+
+## Acknowledgements
+
+Design & Testing
+- Conor McGartholl
+- Philip Fung

README.md

@@ -189,8 +189,10 @@ Print the handy mount jig for easier alignment during assembly.
 
 <img src="media/mount_helper.png" alt="Mount Helper" width="150">
 
-#### 2. Overhead Camera Mount  
+#### 2. Overhead Camera Mount 
+
 For bird’s‑eye views in single or bi‑manual setups.  
+(SO100/101)
 
 | Webcam  | 32×32 Cam Module |
 |:---------------------:|:-------------------:|
@@ -214,10 +216,11 @@ Add touch sensing to your gripper.
 
 #### 5. Wrist‑Mount Cameras
 
-| Webcam (Vinmooog) | 32×32 UVC Module | 32×32 UVC Plug‑on | RealSense D405 | RealSense D435/D435I | 32×32 UVC Hex Nut (SO101) |
-|:---------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|:-------------------:|
-| <img src="media/cam_mount2.jpg" height="100"> | <img src="media/UVC_cam_mount.jpeg" height="100"> | <img src="media/UVC_cam_mount_plugin.jpg" height="100"> | <img src="media/d405_mount.jpg" height="100"> | <img src="media/d435_mount.jpg" height="100"> | <img src="media/UVC_cam_mount_so101.jpg" height="100"> |
-| [Instructions](Optional/Wrist_Cam_Mount_Vinmooog_Webcam) | [Instructions](Optional/Wrist_Cam_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D405) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D435) | [Instructions](Optional/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module) |
+| 32×32 UVC Hex Nut (SO101) | 32×32 UVC Integrated (SO100/101) | 32×32 UVC Plug‑on | RealSense D405 | RealSense D435/D435I | Webcam (Vinmooog) |
+| --- | --- | --- | --- | --- | --- |
+| <img src="media/UVC_cam_mount_so101.jpg" height="100"> | <img src="media/Wrist_Cam_Mount_32x32_UVC_module_1.jpg" height="100"> | <img src="media/UVC_cam_mount_plugin.jpg" height="100"> | <img src="media/d405_mount.jpg" height="100"> | <img src="media/d435_mount.jpg" height="100"> | <img src="media/cam_mount2.jpg" height="100"> |
+| [Instructions](Optional/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_32x32_UVC_Module/README.md) | [Instructions](Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D405) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D435) | [Instructions](Optional/Wrist_Cam_Mount_Vinmooog_Webcam) |
+
 
 
 #### 6. Compliant Gripper