Add 32x32 wrist camera adapter for the SO-101 (#85)

* add s101 wrist camera mount 3d models

* add s101 wrist camera mount assembly instructions

* add note about optional so101 wrist camera to readme

Optional/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module/README.md

@@ -0,0 +1,60 @@
+# Hex-Nut Recess Wrist Camera (MF) Installation Guide for SO-101
+
+<img width="300" src="https://github.com/user-attachments/assets/ef919565-230d-43b4-8363-feb26f23967c" />
+<img width="300" src="https://github.com/user-attachments/assets/ae01ce6a-a953-4787-b792-7a17e8091094" />
+
+## Overview
+This guide provides step-by-step instructions for installing a **Wrist Camera** (alternate "McGartoll-Fung" design) on the SO-101 robot using a **Camera Module** and a 3D-printed **Hex-Nut Recess Camera Adapter**.
+
+This adapts the [Wrist Camera (MF) UVC Module](../Wrist_Cam_Mount_32x32_UVC_Module/) and [Wrist Camera (MF) UVC Plug‑on Module](../Wrist_Cam_Mount_32x32_UVC_Module/).
+
+## Comparison to Main Design
+#### Advantages:
+- adapted to use the hex-nut recesses on the wrist of the SO-101 follower arm
+
+#### Disadvantages:
+- still requires adaption to the new camera
+- requires two screws and two nuts which are not included with the servos
+- not backwards-compatible to the SO-100
+
+## 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 Hex-Nut Recess Camera Adapter](stl/SO-ARM101_camera_wrist_mount.stl) (1)
+   - I recommend printing it as oriented in the STL using tree supports. 40% infill is recommended to increase sturdiness and avoid wobbling
+- **M2 Screws** (4) - these are the smaller screws that came with your Feetech servos.
+- **M3 x 8mm Screws** (2)
+- **M3 Hex Nuts** (2)
+
+
+<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: Attach the Adapter to the Gripper
+   
+1. 3D print the **Hex-Nut Recess Camera Adapter**.
+
+2. Remove Motor 6, you can leave the [Moving Jaw](../../STL/SO101/Individual/Moving_Jaw_SO101.stl) attached.
+
+3. Insert the hex nuts into the recesses in the [Wrist Roll Element](../../STL/SO101/Individual/Wrist_Roll_Follower_SO101.stl).
+
+<img width="300" src="https://github.com/user-attachments/assets/68f34831-eeb1-4e90-83a2-4e204a94ac51" />
+
+4. Reattach Motor 6, secure it with its original M2 screws again.
+
+5. Secure the adapter with the two M3 screws.
+
+
+
+### Step 2: Install the Camera
+1. Take out the **Camera Module**.
+2. Align the 4 holes of the **Camera Module** with the **Camera Adapter**, and attach using 4 **M2 Screws**.
+
+<img width="300" src="https://github.com/user-attachments/assets/baea05ba-2865-4d41-8a53-0ca6ef2b73fe" />
+
+
+### Step 3: Configure Software and Adjust Focus
+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.

README.md

@@ -213,10 +213,10 @@ Add touch sensing to your gripper.
 
 #### 5. Wrist‑Mount Cameras
 
-| Webcam (Vinmooog) | 32×32 UVC Module | 32×32 UVC Plug‑on | RealSense D405 |
-|:---------------------:|:-------------------:|:-------------------:|:-------------------:|
-| <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"> |
-| [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) |
+| Webcam (Vinmooog) | 32×32 UVC Module | 32×32 UVC Plug‑on | RealSense D405 | 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/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/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module) |
 
 </details>