Optional overhead camera mount for single and bi-manual setups #58

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AtHeartEngineer · 2025-07-08T08:35:41-04:00

AtHeartEngineer commented

2025-07-08 08:35:41 -04:00

Originally created by @cmcgartoll on 4/13/2025

Hi! Thank you again for such an amazing open-source repo. I've been using SO-100 a lot and found that I needed a standardized overhead camera mount for both one and two-arm setups! This makes installing an overhead camera easy, as well as standardizes camera locations, and arm spacing!

I've designed a base mount that connects into the base of each SO-100 and an overhead camera:

Test Plan:

Tested several angles of the overhead camera to find the ideal field-of-view with @philfung
Here is a final demo I did of the bi-manual setup with the overhead camera: Example on my X
Printed final design and tested to ensure viewpoint captured arms and work area:

*Originally created by @cmcgartoll on 4/13/2025* Hi! Thank you again for such an amazing open-source repo. I've been using SO-100 a lot and found that I needed a standardized overhead camera mount for both one and two-arm setups! This makes installing an overhead camera easy, as well as standardizes camera locations, and arm spacing! I've designed a base mount that connects into the base of each SO-100 and an overhead camera: <img height="300" alt="Screenshot 2025-04-12 at 2 52 49 PM" src="https://github.com/user-attachments/assets/2bb2fa17-6ab2-43d5-85cd-94aaf74efac8" /> <img height="300" alt="Screenshot 2025-04-12 at 2 53 09 PM" src="https://github.com/user-attachments/assets/0e10cdcd-1af4-4d6f-941e-05306bda3876" /> Test Plan: - Tested several angles of the overhead camera to find the ideal field-of-view with @philfung - Here is a final demo I did of the bi-manual setup with the overhead camera: [Example on my X](https://x.com/cmcgartoll/status/1909803805505368535) - Printed final design and tested to ensure viewpoint captured arms and work area:</br> <img width="641" alt="Screenshot 2025-04-12 at 4 52 09 PM" src="https://github.com/user-attachments/assets/27987eb5-f61d-4b43-b586-c42f732ebdb8" />

AtHeartEngineer closed this issue

2025-07-08 08:35:41 -04:00

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Reference: github/SO-ARM100#58