Merge branch 'main' of https://github.com/TheRobotStudio/SO-ARM100

Optional/Overhead_Cam_Mount/README.md

@@ -0,0 +1,72 @@
+# Overhead Camera Installation Guide for SO-100
+<img height="400" alt="Screenshot 2025-04-12 at 2 52 49 PM" src="https://github.com/user-attachments/assets/a652e133-8672-448d-baa0-bdd494a0a515" />
+<img height="400" alt="Screenshot 2025-04-12 at 2 53 09 PM" src="https://github.com/user-attachments/assets/050387cb-b701-47ed-bfb9-dabd29689272" />
+<img height="400" alt="Screenshot 2025-04-12 at 2 47 38 PM" src="https://github.com/user-attachments/assets/519d884d-dcb6-42a4-bff4-927858672f8b" />
+
+## Overview
+This guide provides step-by-step instructions for installing an **Overhead Camera** on the SO-100 robot using a **Web Camera** and a 3D-printed **Arm Base** and **Camera Mount**.
+
+
+## Design Goals
+
+1. Provide overhead view of entire manipulation space
+2. Support both single follower arm and double follower ("bi-manual") arm setups
+3. Ensure consistent data across SO-100 arm users through standardized camera positioning and arm spacing (bi-manual)
+
+## Required Components
+- **Web Camera** (1) - this is the [recommended model](https://www.amazon.com/dp/B082X91MPP)
+- **3D-printed parts**
+    - [Arm Base](stl/arm_base.stl) (1 per follower arm)
+    - [Camera Mount Bottom](stl/cam_mount_bottom.stl) (1)
+    - [Camera Mount Top](stl/cam_mount_top.stl) (1)
+- **M2 Screws** (8) - 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: Remove the existing base from the **Webcam**
+<img height="250" src="https://github.com/user-attachments/assets/89226328-16bf-41e2-b2e2-260352597b61" /> </br>
+Take the **Webcam** out of its package, and: 
+1. Remove the soft plastic cover from the joint.
+2. Unscrew/remove the screw in the joint.
+3. Remove the base from the camera module.
+
+
+### Step 2: Attach the **Webcam** onto the **Camera Mount Top**
+<img height="250" src="https://github.com/user-attachments/assets/051ebe6b-9548-47a0-81f7-df60a1ea5fad" /> </br>
+
+1. Push the **Webcam** into the **Camera Mount Top** by aligning the round joint holes.
+2. Place the hex bolt into the hexagon shaped-hole and screw **M2 screw** into the opposite hole of the **Camera Mount Top** round joint.
+### Step 3: Attach the **Camera Mount Top** to the **Camera Mount Bottom**.
+<img height="250" src="https://github.com/user-attachments/assets/434e4423-bf8a-4a36-95fb-d3c4283381a9" />
+
+
+1. Push the **Camera Mount Top** into the **Camera Mount Bottom** by aligning the linear joint lines on the bottom of **Camera Mount Top** with the top of the **Camera Mount Bottom**.
+2. Screw an **M2 screw** into each of the 4 holes in the linear joint.
+### Step 4: Attach the **Arm Base** to the **Camera Mount Bottom**.
+<img height="250" src="https://github.com/user-attachments/assets/732977ac-dd4a-4289-9d9c-8752c0369ff0"/></br>
+1. Push the **Arm Base** into the joint lines on the side of the **Camera Mount Bottom**.  (Repeat if you have 2 follower arms.)
+### Step 5: Attach the **SO-100 follower arm** to the **Arm Base**.
+<img height="250" src="https://github.com/user-attachments/assets/24b4c0ce-e62b-4fd6-963c-09448e7ae6f9" /></br>
+1. Align the bottom of the **SO-100 follower arm** with the top of the **Arm Base**. (Repeat if you have 2 follower arms.)
+2. If you use clamps to hold down your **SO-100 follower arm**, clamp in the same way you've done before, and it will hold down the camera mount.
+   
+### Step 6: Configure Software 
+1. In your software, add your overhead cam, including setting its 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 or wider, as most models work with lower resolutions and any higher will just be data bloat.  This camera mount was specifically designed for 640 x 480 resolution and width.
+2. Look at the video feed from your newly installed camera (On Mac, you can also use *QuickTime*->*New Movie Recording* to see this feed).  You should be able to see the workspace of the arm(s).
+
+<img height="300" alt="Screenshot 2025-04-12 at 4 48 35 PM" src="https://github.com/user-attachments/assets/a0aded4e-6abf-4d19-a514-6d4be90ebe1b" />
+<img height="300" alt="Screenshot 2025-04-12 at 4 52 09 PM" src="https://github.com/user-attachments/assets/d33287bd-0263-4a03-b7d9-54e360ef5a36" /></br>
+
+### Step 7: (Optional) Add Gripper Cameras
+<img height="250" src="https://github.com/user-attachments/assets/8e8fbf60-f62e-4d8c-8451-3ca5a864497c"/></br>
+1. For optimal training data, add [**Gripper Cameras**](../Wrist_Cam_Mount_32x32_UVC_Module) designed specifically alongside this camera mount setup.
+
+## Acknowledgements
+
+- Conor Mc Gartoll
+    - Design and R & D
+- Philip Fung
+    - R & D

Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module/README.md

@@ -0,0 +1,56 @@
+# Plug Wrist Camera (MF) Installation Guide for SO-100
+
+<img height="300" src="https://github.com/user-attachments/assets/139be1c3-d446-4304-b0f4-c90a996789d6" />
+<img height="300" src="https://github.com/user-attachments/assets/6c2f0f47-9663-4224-ac4e-220d1d71c162" />
+
+## 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 **Plug-in Camera adapter**.
+
+This an adapatation of [Wrist Camera (MF) UVC Module](../Wrist_Cam_Mount_32x32_UVC_Module/)
+
+## Comparison to Main Design
+#### Advantages:
+- smaller
+- fewer parts
+- no additional screws/hardware needed to attach camera
+- no removal/replacement of existing pieces
+- easy removal/replacement
+
+#### Disdvantages:
+- still require to adapt to new 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 Plugin camera attachment](stl/SO-ARM100_Plug_camera.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** (8) - 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: Plug the new camera module to the Gripper
+   
+2. 3D print the **Plugin camera attachment**.
+
+3. Attach the **Plugin camera attachment**.
+    1. The hole fit into the [Gripper hole](../../STEP/Follower_specific/Moving_Jaw_08d%20v1.step)
+
+4. Secure it with the M2 screws
+
+
+
+
+### Step 2: Install the Camera
+1. Take out the **Camera Module**.
+2. Align the 4 holes of the **Camera Module** with the **Moving Jaw Replacement**, and attach using 4 **M2 Screws**.
+
+<img height="300" src="https://github.com/user-attachments/assets/ea5af652-9311-44c7-8ae8-525f42cb4703" />
+
+
+### 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

@@ -103,25 +103,49 @@ Follow the [complete guide of LeRobot](https://github.com/huggingface/lerobot/bl
 It points to [our video tutorial](https://www.youtube.com/watch?v=FioA2oeFZ5I&ab_channel=HuggingFace).
 Note: we removed to auto-calibration at the end in favor of manual calibration which is more robust.
 
-## Other
+## Optional Hardware
 
-### Hardware
+#### Back Plate Motor Attachment
+You can [attach the WaveShare servo bus controller to you back plate](Optional/Backplate_ServoBus/WaveShare_Mounting_Plate.stl) (with smaller holes).
 
-**Wrist Cameras**
-| Webcam (Vinmooog) | 32x32mm UVC Module | RealSense™ D405 |
-| --- | ---| --- |
-| <img src="media/cam_mount2.jpg" height="150" > | <img height="150" src="media/UVC_cam_mount.jpeg" /> | <img src="media/d405_mount.jpg" height="150"/> |
-| [Instructions](Optional/Wrist_Cam_Mount_Vinmooog_Webcam) | [Instructions](Optional/Wrist_Cam_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D405) |
+<img height="150" src="media/backplate_motor_attachment.png" />
 
-**Mount helper**: You can print this part to make your so100 easier to assemble here: `Optional/Mount_Helper/stl/mount_helper v2.stl`
+#### Mount Helper
+Print this [mount helper](Optional/Mount_Helper/README.md) to make your SO-100 easier to assemble.
 
-**Tactile sensing**: You can find an AnySkin tactile sensor for the SO100 here: [WOWROBO](https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin)
+<img height="150" src="media/mount_helper.png" />
 
-**Raised leader base**: You can raise the base of leader arm for easier teleoperation near the ground plane by printing this extension: `Optional/Raised_Leader_Base_SO100/SO100 Leader Base Extension.stl`
+#### Overhead Camera Mount
+You can [mount an overhead camera](Optional/Overhead_Cam_Mount/README.md) for one or two (bi-manual) arm setups.
 
-- **Back plate motor attachement**: You can attach the WaveShare servo bus controller to you back plate (with smaller holes) by printing it here: `Optional/Backplate_ServoBus/WaveShare_Mounting_Plate.stl`
+<img height="150" src="https://github.com/user-attachments/assets/a652e133-8672-448d-baa0-bdd494a0a515" />
 
-### Software
+#### Raised Leader Base
+You can [raise the base of leader arm](Optional/Raised_Leader_Base_SO100/SO100%20Leader%20Base%20Extension.stl) for easier teleoperation near the ground plane.
+
+<img height="150" src="media/raised_leader_base.png" />
+
+#### Tactile Sensing
+You can find an AnySkin tactile sensor for the SO-100 at [WOWROBO](https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin).
+
+<img height="150" src="media/tactile_sensor_anyskin.png" />
+
+#### Wrist Cameras
+| Webcam (Vinmooog) | 32x32mm UVC Module | 32x32mm UVC Module (Plugin) | RealSense™ D405 |
+| --- | ---| --- | --- |
+| <img src="media/cam_mount2.jpg" height="150" > | <img height="150" src="media/UVC_cam_mount.jpeg" /> | <img height="150" src="media/UVC_cam_mount_plugin.jpg" />  | <img src="media/d405_mount.jpg" height="150"/> |
+| [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) |
+
+
+
+
+
+
+
+
+
+
+## Optional Software
 
 Check out this Handy [URDF viewer](https://gkjohnson.github.io/urdf-loaders/).