SO-ARM100/Optional/Overhead_Cam_Mount/README.md

Overhead Camera Installation Guide for SO-100

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
• 3D-printed parts
  • Arm Base (1 per follower arm)
  • Camera Mount Bottom (1)
  • Camera Mount Top (1)
• M2 Screws (8) - these are the smaller screws that came with your Feetech servos.

Assembly Instructions

Step 1: Remove the existing base from the Webcam

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

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.

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.

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.

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).

Step 7: (Optional) Add Gripper Cameras

1. For optimal training data, add Gripper Cameras designed specifically alongside this camera mount setup.

Acknowledgements

• Conor Mc Gartoll
  • Design and R & D
• Philip Fung
  • R & D