# Camera Mount — Arducam B0332 (OV9281)

Viewer: `.../?file=camera_mount.urdf`  ·  Generator: `gen_camera.py`

## The camera
**Arducam B0332** = OV9281 1MP **mono global-shutter** USB (UVC), M12 lens EFL 2.8, low distortion.
Global shutter = no motion blur/jello while the arm moves → good gripper cam.
- Board **38×38×1.5 mm**, sensor centered, M12×0.5 lens, JST **B4B-ZR** connector, mount holes at **34×34 & 28×28 mm**.
- Datasheet: uctronics.com/download/Amazon/B0332_OV9281_Global_Shutter_UVC_Camera_Datasheet.pdf
- CAD (login-walled): grabcad.com/library/arducam-b0332-1 — we built a dimensionally-accurate stand-in instead.

## Design
- `camera_body.stl` — board + M12 holder + lens + JST (visual stand-in).
- `camera_mount.stl` — backing plate + 4 standoffs on the **28×28 M2** pattern (camera bolts on) + a
  perpendicular foot with 2× M3 holes = **placeholder interface** to bolt onto the gripper/wrist.
- URDF has `camera_optical_frame` at the lens (Z-forward) for calibration/vision later.

## TODO
- Finalize the foot/interface once the gripper is defined.
- Lens-holder OD/height + connector are datasheet-estimated (drawing was an image) — verify against real part.