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+
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diff --git a/assets/SO-ARM100/Optional/4040_Base_Mount/step/4040_base_mount.step b/assets/SO-ARM100/Optional/4040_Base_Mount/step/4040_base_mount.step
new file mode 100644
index 0000000000000000000000000000000000000000..4714d86136ae8865a8d0c6024ebf723a052441f2
--- /dev/null
+++ b/assets/SO-ARM100/Optional/4040_Base_Mount/step/4040_base_mount.step
@@ -0,0 +1,5636 @@
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diff --git a/assets/SO-ARM100/Optional/4040_Base_Mount/stl/4040_base_mount.stl b/assets/SO-ARM100/Optional/4040_Base_Mount/stl/4040_base_mount.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ca672b4227929804cd117744eca65e144a387df6
--- /dev/null
+++ b/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
diff --git a/assets/SO-ARM100/Optional/Compliant_Gripper/README.md b/assets/SO-ARM100/Optional/Compliant_Gripper/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..be5da6375c219a1ba069b9fc462ee308637b7830
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Compliant_Gripper/README.md
@@ -0,0 +1,19 @@
+# Compliant Gripper Guide for the SO-101 Arm
+
+
+
+
+
+## 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.
+
+
+
+
+2. Use 4 screws to secure the **Camera Module** to the **Mount Top**.
+
+
+### Step 2: Attach the **Mount Middle** to the **Mount Top**.
+
+1. Push the **Mount Middle** into the **Mount Top**.
+2. Secure with 4 screws.
+
+
+### Step 3: Attach the **Mount Bottom** to the **Mount Middle**.
+
+1. Push the **Mount Bottom** into the **Mount Middle**.
+2. Secure with 4 screws.
+
+
+### Step 4: Attach the **Arm Base** to the **Mount Bottom**.
+
+
+
+
+## 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.
+
+
+
+ 
+ 
+
+
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.step b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.step
new file mode 100644
index 0000000000000000000000000000000000000000..4cc3ca1346d823bb5938fc81befcb6dc1bd5e2b0
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.step
@@ -0,0 +1,14857 @@
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+#126=B_SPLINE_CURVE_WITH_KNOTS('',3,(#7758,#7759,#7760,#7761,#7762,#7763,
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+#127=B_SPLINE_CURVE_WITH_KNOTS('',3,(#7828,#7829,#7830,#7831,#7832,#7833,
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+-0.030621345253753,-0.0161088644063558,-1.00000018994852E-6),
+ .UNSPECIFIED.);
+#128=B_SPLINE_CURVE_WITH_KNOTS('',3,(#7899,#7900,#7901,#7902,#7903,#7904,
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+#129=B_SPLINE_CURVE_WITH_KNOTS('',3,(#7957,#7958,#7959,#7960,#7961,#7962,
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+-0.0192145111670219,-1.00000021789565E-6),.UNSPECIFIED.);
+#130=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8016,#8017,#8018,#8019,#8020,#8021,
+#8022,#8023,#8024,#8025,#8026,#8027,#8028,#8029,#8030,#8031,#8032,#8033,
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+0.332437337666259,0.353010650550452),.UNSPECIFIED.);
+#131=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8068,#8069,#8070,#8071,#8072,#8073,
+#8074,#8075,#8076,#8077,#8078,#8079,#8080,#8081,#8082,#8083,#8084,#8085,
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+-0.0206487981980712,-1.00000023286488E-6),.UNSPECIFIED.);
+#132=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8121,#8122,#8123,#8124,#8125,#8126,
+#8127,#8128,#8129,#8130,#8131,#8132,#8133,#8134,#8135,#8136,#8137,#8138,
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+#8163,#8164,#8165,#8166,#8167,#8168,#8169),.UNSPECIFIED.,.F.,.F.,(4,3,3,
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+0.332667121425657,0.352998389901271),.UNSPECIFIED.);
+#133=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8173,#8174,#8175,#8176,#8177,#8178,
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+-0.0201662341323579,-9.99999998367689E-7),.UNSPECIFIED.);
+#134=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8226,#8227,#8228,#8229,#8230,#8231,
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+#8280,#8281,#8282,#8283,#8284,#8285,#8286),.UNSPECIFIED.,.F.,.F.,(4,3,3,
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+0.319045968765534,0.33525346881376,0.353457909048136),.UNSPECIFIED.);
+#135=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8290,#8291,#8292,#8293,#8294,#8295,
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+-0.0339121831331592,-0.0179261754891905,-9.99999997837613E-7),
+ .UNSPECIFIED.);
+#136=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8359,#8360,#8361,#8362,#8363,#8364,
+#8365,#8366,#8367,#8368,#8369,#8370,#8371,#8372,#8373,#8374,#8375,#8376,
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+#8389,#8390,#8391,#8392,#8393,#8394,#8395,#8396,#8397,#8398,#8399,#8400),
+ .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(0.0124268534268243,
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+0.285559146102281,0.302683914196281,0.322232768472775,0.329354769322444),
+ .UNSPECIFIED.);
+#137=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8404,#8405,#8406,#8407,#8408,#8409,
+#8410,#8411,#8412,#8413,#8414,#8415,#8416,#8417,#8418,#8419,#8420,#8421,
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+#8434,#8435,#8436,#8437,#8438,#8439,#8440,#8441,#8442,#8443,#8444,#8445),
+ .UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,4),(0.0124268534268256,
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+0.302683914196285,0.322232768472779,0.329354769322446),.UNSPECIFIED.);
+#138=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8465,#8466,#8467,#8468,#8469,#8470,
+#8471,#8472,#8473,#8474,#8475),.UNSPECIFIED.,.F.,.F.,(4,2,3,2,4),(-0.0374273724183317,
+-0.0282841682957886,0.,0.0282572119906732,0.0374252665545758),
+ .UNSPECIFIED.);
+#139=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8486,#8487,#8488,#8489,#8490,#8491,
+#8492,#8493,#8494,#8495,#8496),.UNSPECIFIED.,.F.,.F.,(4,2,3,2,4),(-0.0374252665545782,
+-0.0282572119906733,0.,0.0282841682957888,0.0374273724183335),
+ .UNSPECIFIED.);
+#140=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8504,#8505,#8506,#8507),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.113641072138641,0.118592945976665),
+ .UNSPECIFIED.);
+#141=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8510,#8511,#8512,#8513,#8514,#8515,
+#8516,#8517,#8518,#8519,#8520,#8521,#8522,#8523,#8524,#8525,#8526,#8527,
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+0.,0.0284064581336103,0.0568129162672206,0.085226994202931,0.113641072138641),
+ .UNSPECIFIED.);
+#142=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8537,#8538,#8539,#8540),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.11364106101491,0.118592880032143),
+ .UNSPECIFIED.);
+#143=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8543,#8544,#8545,#8546,#8547,#8548,
+#8549,#8550,#8551,#8552,#8553,#8554,#8555,#8556,#8557,#8558,#8559,#8560,
+#8561,#8562,#8563),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,3,2,2,2,4),(-0.118592945976492,
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+0.,0.0283896140963109,0.0567792281926218,0.085210144603766,0.11364106101491),
+ .UNSPECIFIED.);
+#144=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8745,#8746,#8747,#8748,#8749,#8750),
+ .UNSPECIFIED.,.F.,.F.,(4,2,4),(0.622751422049046,0.683256327633992,0.743761233218939),
+ .UNSPECIFIED.);
+#145=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8767,#8768,#8769,#8770),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.899009932470736,-0.625891931346701),
+ .UNSPECIFIED.);
+#146=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8774,#8775,#8776,#8777),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.273118001124035,0.),.UNSPECIFIED.);
+#147=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8936,#8937,#8938,#8939,#8940,#8941,
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+0.00794662216585721),.UNSPECIFIED.);
+#148=B_SPLINE_CURVE_WITH_KNOTS('',3,(#8965,#8966,#8967,#8968,#8969,#8970,
+#8971,#8972,#8973,#8974,#8975,#8976,#8977,#8978,#8979,#8980,#8981,#8982,
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+0.00794287594156529),.UNSPECIFIED.);
+#149=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9038,#9039,#9040,#9041,#9042,#9043),
+ .UNSPECIFIED.,.F.,.F.,(4,2,4),(2.92704896794702E-9,0.0198426897757653,
+0.0397201188045099),.UNSPECIFIED.);
+#150=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9045,#9046,#9047,#9048),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(7.81447453735562E-5,0.00223595530954545),
+ .UNSPECIFIED.);
+#151=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9050,#9051,#9052,#9053,#9054,#9055,
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+0.0618193700066043,0.0618802643469186,0.0619409847269901,0.0619437597390501),
+ .UNSPECIFIED.);
+#152=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9172,#9173,#9174,#9175,#9176,#9177,
+#9178,#9179,#9180,#9181,#9182,#9183,#9184,#9185,#9186,#9187,#9188,#9189,
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+#9298,#9299,#9300,#9301,#9302,#9303,#9304,#9305,#9306,#9307),
+ .UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,
+3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,4),(0.,2.87856486749468E-6,6.58647596228843E-5,
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+0.0622802101064819,0.0641294260983759,0.0642892491421748),.UNSPECIFIED.);
+#153=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9309,#9310,#9311,#9312),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.00215781056420956),.UNSPECIFIED.);
+#154=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9313,#9314,#9315,#9316,#9317,#9318),
+ .UNSPECIFIED.,.F.,.F.,(4,2,4),(1.00000060181555E-6,0.0198785286209361,
+0.039721314887721),.UNSPECIFIED.);
+#155=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9322,#9323,#9324,#9325,#9326,#9327,
+#9328,#9329,#9330,#9331,#9332,#9333,#9334,#9335,#9336,#9337,#9338,#9339,
+#9340,#9341,#9342,#9343,#9344,#9345,#9346,#9347,#9348,#9349,#9350,#9351,
+#9352,#9353,#9354,#9355,#9356,#9357,#9358,#9359,#9360,#9361,#9362,#9363,
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+#9388,#9389,#9390,#9391,#9392,#9393,#9394,#9395,#9396,#9397,#9398,#9399,
+#9400,#9401,#9402,#9403),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,
+3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,4),(0.,0.00126178550870347,0.00252357101740693,
+0.00270189429165204,0.00404351675105225,0.00521889800352048,0.00531823959795149,
+0.00540378858330408,0.00657028099315622,0.00671733486992949,0.00675473572913011,
+0.00741691451163675,0.00810568287495615,0.00811643448293458,0.00862797533635089,
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+0.0102151207370696,0.0104388435686687,0.0105643025337407,0.0107377350094884,
+0.0108075771666083),.UNSPECIFIED.);
+#156=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9405,#9406,#9407,#9408,#9409,#9410,
+#9411,#9412,#9413,#9414,#9415,#9416,#9417,#9418,#9419,#9420,#9421,#9422,
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+#9471,#9472,#9473,#9474,#9475,#9476,#9477,#9478,#9479,#9480,#9481,#9482,
+#9483),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,
+3,3,3,3,3,4),(0.,7.05677102691489E-5,0.000245801884076829,0.000471848853616189,
+0.000598611145344699,0.000682490709817016,0.000974275636558431,0.00128434939280629,
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+0.00837006429802442,0.00964495782754838,0.0109198513570723),
+ .UNSPECIFIED.);
+#157=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9488,#9489,#9490,#9491,#9492,#9493,
+#9494,#9495,#9496,#9497,#9498,#9499),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.158858590953539,-0.118474262129191,-0.079452351358644,-0.0406228886795089,
+-0.0196751196818149,-0.000741469221400701),.UNSPECIFIED.);
+#158=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9502,#9503,#9504,#9505,#9506,#9507,
+#9508,#9509,#9510,#9511,#9512,#9513),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0196425446073108,0.0405541789294509,0.079378266168992,0.118400540870699,
+0.158855794753899),.UNSPECIFIED.);
+#159=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9515,#9516,#9517,#9518,#9519,#9520,
+#9521,#9522,#9523,#9524,#9525,#9526),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0404104726354142,0.0794574233959889,0.118311376416513,0.139272971360182,
+0.158961044293024),.UNSPECIFIED.);
+#160=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9530,#9531,#9532,#9533,#9534,#9535,
+#9536,#9537,#9538,#9539,#9540,#9541),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.158223028512083,-0.139309207241888,-0.118383511563207,-0.0795321884486353,
+-0.0404829671976893,-8.27078405762904E-11),.UNSPECIFIED.);
+#161=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9545,#9546,#9547,#9548,#9549,#9550,
+#9551,#9552,#9553,#9554,#9555,#9556,#9557,#9558,#9559,#9560,#9561,#9562,
+#9563),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,4),(3.19273088988196E-10,0.00225529345998303,
+0.00480033693611046,0.00504306242694468,0.00508747172367191,0.00911650501454423,
+0.0100861248538892),.UNSPECIFIED.);
+#162=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9566,#9567,#9568,#9569,#9570,#9571,
+#9572,#9573,#9574,#9575,#9576,#9577,#9578,#9579,#9580,#9581,#9582,#9583,
+#9584),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,4),(0.,0.00402994629759185,0.00499978594302526,
+0.00504420530394785,0.00756630779624906,0.00982211205011171,0.0100884102885503),
+ .UNSPECIFIED.);
+#163=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9587,#9588,#9589,#9590,#9591,#9592,
+#9593,#9594,#9595,#9596,#9597,#9598),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0402312484220664,0.078913464571196,0.117554607313438,0.138301879925033,
+0.157815458601187),.UNSPECIFIED.);
+#164=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9602,#9603,#9604,#9605,#9606,#9607,
+#9608,#9609,#9610,#9611,#9612,#9613),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.157816436503369,-0.138335245195408,-0.117623673094683,-0.0789859385862149,
+-0.0403007594410092,0.),.UNSPECIFIED.);
+#165=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9617,#9618,#9619,#9620,#9621,#9622,
+#9623,#9624,#9625,#9626,#9627,#9628),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.157792129471294,-0.117567467156168,-0.0788904541620935,-0.0402555964090876,
+-0.0195109517820538,0.),.UNSPECIFIED.);
+#166=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9631,#9632,#9633,#9634,#9635,#9636,
+#9637,#9638,#9639,#9640,#9641,#9642),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0194779398562882,0.0401858909535944,0.0788182620471189,0.117496982218351,
+0.157792188664866),.UNSPECIFIED.);
+#167=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9645,#9646,#9647,#9648,#9649,#9650,
+#9651,#9652,#9653,#9654,#9655,#9656,#9657,#9658,#9659,#9660),
+ .UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,4),(1.67224121139099E-10,0.00439210231332126,
+0.00985393809542411,0.00989337898561004,0.0163928665065719,0.0197078761908482),
+ .UNSPECIFIED.);
+#168=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9663,#9664,#9665,#9666,#9667,#9668,
+#9669,#9670,#9671,#9672,#9673,#9674,#9675,#9676,#9677,#9678,#9679,#9680,
+#9681),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,4),(0.,0.00595310360895553,0.00981472406294556,
+0.00985416586478838,0.0147812487135686,0.0191734523258853,0.0197083315623488),
+ .UNSPECIFIED.);
+#169=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9684,#9685,#9686,#9687,#9688,#9689,
+#9690,#9691,#9692,#9693,#9694,#9695),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(1.65284884778627E-7,0.0402206706381686,0.0788847399046406,0.117514960996561,
+0.138250555364953,0.157754439082666),.UNSPECIFIED.);
+#170=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9699,#9700,#9701,#9702,#9703,#9704,
+#9705,#9706,#9707,#9708,#9709,#9710),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.157754791708961,-0.138283612328311,-0.117584215361476,-0.0789568917963134,
+-0.0402904476035974,-5.35371738052959E-8),.UNSPECIFIED.);
+#171=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9714,#9715,#9716,#9717,#9718,#9719,
+#9720,#9721,#9722,#9723,#9724,#9725),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.15773492361032,-0.117519377077837,-0.0788600518370484,-0.0402345629118807,
+-0.0195015017928555,0.),.UNSPECIFIED.);
+#172=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9728,#9729,#9730,#9731,#9732,#9733,
+#9734,#9735,#9736,#9737,#9738,#9739),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0194687892076976,0.0401656461343958,0.0787882421521554,0.117449961708667,
+0.157735456788343),.UNSPECIFIED.);
+#173=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9742,#9743,#9744,#9745,#9746,#9747,
+#9748,#9749,#9750,#9751,#9752,#9753,#9754,#9755,#9756,#9757,#9758,#9759,
+#9760,#9761,#9762,#9763,#9764,#9765,#9766,#9767,#9768,#9769,#9770,#9771,
+#9772,#9773,#9774,#9775,#9776,#9777,#9778,#9779,#9780,#9781,#9782,#9783,
+#9784,#9785,#9786,#9787),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,
+3,3,3,4),(0.,0.0049898360849885,0.00502521157653989,0.00886598421018808,
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+0.017885130662601,0.0191623324580401,0.0197996805576606,0.019959344339954),
+ .UNSPECIFIED.);
+#174=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9790,#9791,#9792,#9793,#9794,#9795,
+#9796,#9797,#9798,#9799,#9800,#9801,#9802,#9803,#9804,#9805,#9806,#9807,
+#9808,#9809,#9810,#9811,#9812,#9813,#9814,#9815,#9816,#9817,#9818,#9819,
+#9820,#9821,#9822,#9823,#9824,#9825,#9826,#9827,#9828,#9829,#9830,#9831,
+#9832,#9833,#9834,#9835),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,
+3,3,3,4),(0.,0.00015939571992645,0.000795673764420607,0.00207073124291826,
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+0.0137972412776245,0.0149090595807617,0.014944375679764,0.0199258342396853),
+ .UNSPECIFIED.);
+#175=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9838,#9839,#9840,#9841,#9842,#9843,
+#9844,#9845,#9846,#9847,#9848,#9849),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.162226411436531,-0.121506493897168,-0.0812297016758149,-0.0416016823795368,
+-0.0201039358579898,-0.00171188421475482),.UNSPECIFIED.);
+#176=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9852,#9853,#9854,#9855,#9856,#9857,
+#9858,#9859,#9860,#9861,#9862,#9863),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0200314536537565,0.04145008778009,0.081045795489447,0.121291949122789,
+0.162003412980647),.UNSPECIFIED.);
+#177=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9865,#9866,#9867,#9868,#9869,#9870,
+#9871,#9872,#9873,#9874,#9875,#9876),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(0.,0.0407213513901244,0.0810508012138233,0.120733733943955,0.142229317304048,
+0.162331250580483),.UNSPECIFIED.);
+#178=B_SPLINE_CURVE_WITH_KNOTS('',3,(#9879,#9880,#9881,#9882,#9883,#9884,
+#9885,#9886,#9887,#9888,#9889,#9890),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,2,4),
+(-0.160866037083813,-0.142464935448459,-0.120955155394308,-0.0812479554424749,
+-0.0408851586809673,-3.56436494097778E-7),.UNSPECIFIED.);
+#179=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10047,#10048,#10049,#10050,#10051,
+#10052,#10053,#10054,#10055,#10056),.UNSPECIFIED.,.F.,.F.,(4,2,2,2,4),(-0.913061627723313,
+-0.802787729837637,-0.687404735865803,-0.571484220905088,-0.453984732933686),
+ .UNSPECIFIED.);
+#180=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10250,#10251,#10252,#10253,#10254,
+#10255,#10256,#10257,#10258,#10259,#10260,#10261,#10262,#10263,#10264,#10265,
+#10266,#10267,#10268,#10269,#10270,#10271,#10272),.UNSPECIFIED.,.F.,.F.,
+(4,2,2,3,2,2,2,2,2,2,4),(1.20315650226872,1.2096651500381,1.22321618271871,
+1.22449900337244,1.23777599476715,1.2570138761327,1.29978269805686,1.36246905206255,
+1.44321982133207,1.509320817771,1.54256545703307),.UNSPECIFIED.);
+#181=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10277,#10278,#10279,#10280,#10281,
+#10282),.UNSPECIFIED.,.F.,.F.,(4,2,4),(-0.326770231256379,-0.232238472835211,
+-0.136271673462095),.UNSPECIFIED.);
+#182=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10284,#10285,#10286,#10287,#10288,
+#10289),.UNSPECIFIED.,.F.,.F.,(4,2,4),(-1.36253455454061,-1.24508062815044,
+-1.18452616473644),.UNSPECIFIED.);
+#183=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10315,#10316,#10317,#10318,#10319,
+#10320),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.621821118483292,0.689558661195223,
+0.757296203907155),.UNSPECIFIED.);
+#184=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10357,#10358,#10359,#10360,#10361,
+#10362,#10363,#10364,#10365,#10366,#10367,#10368,#10369,#10370,#10371,#10372,
+#10373,#10374,#10375,#10376,#10377,#10378,#10379,#10380,#10381,#10382,#10383,
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+#10505,#10506,#10507),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,3,
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+0.0106442162409286,0.0116755948350074,0.0124763110862941),.UNSPECIFIED.);
+#185=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10509,#10510,#10511,#10512),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.00741386967906599),.UNSPECIFIED.);
+#186=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10513,#10514,#10515,#10516,#10517,
+#10518),.UNSPECIFIED.,.F.,.F.,(4,2,4),(2.58014495512406E-9,0.00504219352575951,
+0.010084387051519),.UNSPECIFIED.);
+#187=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10519,#10520,#10521,#10522,#10523,
+#10524),.UNSPECIFIED.,.F.,.F.,(4,2,4),(2.45801974744763E-10,0.00985391446267309,
+0.0197078289253462),.UNSPECIFIED.);
+#188=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10525,#10526,#10527,#10528,#10529,
+#10530,#10531,#10532,#10533,#10534,#10535,#10536,#10537,#10538,#10539,#10540,
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+#10585,#10586,#10587,#10588,#10589,#10590,#10591),.UNSPECIFIED.,.F.,.F.,
+(4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,4),(0.,0.00366396723553783,
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+0.0173046091514679,0.0174220562299999,0.0175238372319916,0.0176180742364347,
+0.0182699791544446,0.018853875906848,0.0194713807941413,0.0197754754451357,
+0.0199737808275408),.UNSPECIFIED.);
+#189=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10593,#10594,#10595,#10596),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.0171126309277695),.UNSPECIFIED.);
+#190=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10599,#10600,#10601,#10602,#10603,
+#10604,#10605,#10606,#10607,#10608,#10609,#10610,#10611,#10612,#10613,#10614,
+#10615,#10616,#10617,#10618,#10619,#10620,#10621,#10622,#10623,#10624,#10625,
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+#10648,#10649,#10650,#10651),.UNSPECIFIED.,.F.,.F.,(4,2,1,2,2,2,2,2,2,2,
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+#191=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10653,#10654,#10655,#10656,#10657,
+#10658),.UNSPECIFIED.,.F.,.F.,(4,2,4),(9.99999999931909E-7,0.0387076961617581,
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+#192=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10659,#10660,#10661,#10662,#10663,
+#10664),.UNSPECIFIED.,.F.,.F.,(4,2,4),(9.99999997230218E-7,0.0387500583127983,
+0.0774992024066093),.UNSPECIFIED.);
+#193=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10669,#10670,#10671,#10672),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(6.93889390390723E-18,0.000766840222449741),
+ .UNSPECIFIED.);
+#194=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10673,#10674,#10675,#10676),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.000766866373899887),.UNSPECIFIED.);
+#195=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10678,#10679,#10680,#10681),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.000766828651194355),.UNSPECIFIED.);
+#196=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10682,#10683,#10684,#10685),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(3.46944695195361E-18,0.000766806464250715),
+ .UNSPECIFIED.);
+#197=B_SPLINE_CURVE_WITH_KNOTS('',2,(#10696,#10697,#10698),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(8.78733539682827E-7,0.81433870569545),
+ .UNSPECIFIED.);
+#198=B_SPLINE_CURVE_WITH_KNOTS('',2,(#10714,#10715,#10716),
+ .UNSPECIFIED.,.F.,.F.,(3,3),(-0.814338705684504,-8.78733540797198E-7),
+ .UNSPECIFIED.);
+#199=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10730,#10731,#10732,#10733,#10734,
+#10735,#10736,#10737,#10738,#10739,#10740,#10741,#10742,#10743,#10744,#10745,
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+(4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,4),(-6.00000000028807E-8,0.000179149895061912,
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+0.0126947637142093,0.0140929272874599,0.0150193426345872,0.0185449186018391,
+0.0199285851945959),.UNSPECIFIED.);
+#200=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10797,#10798,#10799,#10800,#10801,
+#10802),.UNSPECIFIED.,.F.,.F.,(4,2,4),(0.,0.00985412931854495,0.0197082583912826),
+ .UNSPECIFIED.);
+#201=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10804,#10805,#10806,#10807,#10808,
+#10809),.UNSPECIFIED.,.F.,.F.,(4,2,4),(1.39857877853494E-17,0.00504311983354437,
+0.0100862370864698),.UNSPECIFIED.);
+#202=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10810,#10811,#10812,#10813),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.00741386969761626,0.),.UNSPECIFIED.);
+#203=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10814,#10815,#10816,#10817,#10818,
+#10819,#10820,#10821,#10822,#10823,#10824,#10825,#10826,#10827,#10828,#10829,
+#10830,#10831,#10832,#10833,#10834,#10835,#10836,#10837,#10838,#10839,#10840,
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+#10951,#10952,#10953,#10954,#10955,#10956,#10957,#10958,#10959,#10960,#10961,
+#10962,#10963,#10964),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,3,
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+0.0123680696635242,0.0123787993379648,0.0123801508781559),.UNSPECIFIED.);
+#204=B_SPLINE_CURVE_WITH_KNOTS('',3,(#10965,#10966,#10967,#10968,#10969,
+#10970,#10971,#10972,#10973,#10974,#10975,#10976,#10977,#10978,#10979,#10980,
+#10981,#10982,#10983,#10984,#10985,#10986,#10987,#10988,#10989,#10990,#10991,
+#10992,#10993,#10994,#10995,#10996,#10997,#10998,#10999,#11000,#11001,#11002,
+#11003,#11004,#11005,#11006,#11007,#11008),.UNSPECIFIED.,.F.,.F.,(4,2,2,
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+0.0015720725091489,0.0020961166788652,0.00314420501829779,0.00419229335773038,
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+0.0628852403659557,0.0649814170448209,0.0660295053842535,0.0670775937236861),
+ .UNSPECIFIED.);
+#205=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11009,#11010,#11011,#11012),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(-0.0171126309155526,0.),.UNSPECIFIED.);
+#206=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11014,#11015,#11016,#11017,#11018,
+#11019),.UNSPECIFIED.,.F.,.F.,(4,2,4),(9.99999998356121E-7,0.038707696162063,
+0.0774144686538295),.UNSPECIFIED.);
+#207=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11020,#11021,#11022,#11023,#11024,
+#11025),.UNSPECIFIED.,.F.,.F.,(4,2,4),(9.99999999302858E-7,0.0387500583128006,
+0.0774992024063919),.UNSPECIFIED.);
+#208=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11030,#11031,#11032,#11033),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.000766840222449798),.UNSPECIFIED.);
+#209=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11034,#11035,#11036,#11037),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.000766866373899931),.UNSPECIFIED.);
+#210=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11039,#11040,#11041,#11042),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(0.,0.000766828651194359),.UNSPECIFIED.);
+#211=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11043,#11044,#11045,#11046),
+ .UNSPECIFIED.,.F.,.F.,(4,4),(3.46944695195361E-18,0.000766806464250727),
+ .UNSPECIFIED.);
+#212=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11148,#11149,#11150,#11151,#11152,
+#11153,#11154,#11155,#11156,#11157,#11158,#11159,#11160,#11161,#11162,#11163,
+#11164,#11165,#11166,#11167,#11168,#11169,#11170,#11171,#11172,#11173,#11174,
+#11175,#11176,#11177,#11178,#11179,#11180,#11181,#11182,#11183,#11184,#11185,
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+#11197,#11198,#11199,#11200,#11201,#11202,#11203,#11204,#11205,#11206,#11207,
+#11208,#11209,#11210,#11211),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,
+3,3,3,3,3,3,3,3,3,3,3,4),(0.,0.000524187425388953,0.00106661528417902,0.00164284407950125,
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+0.00734665630147841,0.00759455402335595),.UNSPECIFIED.);
+#213=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11214,#11215,#11216,#11217,#11218,
+#11219,#11220,#11221,#11222,#11223,#11224,#11225,#11226,#11227,#11228,#11229,
+#11230,#11231,#11232,#11233,#11234,#11235,#11236,#11237,#11238,#11239,#11240,
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+#11263,#11264,#11265,#11266,#11267,#11268,#11269,#11270,#11271,#11272,#11273,
+#11274,#11275,#11276,#11277),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,
+3,3,3,3,3,3,3,3,3,3,3,4),(0.,0.000546353153368374,0.0011053676660604,0.00168558363956843,
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+0.00713144686641076,0.00759296409119599),.UNSPECIFIED.);
+#214=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11284,#11285,#11286,#11287,#11288,
+#11289,#11290,#11291,#11292,#11293,#11294,#11295,#11296,#11297,#11298,#11299,
+#11300,#11301,#11302,#11303,#11304,#11305,#11306,#11307,#11308,#11309,#11310,
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+#11333,#11334,#11335,#11336,#11337,#11338,#11339,#11340,#11341,#11342,#11343,
+#11344),.UNSPECIFIED.,.F.,.F.,(4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,
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+0.0067470991121379,0.0075196254454497,0.00828099783229788,0.0089961321495172),
+ .UNSPECIFIED.);
+#215=B_SPLINE_CURVE_WITH_KNOTS('',3,(#11355,#11356,#11357,#11358,#11359,
+#11360,#11361,#11362,#11363,#11364,#11365,#11366,#11367,#11368,#11369,#11370,
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+#11404,#11405,#11406,#11407,#11408,#11409,#11410,#11411,#11412,#11413,#11414,
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diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.stl b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.stl
new file mode 100644
index 0000000000000000000000000000000000000000..603f31c711ff00008ae0c9f6b3b10c24394d8fcf
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D405/Wrist_Roll_D405_Holder.stl
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diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/README.md b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..03143f0c4aa93fe7a6f05560d6d3f8f392c0141d
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/README.md
@@ -0,0 +1,36 @@
+# Wrist Camera Mount for Intel® RealSense™ D435/D435i
+
+
+
+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)
+
+
+
+### 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
+
+
+> 📝 The camera is centered for **depth sensing**, but can also function with **RGB only**.
+
+
+
+### Suggested Print Orientation
+
+
+
+
+## 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)
+
+
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/stl/D435_Vinmooog_adapter.stl b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/stl/D435_Vinmooog_adapter.stl
new file mode 100644
index 0000000000000000000000000000000000000000..3a48f812b7137055fa1037bbb510b750108fd7e5
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/stl/D435_Vinmooog_adapter.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d6483e1fd49e5e334bc4bfe52bb2508d1accd8fea51000164666db81f7e88ee
+size 333584
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/stl/Wrist_cam_mount_RealSense_D435.stl b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/stl/Wrist_cam_mount_RealSense_D435.stl
new file mode 100644
index 0000000000000000000000000000000000000000..d67a95177765b6690be1b13cf2b72d718a82bb83
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_RealSense_D435/stl/Wrist_cam_mount_RealSense_D435.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfaeb5ccd510e99cd718ecb59a25a1660318db0b403911f363fe5aea0685daed
+size 431084
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/README.md b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6916bd6b87a9f8ffcf0aee37ebf8b988381dca5a
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/README.md
@@ -0,0 +1,34 @@
+# 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**.
+
+ 
+
+### 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.
+
+ 
+
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Updated_Wrist_Camera_Insert.stl b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Updated_Wrist_Camera_Insert.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b10e5a6a24473d667a50a1abe06cd2d6866f97dd
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Updated_Wrist_Camera_Insert.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d1843207160aeb5c81680367785d207b1d4e0e73456f6314212f39f82a2c56
+size 733084
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Webcam_Mount_Wrist.stl b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Webcam_Mount_Wrist.stl
new file mode 100644
index 0000000000000000000000000000000000000000..c658ba1e3c00a2bd9ec3124b928b59d86a67ca80
--- /dev/null
+++ b/assets/SO-ARM100/Optional/Wrist_Cam_Mount_Vinmooog_Webcam/stl/Webcam_Mount_Wrist.stl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec651b10feb3fb35bdf856237e9bb39199485dc54fb6eb296a10403a665e74de
+size 150484
diff --git a/assets/SO-ARM100/Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module/README.md b/assets/SO-ARM100/Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..3ec98a2556d688b28e9ae675f2f9accd67cb1bab
--- /dev/null
+++ b/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
+
+
+ 
+Build Your Own SO-101 Robot!
+ + +The SO‑101 is the next‑generation version of the SO‑100 robot arm, originally designed by the [RobotStudio](https://www.therobotstudio.com) in collaboration with [Hugging Face](https://huggingface.co/lerobot). It has improved wiring, is easier to assemble (no gear removal) and uses updated motors for the leader arm. + +These arms are designed to work seamlessly with the open‑source 🤗 LeRobot library. Join our community on [Discord](https://discord.gg/ggrqhPTsMe) to collaborate on both hardware and software, and help make end‑to‑end AI for robotics more accessible. + +
+
+#### 2. Overhead Camera Mount
+
+For bird’s‑eye views in single or bi‑manual setups.
+(SO100/101)
+
+| Webcam | 32×32 Cam Module |
+|:---------------------:|:-------------------:|
+
+| [Instructions](Optional/Overhead_Cam_Mount_Webcam/README.md) | [Instructions](Optional/Overhead_Cam_Mount_32x32_UVC_Module/README.md)
+
+#### 3. Base Mounts
+
+| Raised Leader Base | 4040 Aluminum Profile Mount |
+|:-------------------:|:---------------------------:|
+
| 
+[Download STL](Optional/Raised_Base/Raised_Base_Extension.stl) | [Instructions](Optional/4040_Base_Mount/README.md)
+
+#### 4. Tactile Sensing (AnySkin)
+Add touch sensing to your gripper.
+
+[→ Find on WOWROBO](https://shop.wowrobo.com/products/enhanced-anyskin-premium-crafted-editionwowskin)
+
+
+
+
+#### 5. Wrist‑Mount Cameras
+
+| 32×32 UVC Hex Nut (SO101) | 32×32 UVC Integrated (SO100/101) | 32×32 UVC Plug‑on | RealSense D405 | RealSense D435/D435I | Webcam (Vinmooog) |
+| --- | --- | --- | --- | --- | --- |
+| 
| 
| 
| 
| 
| 
|
+| [Instructions](Optional/SO101_Wrist_Cam_Hex-Nut_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_32x32_UVC_Module/README.md) | [Instructions](Optional/Wrist_Cam_Plug_Mount_32x32_UVC_Module) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D405) | [Instructions](Optional/Wrist_Cam_Mount_RealSense_D435) | [Instructions](Optional/Wrist_Cam_Mount_Vinmooog_Webcam) |
+
+
+
+#### 6. Compliant Gripper
+Add some flexibility to your gripper by downloading the compliant gripper parts and printing them using a flexible filament like TPU 95A.
+
+[→ View README](Optional/Compliant_Gripper/README.md).
+
+
+