From 897f646d364471b24f37b78bf8240bb40d400d6d Mon Sep 17 00:00:00 2001 From: YangCi <191190993+Yang-Ci@users.noreply.github.com> Date: Fri, 9 Oct 2026 10:44:21 +0800 Subject: [PATCH] Add V2 data collection camera mount and organize V1 assets --- README_JP.md | 6 +- README_zh.md | 6 +- hardware/camera-mounts/NOTICE.md | 10 +- hardware/camera-mounts/README.md | 65 +- hardware/camera-mounts/README_zh.md | 67 +- .../{ => V1}/mount-1-rebot-adapter.stp | 0 .../{ => V1}/mount-1-soarm-adapter.stp | 0 .../{ => V1}/mount-1.stp | 0 .../{ => V1}/mount-2-soarm-adapter.stp | 0 .../{ => V1}/mount-2.stp | 0 .../{ => V1}/mount-3-4-adapter.stp | 0 .../{ => V1}/mount-3.stp | 0 .../{ => V1}/mount-4.stp | 0 .../data-collection-camera-mount-v2.stp | 33904 ++++++++++++++++ .../data-collection-camera-mount-v2.png | Bin 0 -> 56021 bytes .../camera-mounts/tools/render_previews.py | 31 +- 16 files changed, 34026 insertions(+), 63 deletions(-) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-1-rebot-adapter.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-1-soarm-adapter.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-1.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-2-soarm-adapter.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-2.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-3-4-adapter.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-3.stp (100%) rename hardware/camera-mounts/data-collection-camera-mounts/{ => V1}/mount-4.stp (100%) create mode 100644 hardware/camera-mounts/data-collection-camera-mounts/data-collection-camera-mount-v2.stp create mode 100644 hardware/camera-mounts/images/data-collection-camera-mount-v2.png diff --git a/README_JP.md b/README_JP.md index 4521418..01a727a 100644 --- a/README_JP.md +++ b/README_JP.md @@ -263,7 +263,7 @@ reBot-DevArm は単なるロボットアームではなく、ロボティクス **🎃 プロトタイプ貢献者** -- SeeedStudio AI Robotics Team —— Yaohui Zhu（yaohui.zhu@seeed.cc） +- SeeedStudio AI Robotics Team —— Yaohui Zhu（[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc)） - SeeedStudio STU —— Wentao Dong - SeeedStudio STU —— Weiwei Xu - SeeedStudio Purchasing Department —— Fengqun Peng @@ -316,5 +316,5 @@ reBot Arm ロボットアームプロジェクトは、常に「機敏性・開 ## ☎ お問い合わせ -- **オープンソース進捗 & 技術サポート** —— Yaohui：yaohui.zhu@seeed.cc -- **今後の協業 & カスタマイズ** —— Elaine：elaine.wu@seeed.cc +- **オープンソース進捗 & 技術サポート** —— Yaohui：[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc) +- **今後の協業 & カスタマイズ** —— Elaine：[elaine.wu@seeed.cc](mailto:elaine.wu@seeed.cc) diff --git a/README_zh.md b/README_zh.md index 23463e7..c11b11b 100644 --- a/README_zh.md +++ b/README_zh.md @@ -257,7 +257,7 @@ reBot-DevArm 不仅是一个机械臂，更是一个机器人学习社区。我 **🎃 原型机贡献者** -- SeeedStudio AI Robotics Team —— Yaohui Zhu（yaohui.zhu@seeed.cc） +- SeeedStudio AI Robotics Team —— Yaohui Zhu（[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc)） - SeeedStudio STU —— Wentao Dong - SeeedStudio STU —— Weiwei Xu - SeeedStudio Purchasing Department —— Fengqun Peng @@ -310,5 +310,5 @@ reBot Arm 机械臂项目始终秉持「敏捷、开放、担当、共生」的 ## ☎ 联系我们 -- **开源进度 & 技术支持** —— 耀晖：yaohui.zhu@seeed.cc -- **未来合作 & 轻量化定制** —— Elaine：elaine.wu@seeed.cc +- **开源进度 & 技术支持** —— 耀晖：[yaohui.zhu@seeed.cc](mailto:yaohui.zhu@seeed.cc) +- **未来合作 & 轻量化定制** —— Elaine：[elaine.wu@seeed.cc](mailto:elaine.wu@seeed.cc) diff --git a/hardware/camera-mounts/NOTICE.md b/hardware/camera-mounts/NOTICE.md index 10d306a..c57e9c9 100644 --- a/hardware/camera-mounts/NOTICE.md +++ b/hardware/camera-mounts/NOTICE.md @@ -3,9 +3,17 @@ This directory consolidates public assets from the following upstream projects: - `b601-camera-mounts/` originates from [Seeed-Projects/reBot-DevArm](https://github.com/Seeed-Projects/reBot-DevArm) and is provided under CERN OHL-W-2.0. -- `data-collection-camera-mounts/` originates from [xiehuangbao888/Camera-Mount](https://github.com/xiehuangbao888/Camera-Mount). The upstream repository did not declare a license at the time these files were copied. +- The V1 numbered mounts and adapters in `data-collection-camera-mounts/V1/` originate from [xiehuangbao888/Camera-Mount](https://github.com/xiehuangbao888/Camera-Mount). The upstream repository did not declare a license at the time these files were copied. - `data-collection-environment/box.usdz` originates from [yuyoujiang/rebot-arm-dli-isaacsim](https://github.com/yuyoujiang/rebot-arm-dli-isaacsim) and is provided under MIT. See `licenses/` for the license texts that were available upstream. +## V2 data collection camera mount + +`data-collection-camera-mounts/data-collection-camera-mount-v2.stp` was supplied by Yang-Ci via [Yang-Ci/Camera-Mounts](https://github.com/Yang-Ci/Camera-Mounts) as `数据采集摄像头支架.stp`. It is the V2 aluminum extrusion support assembly with a 3D-printed camera bracket. Only the filename was translated; the original STEP bytes are preserved. This file is a separate maintainer contribution and is not attributed to the V1 upstream repository. No separate license was specified with this contribution. + +`images/data-collection-camera-mount-v2.png` is rendered directly from that assembly geometry. + This collection was imported from [Yang-Ci/Camera-Mounts](https://github.com/Yang-Ci/Camera-Mounts) at commit `409b6f17d1a1ea581dae21da50407ca1a368de5c`. The four B601 STEP files were moved from this repository’s DM parts directory after SHA-256 comparison confirmed identical contents. Third-party assets retain their respective licensing status; this directory does not assign the repository-wide CERN OHL-W-2.0 license to assets whose upstream did not declare a license. + +The V1 directory layout and V2 assembly, preview, and catalog were synchronized from the same collection at commit `a859dc8a3074b87066ac88e4ddf22b0414c095b0`. diff --git a/hardware/camera-mounts/README.md b/hardware/camera-mounts/README.md index 8737690..27b430e 100644 --- a/hardware/camera-mounts/README.md +++ b/hardware/camera-mounts/README.md @@ -9,7 +9,7 @@ Camera mount CAD files for B601 robots and data collection setups, plus a USDZ e | Collection | Assets | Format | | --- | --- | --- | | [B601 camera mounts](#b601-camera-mounts) | 4 camera mount designs | STEP (`.step`) | -| [Data collection camera mounts](#data-collection-camera-mounts) | 4 mount designs and 4 adapter parts | STEP (`.stp`) | +| [Data collection camera mounts](#data-collection-camera-mounts) | V1: 4 mount designs and 4 adapter parts; V2: 1 assembly | STEP (`.stp`) | | [Data collection environment](#data-collection-environment) | 1 box model | USDZ (`.usdz`) | The catalog below covers every CAD/model file in this repository. Camera and robot names follow the upstream filenames; dimensions, fasteners, print settings, and verified compatibility are not supplied here. Check the CAD geometry against your hardware before fabrication. @@ -66,7 +66,14 @@ Camera mount identified as UVC32 in the source filename. The model shows a camer ## Data collection camera mounts -The upstream [Camera-Mount repository](https://github.com/xiehuangbao888/Camera-Mount) supplies four numbered mounts and four associated adapter parts. The associations below are translated from the original filenames. Upstream does not include assembly instructions or photographs; completed assemblies and camera compatibility have not been verified. +Two construction versions are available: + +| Version | Construction | Files | +| --- | --- | --- | +| [V1](data-collection-camera-mounts/V1/) | 3D-printed support body and camera adapters | Four numbered mounts and four adapter parts listed below | +| [V2](#v2-aluminum-extrusion-camera-mount) | Aluminum extrusion support body with a 3D-printed camera bracket | One complete STEP assembly | + +V1 comes from the upstream [Camera-Mount repository](https://github.com/xiehuangbao888/Camera-Mount). Its four numbered mounts and four associated adapters retain the associations in the original filenames. Upstream does not include assembly instructions or photographs; completed assemblies and camera compatibility have not been verified. V2 is supplied by [Yang-Ci/Camera-Mounts](https://github.com/Yang-Ci/Camera-Mounts) and uses aluminum extrusions for the support body. ### Mount 1 @@ -82,12 +89,12 @@ The upstream [Camera-Mount repository](https://github.com/xiehuangbao888/Camera- *mount-1-soarm-adapter: preview rendered from the supplied STEP file.* -[Download mount-1.stp](data-collection-camera-mounts/mount-1.stp) +[Download mount-1.stp](data-collection-camera-mounts/V1/mount-1.stp) Camera mount design 1 has a tall, tapered support body with a stepped upper interface. Two separate adapter variants are supplied: -- [reBot adapter](data-collection-camera-mounts/mount-1-rebot-adapter.stp): a plate-shaped insert with an opening and an offset attachment section, named “mount 1 rebot insert” upstream. -- [SO-ARM adapter](data-collection-camera-mounts/mount-1-soarm-adapter.stp): an offset plate-shaped insert, named “mount 1 soarm insert” upstream. +- [reBot adapter](data-collection-camera-mounts/V1/mount-1-rebot-adapter.stp): a plate-shaped insert with an opening and an offset attachment section, named “mount 1 rebot insert” upstream. +- [SO-ARM adapter](data-collection-camera-mounts/V1/mount-1-soarm-adapter.stp): an offset plate-shaped insert, named “mount 1 soarm insert” upstream. Select the adapter corresponding to your setup and inspect the interface in CAD. The previews above show the mount and each adapter as separate CAD parts. @@ -101,9 +108,9 @@ Select the adapter corresponding to your setup and inspect the interface in CAD. *mount-2-soarm-adapter: preview rendered from the supplied STEP file.* -[Download mount-2.stp](data-collection-camera-mounts/mount-2.stp) +[Download mount-2.stp](data-collection-camera-mounts/V1/mount-2.stp) -Camera mount design 2 has a tapered support body with a different upper interface from design 1. A separate [SO-ARM adapter](data-collection-camera-mounts/mount-2-soarm-adapter.stp) is supplied, identified upstream as the mount 2 soarm insert. Inspect the two models together to determine how they connect. The previews above show the mount and its adapter as separate CAD parts. +Camera mount design 2 has a tapered support body with a different upper interface from design 1. A separate [SO-ARM adapter](data-collection-camera-mounts/V1/mount-2-soarm-adapter.stp) is supplied, identified upstream as the mount 2 soarm insert. Inspect the two models together to determine how they connect. The previews above show the mount and its adapter as separate CAD parts. ### Mount 3 @@ -115,9 +122,9 @@ Camera mount design 2 has a tapered support body with a different upper interfac *mount-3-4-adapter: preview rendered from the supplied STEP file.* -[Download mount-3.stp](data-collection-camera-mounts/mount-3.stp) +[Download mount-3.stp](data-collection-camera-mounts/V1/mount-3.stp) -Camera mount design 3 has a tapered support body and a rectangular raised section at the top. The [mount 3 / 4 adapter](data-collection-camera-mounts/mount-3-4-adapter.stp) is identified by its upstream filename as the shared insert for designs 3 and 4. The previews above show this mount and the shared adapter as separate CAD parts. +Camera mount design 3 has a tapered support body and a rectangular raised section at the top. The [mount 3 / 4 adapter](data-collection-camera-mounts/V1/mount-3-4-adapter.stp) is identified by its upstream filename as the shared insert for designs 3 and 4. The previews above show this mount and the shared adapter as separate CAD parts. ### Mount 4 @@ -125,24 +132,35 @@ Camera mount design 3 has a tapered support body and a rectangular raised sectio *mount-4: preview rendered from the supplied STEP file.* -[Download mount-4.stp](data-collection-camera-mounts/mount-4.stp) +[Download mount-4.stp](data-collection-camera-mounts/V1/mount-4.stp) + +Camera mount design 4 has a tapered support body with a broad, recessed top interface. Its associated part is the same [mount 3 / 4 adapter](data-collection-camera-mounts/V1/mount-3-4-adapter.stp). Inspect the CAD geometry to compare designs 3 and 4 before choosing one. The preview above shows the supplied CAD part. + +### V2: Aluminum extrusion camera mount + +![CAD preview: V2 data collection camera mount](images/data-collection-camera-mount-v2.png) + +*Complete assembly preview rendered from the supplied STEP geometry.* + +[Download data-collection-camera-mount-v2.stp](data-collection-camera-mounts/data-collection-camera-mount-v2.stp) -Camera mount design 4 has a tapered support body with a broad, recessed top interface. Its associated part is the same [mount 3 / 4 adapter](data-collection-camera-mounts/mount-3-4-adapter.stp). Inspect the CAD geometry to compare designs 3 and 4 before choosing one. The preview above shows the supplied CAD part. +V2 is a data collection camera mount with an aluminum extrusion support body and a 3D-printed camera bracket. V1 uses a 3D-printed support body. The supplied V2 assembly includes the support and camera mounting components together; it is an assembly CAD file, not a set of ready-to-print STL files. Inspect the assembly in CAD to identify the printed components and check the camera interface before fabrication. ### Original-to-English filename mapping -Only filenames have changed; the CAD file contents are preserved. Mount numbers and adapter associations remain traceable to upstream. +Only filenames have changed; the CAD file contents are preserved. V1 mount numbers and adapter associations remain traceable to upstream; the V2 assembly was supplied locally by the maintainer. | Original filename | English filename | | --- | --- | -| `数据采集摄像头支架_支架1.stp` | [`mount-1.stp`](data-collection-camera-mounts/mount-1.stp) | -| `数据采集摄像头支架_支架1插件rebot.stp` | [`mount-1-rebot-adapter.stp`](data-collection-camera-mounts/mount-1-rebot-adapter.stp) | -| `数据采集摄像头支架_支架1插件soarm.stp` | [`mount-1-soarm-adapter.stp`](data-collection-camera-mounts/mount-1-soarm-adapter.stp) | -| `数据采集摄像头支架_支架2.stp` | [`mount-2.stp`](data-collection-camera-mounts/mount-2.stp) | -| `数据采集摄像头支架_支架2插件soarm.stp` | [`mount-2-soarm-adapter.stp`](data-collection-camera-mounts/mount-2-soarm-adapter.stp) | -| `数据采集摄像头支架_支架3.stp` | [`mount-3.stp`](data-collection-camera-mounts/mount-3.stp) | -| `数据采集摄像头支架_支架3_4插件.stp` | [`mount-3-4-adapter.stp`](data-collection-camera-mounts/mount-3-4-adapter.stp) | -| `数据采集摄像头支架_支架4.stp` | [`mount-4.stp`](data-collection-camera-mounts/mount-4.stp) | +| `数据采集摄像头支架_支架1.stp` | [`mount-1.stp`](data-collection-camera-mounts/V1/mount-1.stp) | +| `数据采集摄像头支架_支架1插件rebot.stp` | [`mount-1-rebot-adapter.stp`](data-collection-camera-mounts/V1/mount-1-rebot-adapter.stp) | +| `数据采集摄像头支架_支架1插件soarm.stp` | [`mount-1-soarm-adapter.stp`](data-collection-camera-mounts/V1/mount-1-soarm-adapter.stp) | +| `数据采集摄像头支架_支架2.stp` | [`mount-2.stp`](data-collection-camera-mounts/V1/mount-2.stp) | +| `数据采集摄像头支架_支架2插件soarm.stp` | [`mount-2-soarm-adapter.stp`](data-collection-camera-mounts/V1/mount-2-soarm-adapter.stp) | +| `数据采集摄像头支架_支架3.stp` | [`mount-3.stp`](data-collection-camera-mounts/V1/mount-3.stp) | +| `数据采集摄像头支架_支架3_4插件.stp` | [`mount-3-4-adapter.stp`](data-collection-camera-mounts/V1/mount-3-4-adapter.stp) | +| `数据采集摄像头支架_支架4.stp` | [`mount-4.stp`](data-collection-camera-mounts/V1/mount-4.stp) | +| `数据采集摄像头支架.stp` (V2, maintainer-supplied) | [`data-collection-camera-mount-v2.stp`](data-collection-camera-mounts/data-collection-camera-mount-v2.stp) | ## Data collection environment @@ -163,16 +181,17 @@ A box model from [rebot-arm-dli-isaacsim](https://github.com/yuyoujiang/rebot-ar ## Image sources and model previews -Every model file has a preview rendered directly from its source STEP or USDZ geometry. These are model previews, not physical-product photographs. Adapter parts are shown separately; the images do not imply verified assembly or fit. +Every model file has a preview rendered directly from its source STEP or USDZ geometry. These are model previews, not physical-product photographs. V1 adapter parts are shown separately; the images do not imply verified assembly or fit. Two additional B601 reference images come from upstream: [D405.jpg](https://github.com/Seeed-Projects/reBot-DevArm/blob/main/hardware/reBot_B601_DM/3D_Printed_Parts/images/D405.jpg) and [D435i.jpg](https://github.com/Seeed-Projects/reBot-DevArm/blob/main/hardware/reBot_B601_DM/3D_Printed_Parts/images/D435i.jpg). Both are CAD renderings. -To regenerate the previews, install `cadquery`, `matplotlib`, `numpy`, and `usd-core` in a Python environment, then run `cd hardware/camera-mounts && python tools/render_previews.py` from the repository root. +To regenerate the previews, install `cadquery`, `matplotlib`, `numpy`, and `usd-core` in a Python environment, then run `cd hardware/camera-mounts && python tools/render_previews.py` from the repository root. To render only V2, run `python tools/render_previews.py data-collection-camera-mounts/data-collection-camera-mount-v2.stp` from `hardware/camera-mounts/`. ## Sources and licensing - B601 camera mounts and reference renderings: [Seeed-Projects/reBot-DevArm](https://github.com/Seeed-Projects/reBot-DevArm), CERN OHL-W-2.0. -- Data collection camera mounts: [xiehuangbao888/Camera-Mount](https://github.com/xiehuangbao888/Camera-Mount). No upstream license was declared when these assets were copied. +- V2 data collection camera mount: supplied by [Yang-Ci/Camera-Mounts](https://github.com/Yang-Ci/Camera-Mounts); see [NOTICE.md](NOTICE.md). +- V1 data collection camera mounts: [xiehuangbao888/Camera-Mount](https://github.com/xiehuangbao888/Camera-Mount). No upstream license was declared when these assets were copied. - Data collection environment: [yuyoujiang/rebot-arm-dli-isaacsim](https://github.com/yuyoujiang/rebot-arm-dli-isaacsim), MIT. See [NOTICE.md](NOTICE.md), [LICENSE](LICENSE), and [licenses/](licenses/) for details. diff --git a/hardware/camera-mounts/README_zh.md b/hardware/camera-mounts/README_zh.md index 741ba63..9e14587 100644 --- a/hardware/camera-mounts/README_zh.md +++ b/hardware/camera-mounts/README_zh.md @@ -9,10 +9,10 @@ | 分类 | 内容 | 格式 | | --- | --- | --- | | [B601 摄像头支架](#b601-摄像头支架) | 4 款摄像头支架 | STEP（`.step`） | -| [数据采集摄像头支架](#数据采集摄像头支架) | 4 款支架主体及 4 个适配件 | STEP（`.stp`） | +| [数据采集摄像头支架](#数据采集摄像头支架) | V1：4 款支架主体及 4 个适配件；V2：1 个完整装配 | STEP（`.stp`） | | [数据采集环境](#数据采集环境) | 1 个箱体模型 | USDZ（`.usdz`） | -以下介绍覆盖仓库内全部 13 个模型文件。摄像头及机械臂名称沿用上游文件中的命名；上游未提供完整尺寸说明、紧固件清单、打印参数或适配验证结果。制作前请打开 CAD 文件，结合实际设备检查安装尺寸和间隙。 +以下介绍覆盖仓库内全部 14 个模型文件。摄像头及机械臂名称沿用上游文件中的命名；上游未提供完整尺寸说明、紧固件清单、打印参数或适配验证结果。制作前请打开 CAD 文件，结合实际设备检查安装尺寸和间隙。 ## B601 摄像头支架 @@ -66,7 +66,14 @@ ## 数据采集摄像头支架 -上游 [Camera-Mount 仓库](https://github.com/xiehuangbao888/Camera-Mount) 提供 4 款编号支架和 4 个对应的适配件。以下配件对应关系根据原始文件名整理。上游没有提供装配说明或实物照片，完整装配效果及摄像头适配情况尚未验证。 +数据采集摄像头支架分为两个结构版本： + +| 版本 | 结构 | 文件 | +| --- | --- | --- | +| [V1](data-collection-camera-mounts/V1/) | 3D 打印支架主体及摄像头适配件 | 下方的 4 款编号支架和 4 个适配件 | +| [V2](#v2铝型材摄像头支架) | 铝型材主体＋3D 打印摄像头支架 | 1 个完整 STEP 装配 | + +V1 来自上游 [Camera-Mount 仓库](https://github.com/xiehuangbao888/Camera-Mount)，提供 4 款编号支架和 4 个对应的适配件，配件对应关系按原始文件名保留。上游没有提供装配说明或实物照片，完整装配效果及摄像头适配情况尚未验证。V2 由 [Yang-Ci/Camera-Mounts](https://github.com/Yang-Ci/Camera-Mounts) 提供，主体改用铝型材。 ### 支架 1 @@ -74,19 +81,19 @@ *支架 1 主体。* -[下载 mount-1.stp](data-collection-camera-mounts/mount-1.stp) +[下载 mount-1.stp](data-collection-camera-mounts/V1/mount-1.stp) 主体为较高的渐缩支撑结构，上端设有阶梯状连接接口。配套提供两个独立适配件，可根据实际机械臂选择，并在 CAD 软件中检查连接关系。 ![支架 1 reBot 适配件模型预览](images/mount-1-rebot-adapter.png) -[下载 reBot 适配件](data-collection-camera-mounts/mount-1-rebot-adapter.stp) +[下载 reBot 适配件](data-collection-camera-mounts/V1/mount-1-rebot-adapter.stp) reBot 适配件为带开口和偏置连接部分的板状零件，对应上游的“支架1插件rebot”。 ![支架 1 SO-ARM 适配件模型预览](images/mount-1-soarm-adapter.png) -[下载 SO-ARM 适配件](data-collection-camera-mounts/mount-1-soarm-adapter.stp) +[下载 SO-ARM 适配件](data-collection-camera-mounts/V1/mount-1-soarm-adapter.stp) SO-ARM 适配件为偏置板状零件，对应上游的“支架1插件soarm”。以上图片分别展示主体和配件，未进行装配验证。 @@ -94,13 +101,13 @@ SO-ARM 适配件为偏置板状零件，对应上游的“支架1插件soarm” ![支架 2 模型预览](images/mount-2.png) -[下载 mount-2.stp](data-collection-camera-mounts/mount-2.stp) +[下载 mount-2.stp](data-collection-camera-mounts/V1/mount-2.stp) 主体为渐缩支撑结构，上端连接接口与支架 1 不同。配套提供一个 SO-ARM 适配件。 ![支架 2 SO-ARM 适配件模型预览](images/mount-2-soarm-adapter.png) -[下载 SO-ARM 适配件](data-collection-camera-mounts/mount-2-soarm-adapter.stp) +[下载 SO-ARM 适配件](data-collection-camera-mounts/V1/mount-2-soarm-adapter.stp) 此配件对应上游的“支架2插件soarm”。请同时打开主体和适配件模型，检查连接方式及间隙。 @@ -108,13 +115,13 @@ SO-ARM 适配件为偏置板状零件，对应上游的“支架1插件soarm” ![支架 3 模型预览](images/mount-3.png) -[下载 mount-3.stp](data-collection-camera-mounts/mount-3.stp) +[下载 mount-3.stp](data-collection-camera-mounts/V1/mount-3.stp) 主体为渐缩支撑结构，顶部具有矩形凸起部分。根据上游文件名，支架 3 和支架 4 使用同一个适配件。 ![支架 3 / 4 共用适配件模型预览](images/mount-3-4-adapter.png) -[下载支架 3 / 4 共用适配件](data-collection-camera-mounts/mount-3-4-adapter.stp) +[下载支架 3 / 4 共用适配件](data-collection-camera-mounts/V1/mount-3-4-adapter.stp) 此配件对应上游的“支架3_4插件”。图片分别展示支架主体及共用配件。 @@ -122,24 +129,35 @@ SO-ARM 适配件为偏置板状零件，对应上游的“支架1插件soarm” ![支架 4 模型预览](images/mount-4.png) -[下载 mount-4.stp](data-collection-camera-mounts/mount-4.stp) +[下载 mount-4.stp](data-collection-camera-mounts/V1/mount-4.stp) + +主体为渐缩支撑结构，顶部具有较宽的内凹接口。对应配件为上述[支架 3 / 4 共用适配件](data-collection-camera-mounts/V1/mount-3-4-adapter.stp)。选择前可在 CAD 软件中比较支架 3 和支架 4 的接口几何。 + +### V2：铝型材摄像头支架 + +![V2 数据采集摄像头支架装配预览](images/data-collection-camera-mount-v2.png) + +*根据提供的 STEP 几何生成的完整装配预览。* + +[下载 data-collection-camera-mount-v2.stp](data-collection-camera-mounts/data-collection-camera-mount-v2.stp) -主体为渐缩支撑结构，顶部具有较宽的内凹接口。对应配件为上述[支架 3 / 4 共用适配件](data-collection-camera-mounts/mount-3-4-adapter.stp)。选择前可在 CAD 软件中比较支架 3 和支架 4 的接口几何。 +V2 为铝型材主体＋3D 打印摄像头支架的数据采集支架；V1 使用 3D 打印主体。新文件包含主体和摄像头安装部件的完整装配，是装配 CAD 文件，并非可直接打印的一组 STL。制作前请在 CAD 软件中识别需要打印的部件，并检查摄像头安装接口。 ### 中英文文件名对照 -仅修改文件名，CAD 文件内容保持不变；支架编号和配件对应关系均保留。 +仅修改文件名，CAD 文件内容保持不变；V1 支架编号和配件对应关系均保留，V2 装配由维护者本地提供。 | 原始文件名 | 英文文件名 | | --- | --- | -| `数据采集摄像头支架_支架1.stp` | [`mount-1.stp`](data-collection-camera-mounts/mount-1.stp) | -| `数据采集摄像头支架_支架1插件rebot.stp` | [`mount-1-rebot-adapter.stp`](data-collection-camera-mounts/mount-1-rebot-adapter.stp) | -| `数据采集摄像头支架_支架1插件soarm.stp` | [`mount-1-soarm-adapter.stp`](data-collection-camera-mounts/mount-1-soarm-adapter.stp) | -| `数据采集摄像头支架_支架2.stp` | [`mount-2.stp`](data-collection-camera-mounts/mount-2.stp) | -| `数据采集摄像头支架_支架2插件soarm.stp` | [`mount-2-soarm-adapter.stp`](data-collection-camera-mounts/mount-2-soarm-adapter.stp) | -| `数据采集摄像头支架_支架3.stp` | [`mount-3.stp`](data-collection-camera-mounts/mount-3.stp) | -| `数据采集摄像头支架_支架3_4插件.stp` | [`mount-3-4-adapter.stp`](data-collection-camera-mounts/mount-3-4-adapter.stp) | -| `数据采集摄像头支架_支架4.stp` | [`mount-4.stp`](data-collection-camera-mounts/mount-4.stp) | +| `数据采集摄像头支架_支架1.stp` | [`mount-1.stp`](data-collection-camera-mounts/V1/mount-1.stp) | +| `数据采集摄像头支架_支架1插件rebot.stp` | [`mount-1-rebot-adapter.stp`](data-collection-camera-mounts/V1/mount-1-rebot-adapter.stp) | +| `数据采集摄像头支架_支架1插件soarm.stp` | [`mount-1-soarm-adapter.stp`](data-collection-camera-mounts/V1/mount-1-soarm-adapter.stp) | +| `数据采集摄像头支架_支架2.stp` | [`mount-2.stp`](data-collection-camera-mounts/V1/mount-2.stp) | +| `数据采集摄像头支架_支架2插件soarm.stp` | [`mount-2-soarm-adapter.stp`](data-collection-camera-mounts/V1/mount-2-soarm-adapter.stp) | +| `数据采集摄像头支架_支架3.stp` | [`mount-3.stp`](data-collection-camera-mounts/V1/mount-3.stp) | +| `数据采集摄像头支架_支架3_4插件.stp` | [`mount-3-4-adapter.stp`](data-collection-camera-mounts/V1/mount-3-4-adapter.stp) | +| `数据采集摄像头支架_支架4.stp` | [`mount-4.stp`](data-collection-camera-mounts/V1/mount-4.stp) | +| `数据采集摄像头支架.stp`（V2，维护者提供） | [`data-collection-camera-mount-v2.stp`](data-collection-camera-mounts/data-collection-camera-mount-v2.stp) | ## 数据采集环境 @@ -160,16 +178,17 @@ SO-ARM 适配件为偏置板状零件，对应上游的“支架1插件soarm” ## 图片来源与模型预览 -全部 13 个模型文件均有直接根据原始 STEP 或 USDZ 几何生成的预览图。这些图片是模型预览，并非实物照片。适配件单独展示，图片不代表已完成装配或适配验证。 +全部 14 个模型文件均有直接根据原始 STEP 或 USDZ 几何生成的预览图。这些图片是模型预览，并非实物照片。V1 适配件单独展示，图片不代表已完成装配或适配验证。 另外两张 B601 参考图来自上游：[D405.jpg](https://github.com/Seeed-Projects/reBot-DevArm/blob/main/hardware/reBot_B601_DM/3D_Printed_Parts/images/D405.jpg) 和 [D435i.jpg](https://github.com/Seeed-Projects/reBot-DevArm/blob/main/hardware/reBot_B601_DM/3D_Printed_Parts/images/D435i.jpg)，两者也均为 CAD 渲染图。 -如需重新生成预览图，在 Python 环境中安装 `cadquery`、`matplotlib`、`numpy` 和 `usd-core`，然后在仓库根目录执行 `cd hardware/camera-mounts && python tools/render_previews.py`。 +如需重新生成预览图，在 Python 环境中安装 `cadquery`、`matplotlib`、`numpy` 和 `usd-core`，然后在仓库根目录执行 `cd hardware/camera-mounts && python tools/render_previews.py`。仅生成 V2 预览可在 `hardware/camera-mounts/` 目录执行 `python tools/render_previews.py data-collection-camera-mounts/data-collection-camera-mount-v2.stp`。 ## 资源来源与许可 - B601 摄像头支架及参考渲染图：[Seeed-Projects/reBot-DevArm](https://github.com/Seeed-Projects/reBot-DevArm)，许可为 CERN OHL-W-2.0。 -- 数据采集摄像头支架：[xiehuangbao888/Camera-Mount](https://github.com/xiehuangbao888/Camera-Mount)。复制这些资源时，上游仓库未声明许可证。 +- V2 数据采集摄像头支架：由 [Yang-Ci/Camera-Mounts](https://github.com/Yang-Ci/Camera-Mounts) 提供，详见 [NOTICE.md](NOTICE.md)。 +- V1 数据采集摄像头支架：[xiehuangbao888/Camera-Mount](https://github.com/xiehuangbao888/Camera-Mount)。复制这些资源时，上游仓库未声明许可证。 - 数据采集环境：[yuyoujiang/rebot-arm-dli-isaacsim](https://github.com/yuyoujiang/rebot-arm-dli-isaacsim)，许可为 MIT。 详情请查看 [NOTICE.md](NOTICE.md)、[LICENSE](LICENSE) 和 [licenses/](licenses/)。 diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-1-rebot-adapter.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-1-rebot-adapter.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-1-rebot-adapter.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-1-rebot-adapter.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-1-soarm-adapter.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-1-soarm-adapter.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-1-soarm-adapter.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-1-soarm-adapter.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-1.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-1.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-1.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-1.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-2-soarm-adapter.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-2-soarm-adapter.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-2-soarm-adapter.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-2-soarm-adapter.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-2.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-2.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-2.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-2.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-3-4-adapter.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-3-4-adapter.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-3-4-adapter.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-3-4-adapter.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-3.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-3.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-3.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-3.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/mount-4.stp b/hardware/camera-mounts/data-collection-camera-mounts/V1/mount-4.stp similarity index 100% rename from hardware/camera-mounts/data-collection-camera-mounts/mount-4.stp rename to hardware/camera-mounts/data-collection-camera-mounts/V1/mount-4.stp diff --git a/hardware/camera-mounts/data-collection-camera-mounts/data-collection-camera-mount-v2.stp b/hardware/camera-mounts/data-collection-camera-mounts/data-collection-camera-mount-v2.stp new file mode 100644 index 0000000..f8c460d --- /dev/null +++ b/hardware/camera-mounts/data-collection-camera-mounts/data-collection-camera-mount-v2.stp @@ -0,0 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