Optional gripper camera mount integrated into wrist roll piece #76

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AtHeartEngineer · 2025-07-08T08:35:56-04:00

AtHeartEngineer commented

2025-07-08 08:35:56 -04:00

Originally created by @cmcgartoll on 3/6/2025

To start, thank you for making this amazing open-source arm! I have built two arms and trained several autonomous policies with LeRobot. I've been inspired since I helped Remi present open-source AI+Robotics at the Humanoid Summit last year.

I've designed this optional integrated gripper camera mount with the wrist roll piece so that community members do not need to purchase any extra hardware to attach these mini cameras:

I went through several iterations (with the testing help of other SO-100/LeRobot community member Philip Fung) to optimize the angle of the camera for an ideal view of the gripper:

Test Plan:

verified ideal angle of camera through printing and testing different options
printed final design for two arms and tested to train autonomous folding model Example from Philip

*Originally created by @cmcgartoll on 3/6/2025* To start, thank you for making this amazing open-source arm! I have built two arms and trained several autonomous policies with LeRobot. I've been inspired since I helped Remi present open-source AI+Robotics at the Humanoid Summit last year. I've designed this optional integrated gripper camera mount with the wrist roll piece so that community members do not need to purchase any extra hardware to attach these mini cameras: ![image](https://github.com/user-attachments/assets/b1ffac84-7a5c-48fa-aac6-a81ad09861b5) I went through several iterations (with the testing help of other SO-100/LeRobot community member Philip Fung) to optimize the angle of the camera for an ideal view of the gripper: ![image](https://github.com/user-attachments/assets/442b2e6f-a1e9-442f-ae02-2436aa774aae) Test Plan: - verified ideal angle of camera through printing and testing different options - printed final design for two arms and tested to train autonomous folding model [Example from Philip](https://x.com/philfung/status/1897060181487636659)

AtHeartEngineer closed this issue

2025-07-08 08:35:56 -04:00

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Reference: github/SO-ARM100#76