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.gitignore

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+**__pycache__**

LICENSE

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+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
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+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
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+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
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+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
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+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
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+      same "printed page" as the copyright notice for easier
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+
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+
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+
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+
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+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -0,0 +1,56 @@
+# Basic sO101 simulation environment.
+
+![output.gif](assets/media/output.gif)
+
+Implements a SO-101 robotic arm simulaltion environment for the [EnvHub](https://huggingface.co/docs/lerobot/envhub).
+
+- Observation is a `np.ndarray.shape = 640, 480`.
+- Action is a `np.ndarray.shape = 6` where each element represents the joint control. 
+- Reward is the euclidian distance between the gripper and the red block, which it needs to minimize.
+
+
+
+## Basic usage
+
+```python
+SO101Env(
+    urdf_path=Path("assets/SO-ARM100/Simulation/SO101/scene_with_cube.xml"), 
+    width=640, 
+    height=480)
+env = gym.make(
+    "base-sO101-env-v0",
+)
+try:
+    obs, _ = env.reset()
+    for i in range(10):
+        action = env.action_space.sample()
+        obs, reward, terminated, truncated, info = env.step(action)
+        if terminated or truncated:
+            break
+finally:
+    env.close()
+
+```
+
+### Assets
+All robot files are from [SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100)
+```bib
+@software{Knight_Standard_Open_SO-100,
+    author = {Knight, Rob and Kooijmans, Pepijn and Cadene, Remi and Alibert, Simon and Aractingi, Michel and Aubakirova, Dana and Zouitine, Adil and Martino, Russi and Palma, Steven and Pascal, Caroline and Wolf, Thomas},
+    title = {{Standard Open SO-100 \& SO-101 Arms}},
+    url = {https://github.com/TheRobotStudio/SO-ARM100}
+}
+```
+
+[MuJoCo library used](https://github.com/google-deepmind/mujoco)
+```bib
+@inproceedings{todorov2012mujoco,
+  title={MuJoCo: A physics engine for model-based control},
+  author={Todorov, Emanuel and Erez, Tom and Tassa, Yuval},
+  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
+  pages={5026--5033},
+  year={2012},
+  organization={IEEE},
+  doi={10.1109/IROS.2012.6386109}
+}
+```

assets/SO-ARM100/.gitignore

@@ -0,0 +1 @@
+.DS_Store

assets/SO-ARM100/3DPRINT.md

@@ -0,0 +1,59 @@
+# 3D Printing Services
+
+There are different ways to get your parts 3D printed, below are the options and which one to choose. We will add more services once we verify them. If you tried another service please let us know so we can add it here. Additionaly SeeedStudio also sells the 3D printed parts only: [SO-ARM100 3D-Printed Enclosure](https://www.seeedstudio.com/SO-ARM100-3D-printed-Enclosure-p-6409.html).  
+
+- [Europe](#craftcloud3d) (Craftcloud3d) :fr: :de: :uk: :it: :es:
+- [US](#craftcloud3d) (Craftcloud3d) :us:
+- [China](#pcbway) (PCBWay) :cn:
+
+### [Craftcloud3d](https://craftcloud3d.com)
+**PCBWay** ships worldwide and has partners in different countries that produce the parts. This makes it flexible, although pricing can vary.
+
+To get your parts made you can go to [craftcloud3d.com](https://craftcloud3d.com/upload) and upload all files inside these two folders (25 files in total): `stl_files_for_3dprinting/Individual/Follower` and `stl_files_for_3dprinting/Individual/Leader` here:
+
+![Craftcloud3d](./media/3dprinting/craftcloud1.png)
+
+Then click `See Materials & Pricing` button, and on the next page select the material. In our case `PLA+`.
+
+![Craftcloud3d](./media/3dprinting/craftcloud2.png)
+
+Click `Select Material` button and you then have to select the finish. Here choose:
+- `Finish` = Standard 
+- `Infill` = 20% (If you don't see the infill options, wait until the price is calculated)
+
+And click `Select Finish` to move to the next page.
+
+![Craftcloud3d](./media/3dprinting/craftcloud3.png)
+
+Next choose the color, and click `See offers`.
+
+![Craftcloud3d](./media/3dprinting/craftcloud4.png)
+
+Finally choose your manufacturer. You can choose manufacturer based on price, delivery date and production location.
+
+![Craftcloud3d](./media/3dprinting/craftcloud5.png)
+
+And thats it, once the parts arrive you are ready to assemble your SO100!
+
+### [PCBWay](pcbway.com)
+**PCBWay** ships worldwide but outside of China import taxes should be paid. This makes it more expensive to order here.
+
+To get your parts made you can go to [pcbway.com](https://www.pcbway.com/rapid-prototyping/manufacture/?type=2) and upload these two files `stl_files_for_3dprinting/Leader/Print_Leader_SO_ARM100_08k_Ender.STL` and `stl_files_for_3dprinting/Follower/Print_Follower_SO_ARM100_08k_Ender.STL` here:
+
+![PCBWay](./media/3dprinting/pcb_way.png)
+
+Then select the following settings:
+- `Quantity` = 1 for both (Or more if you need more).
+- `Design Units` = mm
+- `Material` -> Custom material -> and type `PLA+`
+- `Product Desc` -> DIY Entertainment -> Robot components
+- `Other special requests` =  'FDM, 20% infill' (And you can specify the color you want)
+
+This tells PCBWay we want to use [FDM](https://www.hubs.com/knowledge-base/what-is-fdm-3d-printing/) 3D printing process with 20% infill. You don't need to change the rest of the options. And once you verified everything you can click `Submit`.
+
+![PCBWay](./media/3dprinting/pcb_way2.png)
+
+Now the parts will be verified and you will be given a final quotation with shipping costs. The pricing can vary but our experience was that the total for both a leader and a follower was around ~95,- dollars. You can have contact with PCBWay via their online portal.
+
+![PCBWay](./media/3dprinting/pcb_way3.png)
+

assets/SO-ARM100/CHANGELOG.md

@@ -0,0 +1,57 @@
+## [v0.1.13] - 2025-01-27
+- Uploaded individual step files in one folder
+
+## [v0.1.12] - 2024-10-01
+- Uploaded URDF for early draft of 7DOF SO-Arm to allow modelling to begin.
+
+## [v0.1.11] - 2024-10-01
+- Reverted Waveshare mounting design to earlier version.
+- Replaced CAD for Solidworks as zip: Version SO_5DOF_ARM100_08k
+- Replaced stl files for leader and follower arms: Version SO_5DOF_ARM100_08k
+
+## [v0.1.10] - 2024-09-30
+- 2 last bug fixes!
+- Replaced CAD for Solidworks as zip: Version SO_5DOF_ARM100_08k
+- Replaced stl files for leader and follower arms: Version SO_5DOF_ARM100_08k
+
+## [v0.1.9] - 2024-09-30
+- Replaced CAD for Solidworks as zip: Version SO_5DOF_ARM100_08k
+- Replaced stl files for leader and follower arms: Version SO_5DOF_ARM100_08k
+
+## [v0.1.8] - 2024-09-30
+- Uploaded CAD for Solidworks as zip: Version SO_5DOF_ARM100_08j
+- Both follower and leader in a single assembly.
+- Uploaded Alternative Leader Controllers with smaller sizes and sprung trigger.
+
+## [v0.1.7] - 2024-09-27
+- Added stl files for leader and follower arms: Version SO_5DOF_ARM100_08j
+- Ready-to-print trays with max print areas for Ender (218mmx218mm) and Prusa/Up (202.5mm x 247.5mm).
+
+## [v0.1.6] - 2024-09-25
+- Added URDF for SO_5DOF_ARM100_8j
+- Added link to URDF viewer at bottom of Readme
+
+## [v0.1.5] - 2024-08-06
+- Updated read.me with clearer instructions related to the new stl files.
+
+## [v0.1.4] - 2024-08-01
+- Deleted previous stl files for the arm
+- Uploaded 2 stl files arranged with all parts for follower and all parts for leader as a single tray of parts with all orientations correct.
+- Uploaded gauges for lego.
+
+## [v0.1.3] - 2024-07-18
+- Uploaded Gauge_tight_1
+
+## [v0.1.2] - 2024-07-18
+- Uploaded Gauge_0
+
+## [v0.1.1] - 2024-05-17
+- Changed filenames
+- Fix removable jaw `Tip_c`
+
+
+## [v0.1.0] - 2024-05-16
+### Changed
+- **Print_SO_ARM100_05c - Moving_Jaw_04f-1**: Updated the servo attachment faces to retain parts during assembly.
+- **Print_SO_ARM100_05c - Removable_Jaws_01e-1**: Clearances added to allow attachment lateral freedom at the end of the jaws - i.e. they can be screwed in the middle or to the sides.
+- **Print_SO_ARM100_05c - Wrist_Roll_Pitch_04c-1**: Updated the servo attachment faces to retain parts during assembly.

assets/SO-ARM100/CITATION.cff

@@ -0,0 +1,29 @@
+cff-version: 1.2.0
+date-released: 2024
+message: "If you use this hardware, please cite it as below."
+title: "Standard Open SO-100 & SO-101 Arms"
+url: "https://github.com/TheRobotStudio/SO-ARM100"
+address: "Online"
+authors:
+- family-names: "Knight"
+  given-names: "Rob"
+- family-names: "Kooijmans"
+  given-names: "Pepijn"
+- family-names: "Cadene"
+  given-names: "Remi"
+- family-names: "Alibert"
+  given-names: "Simon"
+- family-names: "Aractingi"
+  given-names: "Michel"
+- family-names: "Aubakirova"
+  given-names: "Dana"
+- family-names: "Zouitine"
+  given-names: "Adil"
+- family-names: "Martino"
+  given-names: "Russi"
+- family-names: "Palma"
+  given-names: "Steven"
+- family-names: "Pascal"
+  given-names: "Caroline"
+- family-names: Wolf
+  given-names: Thomas

assets/SO-ARM100/LICENSE

@@ -0,0 +1,201 @@
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+
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+      PARTICULAR PURPOSE. You are solely responsible for determining the
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+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
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+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
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+      of any other Contributor, and only if You agree to indemnify,
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+
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assets/SO-ARM100/Mini/Mini_SO_100_01g.3mf

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf12db70722319cc6c070642900d010012d31e880eb715e38a20dc2544f75ad
+size 596445

assets/SO-ARM100/Mini/Mini_SO_100_01g.STL

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f0c6e950161db9cc54866561bfc20fc8e382e4c57143c34642063cca8081a32
+size 2167184

assets/SO-ARM100/Mini/readme

@@ -0,0 +1,5 @@
+This is an experiment in printing the entire SO-Arm as a single piece that can then articulate once the supports are removed.
+The clearances are only 0.2mm between all parts which has proven to be ok in test pieces, but I find hard to believe will work on the whole thing.
+I shall know by tomorrow morning whether it will move after printing on a Bambu A1, with a 0.4mm brass nozzle, 0.2mm layer thickness with supports above 30degrees in light green PLA+.
+Yes, the colour of PLA effects the end result. Probably due to subtle chemical differences in the dyes but I've no clear hard evidence or research to support this guess.
+I'd welcome any feedback on different machines and settings and whether the finished print can be made to move freely with the present clearance between parts.

assets/SO-ARM100/Optional/4040_Base_Mount/README.md

@@ -0,0 +1,25 @@
+## Base Mount for 4040 Aluminum Profiles
+
+<p align="left">
+  <img src="../../media/4040_base_mount.jpg" width="300" />
+  <img src="../../media/4040_base_mount_side.jpg" width="300" />
+</p>
+
+This 3D-printed adapter allows you to securely attach your **SO-100 base** to standard **40×40 mm aluminum extrusion profiles** (8.2 mm slot width).  
+Perfect for building a sturdy, modular platform for your robotic arm.
+
+- 📦 [Download STL](./stl/4040_base_mount.stl)  
+- 📐 [Download STEP](./step/4040_base_mount.step)
+
+### 🛠 Assembly Instructions
+
+- Use **1 × M4×16 mm bolt** and **1 × M4 T-nut (8 mm slot)** to attach the adapter to the aluminum profile.  
+- Use **4 × M4×30 mm bolts** and **4 × M4 wing nuts** to secure the **SO-100 base** to the mount.  
+> The holes are 5 mm in diameter, so M5 hardware can also be used.
+
+### 🖨 Suggested Print Orientation
+
+For optimal strength, print the part in the orientation shown below.  
+> Supports are required.
+
+<img src="../../media/4040_base_mount_print_orientation.png" width="600" />

assets/SO-ARM100/Optional/4040_Base_Mount/stl/4040_base_mount.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec3c5623977073b0e9d3244d51f77d71927c65f091a14fa8071fcec73ac88ea9
+size 1484784

assets/SO-ARM100/Optional/Compliant_Gripper/README.md

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+# Compliant Gripper Guide for the SO-101 Arm
+
+<img src="https://github.com/user-attachments/assets/26de0b8c-8bd6-4651-867f-1358532e2cc6" width="500">
+
+The compliant gripper is a modification of the original rigid gripper that is printed out of a flexible material (TPU). It uses a hollowed-out design with internal ribs to flexibly conform to the objects it grasps, thereby reducing the contact force exerted on the object. This gripper is ideal for objects with difficult geometries or fragile components (e.g., fruit) as it reduces the control precision required to safely manipulate objects. 
+
+## Printing Instructions
+The demo compliant gripper was printed with a Bambu Lab printer using a flexible thermoplastic polyurethane (TPU) filament with Shore hardness of 95A. Printer settings included 20% and support generation. The supports were manually removed with flush cutters after printing concluded. 
+
+Not all printers are capable of printing with flexible filaments like TPU. Some printers may require modifications like upgraded printer heads. Printing with TPU may result in longer print times and often requires additional post-processing due to the difficulties in removing the support material. 
+
+
+## Installation Instructions (SO-101)
+No modifications to the robot assembly process or installation are required with the compliant gripper. The external geometry is identical to the original gripper, outside of the removal of some holes and the addition of the cavities/ ribs.
+
+Simply print [Compliant_Moving_Jaw_SO101.stl](stl/Compliant_Moving_Jaw_SO101.stl) and [Compliant_Wrist_Roll_Follower_SO101.stl](stl/Compliant_Wrist_Roll_Follower_SO101.stl) using TPU 95A and install as normal. 
+
+## Further details
+This design was created during the June 2025 Hugging Face LeRobot Hackathon by Zach Tabor and Caitlin Freeman from Memphis, TN. The design is loosely inspired from a common compliant gripper design that relies on the Fin Ray Effect&reg;, a concept that was popularized by Festo and used in their compliant grippers. 

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assets/SO-ARM100/Optional/Mount_Helper/README.md

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+# Helper piece to mount your so100
+
+Inserting the rectangular hollow pieces can be quite difficult.
+
+To make it easier to assemble, we propose this helper piece that will allow you to push with ease.
+
+Here's a short video of how to use it.
+
+<video src="https://github.com/user-attachments/assets/e1095e7a-b974-4ff0-b3d9-2820359dface"></video>

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assets/SO-ARM100/Optional/Overhead_Cam_Mount_32x32_UVC_Module/README.md

@@ -0,0 +1,82 @@
+# Overhead Camera (32x32 Camera Module) Installation Guide for SO-100/101
+<img height="200" src="../../media/overhead_cam_32x32_module.png" />
+<img height="400" src="../../media/overhead_cam_two_followers.png" />
+<img height="400" src="../../media/overhead_cam_one_follower.png" />
+
+## 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
+* [Overhead Camera w/ Webcam Installation Guide](../Overhead_Cam_Mount_Webcam/README.md)
+
+## Design Goals
+
+1. Ensure consistent data across SO-100 arm users through standardized camera positioning and arm spacing (for bi-manual case).
+2. Provide an overhead view of entire manipulation space.
+3. 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](https://www.amazon.com/dp/B0CLRJZG8D), but many types are available.
+- **3D-printed parts**
+    - [Arm Base](stl/arm_base.stl) (1 per follower arm)
+    - [Camera Mount Bottom](stl/cam_mount_bottom.stl) (1)
+    - [Camera Mount Middle](stl/cam_mount_middle.stl) (1)
+    - [Camera Mount Top](stl/cam_mount_top.stl) (1)
+- **M2 Screws** (16) - 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: Attach the **Camera Module** onto the **Mount Top**
+
+1. Push the **Camera Module** lens through the hole in **Camera Mount Top**.
+</br><img height="250" src="../../media/overhead_cam_step1a.jpg" /> 
+
+2. Use 4 screws to secure the **Camera Module** to the **Mount Top**.
+</br><img height="250" src="../../media/overhead_cam_step1b.jpg" /> 
+
+### Step 2: Attach the **Mount Middle** to the **Mount Top**.
+
+1. Push the **Mount Middle** into the **Mount Top**.
+2. Secure with 4 screws.
+</br><img height="250" src="../../media/overhead_cam_step2.jpg" />
+
+### Step 3: Attach the **Mount Bottom** to the **Mount Middle**.
+
+1. Push the **Mount Bottom** into the **Mount Middle**.
+2. Secure with 4 screws.
+</br><img height="250" src="../../media/overhead_cam_step3.jpg" />
+
+### Step 4: Attach the **Arm Base** to the **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 **Mount Bottom**.  (Repeat if you have 2 follower arms.)
+### Step 5: Attach the **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 **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 **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. 
+- **Common Settings**:
+    - FPS: 30
+    - Resolution: 640 x 480, or 1280 x 720 if your workspace is wider.  
+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).  Set the screen resolution wider if you need to see more of the workspace.
+
+<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 McGartoll
+- Philip Fung
+

assets/SO-ARM100/Optional/Overhead_Cam_Mount_Webcam/README.md

@@ -0,0 +1,78 @@
+# Overhead Camera (Webcam) Installation Guide for SO-100/101
+<img height="200" alt="Screenshot 2025-04-12 at 2 52 49 PM" src="../../media/overhead_cam_webcam.jpg" />
+<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**.
+
+## Related Designs
+* [Overhead Camera w/ 32x32 Camera Module](../Overhead_Cam_Mount_32x32_UVC_Module/README.md)
+
+
+## Design Goals
+
+1. Ensure consistent data across SO-100 arm users through standardized camera positioning and arm spacing (bi-manual).
+2. Provide overhead view of entire manipulation space.
+3. Support both single follower arm and double follower ("bi-manual") arm setups.
+
+
+## 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

assets/SO-ARM100/Optional/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module/README.md

@@ -0,0 +1,60 @@
+# Hex-Nut Recess Wrist Camera (MF) Installation Guide for SO-101
+
+<img width="300" src="https://github.com/user-attachments/assets/ef919565-230d-43b4-8363-feb26f23967c" />
+<img width="300" src="https://github.com/user-attachments/assets/ae01ce6a-a953-4787-b792-7a17e8091094" />
+
+## Overview
+This guide provides step-by-step instructions for installing a **Wrist Camera** (alternate "McGartoll-Fung" design) on the SO-101 robot using a **Camera Module** and a 3D-printed **Hex-Nut Recess Camera Adapter**.
+
+This adapts the [Wrist Camera (MF) UVC Module](../Wrist_Cam_Mount_32x32_UVC_Module/) and [Wrist Camera (MF) UVC Plug‑on Module](../Wrist_Cam_Mount_32x32_UVC_Module/).
+
+## Comparison to Main Design
+#### Advantages:
+- adapted to use the hex-nut recesses on the wrist of the SO-101 follower arm
+
+#### Disadvantages:
+- still requires adaption to the new camera
+- requires two screws and two nuts which are not included with the servos
+- not backwards-compatible to the SO-100
+
+## 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 Hex-Nut Recess Camera Adapter](stl/SO-ARM101_camera_wrist_mount.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** (4) - these are the smaller screws that came with your Feetech servos.
+- **M3 x 8mm Screws** (2)
+- **M3 Hex Nuts** (2)
+
+
+<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: Attach the Adapter to the Gripper
+   
+1. 3D print the **Hex-Nut Recess Camera Adapter**.
+
+2. Remove Motor 6, you can leave the [Moving Jaw](../../STL/SO101/Individual/Moving_Jaw_SO101.stl) attached.
+
+3. Insert the hex nuts into the recesses in the [Wrist Roll Element](../../STL/SO101/Individual/Wrist_Roll_Follower_SO101.stl).
+
+<img width="300" src="https://github.com/user-attachments/assets/68f34831-eeb1-4e90-83a2-4e204a94ac51" />
+
+4. Reattach Motor 6, secure it with its original M2 screws again.
+
+5. Secure the adapter with the two M3 screws.
+
+
+
+### Step 2: Install the Camera
+1. Take out the **Camera Module**.
+2. Align the 4 holes of the **Camera Module** with the **Camera Adapter**, and attach using 4 **M2 Screws**.
+
+<img width="300" src="https://github.com/user-attachments/assets/baea05ba-2865-4d41-8a53-0ca6ef2b73fe" />
+
+
+### 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.

assets/SO-ARM100/Optional/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module/stl/SO-ARM101_camera_wrist_mount.step

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assets/SO-ARM100/Optional/Springy_Trigger/Springy_Trigger.STL

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assets/SO-ARM100/Optional/Wrist_Cam_Mount_32x32_UVC_Module/README.md

@@ -0,0 +1,56 @@
+# Wrist Camera Integrated/One-Piece Installation Guide for SO-100/SO-101
+
+<img width="250" src="../../media/Wrist_Cam_Mount_32x32_UVC_module_1.jpg" /> 
+<img width="250" src="../../media/Wrist_Cam_Mount_32x32_UVC_module_2.jpg" />
+
+## Overview
+This guide provides step-by-step instructions for installing a **Wrist Camera** on the SO-100/SO-101 robots using a **Camera Module** and a 3D-printed **Jaw Replacement Part**.
+
+## Comparison to Main Design
+#### Advantages:
+- smaller
+- fewer parts
+- no additional screws/hardware needed to attach camera
+
+#### Disdvantages:
+- requires removal/replacement of existing **Wrist Roll** vs an add-on
+
+## 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 Wrist Roll Replacement ([SO-100](/Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Wrist_Cam_Mount_32x32_UVC_Module_SO100.stl), [SO-101](/Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Wrist_Cam_Mount_32x32_UVC_Module_SO101.stl)) (1)
+- **M2 Screws** (4) - 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: Replace the [Wrist Roll](../../STL/SO101/Individual/Wrist_Roll_Follower_SO101.stl) with our new one
+1. If a [Moving Jaw](../../STL/SO101/Individual/Moving_Jaw_SO101.stl) is already installed on the arm, leave it attached. Remove the gripper servo from the existing Wrist Roll piece by:
+ - unscrewing all 6 of **M3 Screws** from the front and back of the servo which attach it to the Wrist Roll piece 
+ - gently pulling the motor out
+ - unscrew the remaining 4 **M3 Screws** holding the Wrist Roll piece to the next servo
+   
+2. 3D print the **Wrist Roll Replacement**.
+
+3. Attach the **Wrist Roll Replacement** by doing the reverse of (1).
+
+
+### 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).  
+3. **Important** - 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.
+
+## Acknowledgements
+
+Design & Testing
+- Conor McGartholl
+- Philip Fung

assets/SO-ARM100/Optional/Wrist_Cam_Mount_32x32_UVC_Module/stl/Wrist_Cam_Mount_32x32_UVC_Module_SO100.stl

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assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/README.md

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+# Wrist Camera Mount for Intel® RealSense™ D405
+
+<p float="left">
+  <img src="../../media/d405_mount.jpg" width="400"/>
+  <img src="../../media/d405_mount_sample_observation.jpg" width="400" />
+</p>
+
+Use two **DIN 912 M3x6 or M3x8** screws to mount the camera to the wrist.
+
+### Suggested Print Orientation:
+<img src="../../media/d405_mount_print_orientation.jpg" width="600" />
+

assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.stl

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assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/README.md

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+# Wrist Camera Mount for Intel® RealSense™ D435/D435i
+
+<img src="../../media/d435_mount.jpg" width="600" />
+
+This 3D-printed mount lets you easily attach an Intel® RealSense™ D435 or D435i to the **SO-100 wrist** — no modifications or extra hardware required.  
+You can reuse the spare screws included with the Feetech servos.
+
+👉 [Download the STL file](stl/Wrist_cam_mount_RealSense_D435.stl)
+
+<img src="../../media/d435_mount_render.png" width="600" />
+
+### Assembly Instructions
+
+- Use **5 small screws** to attach the mount to the SO-100 wrist.  
+- Use **2 M3*6mm screws** to secure the Intel camera to the mount.
+
+
+### Camera Field of View  
+<img src="../../media/d435_mount_view.png" width="600" />
+
+> 📝 The camera is centered for **depth sensing**, but can also function with **RGB only**.
+
+
+
+### Suggested Print Orientation  
+<img src="../../media/d435_mount_print_orientation.png" width="600" />
+
+
+
+## Vinmooog  Adapter (Optional)
+
+You can also use this mount with a **Vinmooog camera** using the adapter below:
+
+👉 [Download the STL file](stl/D435_Vinmooog_adapter.stl)
+
+<img src="../../media/d435_to_vinmooog_adapter.jpg" width="600" />

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assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/README.md

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+# Wrist Camera Installation Guide for SO100
+
+## Overview
+This guide provides step-by-step instructions for installing a **wrist camera** on the SO100 robot using a **cheap webcam** and 3D-printed mounting parts.
+
+## Required Components
+### Hardware:
+- [Vinmooog Webcam](https://www.amazon.fr/Vinmooog-equipement-Microphone-Enregistrement-conf%C3%A9rences/dp/B0BG1YJWFN/)
+- **3D-printed parts:**
+  - [Modified wirst](Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Updated_Wrist_Camera_Insert.stl) (Print **1x**), not needed for SO-101
+  - [Mount](Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Webcam_Mount_Wrist.stl) (Print **1x**)
+- **Fasteners:**
+  - 3x **M3 Nut**
+  - 1x **M3x12mm bolt**
+  - 2x **M3x35mm bolts**
+
+## Assembly Instructions
+### Step 1: Print and Prepare the Gripper Mount
+1. 3D print the new **SO100 gripper with camera mount**.
+2. Insert an **M3 nut** into the dedicated slot in the 3D-printed part.
+3. Insert the **motor** into the gripper mount and attach the **gripper mechanism**.
+
+    <img src="../../media/cam_mount1.jpg" width="300" />
+
+### Step 2: Attach the Camera Mount
+1. Take the **3D-printed camera mount**.
+2. Use an **M3x12mm bolt** to secure the camera mount to the **gripper mount**, ensuring that it locks into the previously inserted **M3 nut**.
+
+### Step 3: Install the Camera
+1. Insert the **Vinmooog webcam** into the camera mount.
+2. Use **two M3x35mm bolts** to secure the camera from the back and insert the nuts in the slots.
+
+    <img src="../../media/cam_mount2.jpg" width="300" />
+

assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Updated_Wrist_Camera_Insert.stl

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assets/SO-ARM100/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.