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* two overhead cam projects, one for webcam and one for 32x32 cam module * minor fix * fix for @pkooij comment (i can't actually see his comment, but from where pkooij's link goes to i figure it has to do with making sure the "Optional Hardware" section is collapsed by default in README, so made that change) --------- Co-authored-by: Philip Fung <no@one>
4.2 KiB
4.2 KiB
Overhead Camera (32x32 Camera Module) Installation Guide for SO-100/101
Overview
This guide provides step-by-step instructions for installing an Overhead Camera on the SO-100/101 robot using a 32x32 Camera Module and a 3D-printed Arm Base and Camera Mount.
Related Designs
Design Goals
- Ensure consistent data across SO-100 arm users through standardized camera positioning and arm spacing (for bi-manual case).
- Provide an overhead view of entire manipulation space.
- Support both single follower arm and double follower ("bi-manual") arm setups.
Required Components
- Camera Module (1) - A 32mm x 32mm camera module. This is the tested / recommended model, but many types are available.
- 3D-printed parts
- Arm Base (1 per follower arm)
- Camera Mount Bottom (1)
- Camera Mount Middle (1)
- Camera Mount Top (1)
- M2 Screws (16) - these are the smaller screws that came with your Feetech servos.
Assembly Instructions
Step 1: Attach the Camera Module onto the Mount Top
-
Push the Camera Module lens through the hole in Camera Mount Top.
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Use 4 screws to secure the Camera Module to the Mount Top.
Step 2: Attach the Mount Middle to the Mount Top.
- Push the Mount Middle into the Mount Top.
- Secure with 4 screws.
Step 3: Attach the Mount Bottom to the Mount Middle.
- Push the Mount Bottom into the Mount Middle.
- Secure with 4 screws.
Step 4: Attach the Arm Base to the Mount Bottom.
- Push the Arm Base into the joint lines on the side of the Mount Bottom. (Repeat if you have 2 follower arms.)
Step 5: Attach the Follower arm to the Arm Base.
- Align the bottom of the Follower arm with the top of the Arm Base. (Repeat if you have 2 follower arms.)
- If you use clamps to hold down your Follower arm, clamp in the same way you've done before, and it will hold down the camera mount.
Step 6: Configure Software
- In your software, add your overhead cam, including setting its resolution and FPS.
- Common Settings:
- FPS: 30
- Resolution: 640 x 480, or 1280 x 720 if your workspace is wider.
- 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). Set the screen resolution wider if you need to see more of the workspace.
Step 7: (Optional) Add Gripper Cameras
- For optimal training data, add Gripper Cameras designed specifically alongside this camera mount setup.
Acknowledgements
- Conor McGartoll
- Philip Fung