Updated assembly and minor tweaks to readme and 3d print guide

Author: bchandaka

3DPrintMeshes/lipo_battery_mount.stl 3DPrintMeshes/battery_mount.stl3DPrintMeshes/lipo_battery_mount.stl renamed to 3DPrintMeshes/battery_mount.stl

@@ -11,7 +11,7 @@ We provide ready-to-print STL files for the 3D-printed parts below. These can be
 | [Base plate Top](/3DPrintMeshes/base_plate_layer2.stl) | 1 | |
 | [Base plate Bottom](/3DPrintMeshes/base_plate_layer1.stl) | 1 | |
 | [Drive motor mount](/3DPrintMeshes/drive_motor_mount.stl) | 3 | |
-| [Omni wheel mount](/3DPrintMeshes/omni_wheel_mount.stl) | 3 | <sup>[1](#footnote1)</sup> |
+| [Servo wheel mount](/3DPrintMeshes/servo_wheel_hub.stl) | 3 | <sup>[1](#footnote1)</sup> |
 | [Servo controller mount](/3DPrintMeshes/servo_controller_mount.stl) | 1 | |
 | [Battery mount](/3DPrintMeshes/battery_mount.stl) | 1 | |
 | [RasPi case Top](/3DPrintMeshes/pi_case_top.stl) | 1 | <sup>[2](#footnote2)</sup> |

3DPrintMeshes/omni_wheel_mount.stl 3DPrintMeshes/servo_wheel_hub.stl3DPrintMeshes/omni_wheel_mount.stl renamed to 3DPrintMeshes/servo_wheel_hub.stl

@@ -1,26 +1,72 @@
 # Assembly
-> **Estimated time:** <span style="color:red">X</span> days
+> **Estimated time:** 2 hours
+
+*Exact component placements can be visualized in the [Fusion360 Online CAD](https://a360.co/4k1P8yO)*
+*We assume you already have a [SO-100 Arm](https://github.com/TheRobotStudio/SO-ARM100) built*
 ### 1. Assemble Wheel Modules (3 per robot)
-1. Insert m3 nuts into the hex slots on the drive motor mount
-2. Install the feetech motors to the drive motor mount using the servo mounting screws
-3. Attach onto the base plate using and 2 m3x12mm screw
-4. Attach the wheel hub to the omniwheel using 2 m4x12 screws
-5. Screw the wheel hub + omniwheel onto the servo horn
-With all 3 modules attached to the base, it should look like this:
+
+1. Insert m3 nuts into the hex slots on the drive motor mount.
+
+    <img src="media/assembly_imgs/IMG_1913.jpg" width="300" />
+
+2. Attach a feetech motor to the drive motor mount using 4 m2x5 tap screws. Also use 1 m3x6 machine screw to secure the servo horn to the motor.
+
+    <img src="media/assembly_imgs/IMG_1914.jpg" width="300" />
+
+3. Screw the drive motor mount onto the bottom base plate using 2 m3x12 machine screws.
+
+    <img src="media/assembly_imgs/IMG_1916.jpg" width="300" />
+
+4. Attach the wheel hub to the omniwheel using 2 m4x12 machine screws.
+
+    <img src="media/assembly_imgs/IMG_1915.jpg" width="300" />
+
+5. Screw the wheel hub onto the servo horn using 2 m3x16 machine screws.
+
+    <img src="media/assembly_imgs/IMG_1917.jpg" width="300" /> <img src="media/assembly_imgs/IMG_1919.jpg" width="300" />
+
+With all 3 modules attached to the bottom base plate:
+
+ <img src="media/assembly_imgs/IMG_1920.jpg" width="300" />  <img src="media/assembly_imgs/IMG_1921.jpg" width="300" />
 
 ### 2. Bottom Plate Assembly
-1. Insert m3 nuts into the mounts for the servo driver, battery and screw onto the base plate with m3x12 screws
-3. Screw on 12v to 5v converter
-4. Add the servo driver and attach the wires to the 3 drive servos 
-5. Use the lever connectors to connect the battery to the 12v->5v converter and the dc plug adapter
+1. Insert m3 nuts into the mounts for the servo controller and battery mounts. Screw both onto the bottom base plate with 4 m3x12 machine screws.
+
+    <img src="media/assembly_imgs/IMG_1922.jpg" width="300" /> <img src="media/assembly_imgs/IMG_1926.jpg" width="300" />
+2. Add the servo driver and attach the wires to the 3 drive servos.
+
+    <img src="media/assembly_imgs/IMG_1927.jpg" width="300" />
+3. Use the wago lever connectors to connect the ground and power battery wire leads to the leads of the 12v->5v converter and the dc barrel plug adapter. Screw on the 12v to 5v converter to the bottom base plate with 2 m3x16 machine screws and 2 m3 nuts.
+
+    <img src="media/assembly_imgs/IMG_1925.jpg" width="300" /> <img src="media/assembly_imgs/IMG_1928.jpg" width="300" />
+
 ### 3. Top plate Assembly
-1. Mount raspberry pi 5 bottom plate, insert raspi, and snap on the top plate
-2. Mount SO-100 arm with 4 m3x20 screws
+1. Place the raspberry pi 5 into the pi case bottom and snap on the top part of the case. 
+2. Attach the Pi to the top base plate using 1 m3x12 machine screw(the second screw will be placed in with the standoffs) and mount the SO-100 arm with 4 m3x20 machine screws. Using our modified SO-100 base or the original will work as there are holes for both in the plate.
+
+    <img src="media/assembly_imgs/IMG_1929.jpg" width="300" />
 
 ### 4. Final Assembly
-1. Insert the 50mm standoffs to the base with m3x10 screws
-2. Feed the wires throught the hole
-1. Connect the raspi 5 to the servo 
+1. Attach 6 50mm standoffs to the bottom base plate with 6 m3x10 screws
+
+    <img src="media/assembly_imgs/IMG_1936.jpg" width="300" />
+
+2. Feed the servo controller usb-c to usb-a, 5v usb-c power, and so-100 servo wires through the hole in the top base plate. 
+
+    <img src="media/assembly_imgs/IMG_1930.jpg" width="300" />
+
+3. Mount the top base plate onto the standoffs with 6 m3x10 screws.
+
+    <img src="media/assembly_imgs/IMG_1933.jpg" width="300" />
+
+### 5. Attach Cameras
+*Note: The mounts we designed are specific to the cameras we chose. They may need to be modified for different camera modules.*
+1. Screw the base camera mount onto the bottom base plate(attach the arducam 5MP wide angle camera to the mount with 2 m2.5x12 machine screws). The cable for the camera mount can also be fed through the cutout
+
+    <img src="media/assembly_imgs/IMG_1935.jpg" width="300" />
+2. Screw the wrist camera mount to the static gripper using 4 m2x5 tap screws(attach the arducam 5MP wide angle camera to the mount with 2 m2.5x12 machine screws)
+    <img src="media/assembly_imgs/IMG_1934.jpg" width="300" />
 
-### Attach Cameras
-2. Screw camera mount onto the base plate(attach camera to the mount with m2.5x12mm screws)
+### Plug everything in and its ready!
+Power the electronics by plugging in the DC barrel plug adapter to the servo motor controller and the 5v usb-c connector to the raspberry pi 5. The usb cables from the servo controller and the cameras can directly be plugged in to the raspberry pi.
+<img src="media/assembly_imgs/IMG_1940.jpg" width="300" /> <img src="media/assembly_imgs/IMG_1938.jpg" width="300" />

3DPrintMeshes/wrist_camera_mount.stl

@@ -1,20 +1,24 @@
 # LeKiwi
 > LeKiwi - Low-Cost Mobile Manipulator | Version 1
 
-<img src="./media/lekiwi_cad_v2.png" width=512/>
+<img src="./media/lekiwi_cad_v2.png" width=300/> <img src="./media/lekiwi_real.jpg" width=300/> 
 
 ## Quick Links
 1. [Bill of Materials](BOM.md)
 2. [3D Printing](3DPrinting.md)
 3. [Assembly](Assembly.md)
+4. [Fusion 360 CAD](https://a360.co/4k1P8yO)
 
 ## Hardware Design
+#### Standardized Stacked Base Plates
+- Inspired by the [open robotic platform](https://openroboticplatform.com/designrules), our base plates have with 3.5mm diameter holes spaced 20mm apart for standardized mounting
+
 #### Power
-- 12V 5A LiPo battery to power motors and be converted to 5V 5A for the Rasberry Pi 5
+- 12V 5A LiPo battery to power 12V ST3215 motors and converted to 5V 5A for the Rasberry Pi 5
 
 #### Compute
 - Raspberry Pi 5
-- Laptop streaming
+- Streaming to a Laptop
 
 #### Drive
 - 3-wheel Kiwi (holonomic) drive with omni wheels