Arm with Fixed External Camera

In this setup, the arm and camera are both positioned independently in the workspace. The camera is mounted overhead, on a tripod, or at some other fixed location rather than on the arm itself. This is common for vision-guided pick-and-place tasks where the camera needs to observe the entire workspace from a fixed vantage point.

Frame hierarchy

world
├── my-arm
│   └── my-gripper (attached to arm)
├── my-camera (overhead or tripod-mounted)
└── table-surface

The key difference from a wrist-mounted camera setup is that the camera is a child of the world frame, not the arm. The camera frame stays fixed in space when the arm moves.

Steps

1. Choose your world frame

Pick a fixed, easy-to-measure point in your workspace. A table corner works well for this setup because you need to measure distances to both the arm base and the camera position from the same reference point.

Mark the origin physically so you can take consistent measurements to both the arm and the camera.

2. Add a frame to the arm

In the Viam app, navigate to your machine and click the CONFIGURE tab. Find your arm component and click + Add frame.

Measure the distance from your world frame origin to the arm base along each axis. For an arm base 300 mm to the right and 250 mm forward from a table corner:

{
  "parent": "world",
  "translation": { "x": 300, "y": 250, "z": 0 },
  "orientation": {
    "type": "ov_degrees",
    "value": { "x": 0, "y": 0, "z": 1, "th": 0 }
  }
}

Click Save.

3. Add a frame to the gripper

Find your gripper component and click + Add frame. Set the parent to the arm:

{
  "parent": "my-arm",
  "translation": { "x": 0, "y": 0, "z": 0 },
  "orientation": {
    "type": "ov_degrees",
    "value": { "x": 0, "y": 0, "z": 1, "th": 0 }
  }
}

If you have an adapter plate between the arm and gripper, set the z translation to the plate height in millimeters.

Click Save.

4. Add a frame to the fixed camera

Find your camera component and click + Add frame. The camera’s parent is "world", not the arm.

Measure the camera’s position relative to your world frame origin. You need to measure in all three axes: left/right (x), forward/backward (y), and height (z).

Overhead camera example: For a camera mounted 200 mm to the right, 300 mm forward, and 800 mm above the world frame origin:

{
  "parent": "world",
  "translation": { "x": 200, "y": 300, "z": 800 },
  "orientation": {
    "type": "ov_degrees",
    "value": { "x": 1, "y": 0, "z": 0, "th": 180 }
  }
}

The orientation (1, 0, 0), 180 rotates the camera frame 180 degrees around the x axis. This is appropriate for an overhead camera pointing straight down, because it flips the z axis to point downward.

Tripod-mounted camera at an angle: For a camera on a tripod 500 mm to the left, 600 mm forward, and 700 mm above the origin, tilted 45 degrees downward:

{
  "parent": "world",
  "translation": { "x": -500, "y": 600, "z": 700 },
  "orientation": {
    "type": "ov_degrees",
    "value": { "x": 1, "y": 0, "z": 0, "th": -45 }
  }
}

A negative angle around the x axis tilts the camera’s view downward from the horizontal.

Click Save.

5. Verify axis directions

Go to the CONTROL tab and jog the arm in small increments along each axis to confirm that +x, +y, and +z match your physical setup. If any axis is wrong, adjust the arm’s orientation in the CONFIGURE tab.

6. Visualize the frame system

1. Navigate to the 3D SCENE tab in the Viam app.
2. Verify that the arm and camera frames appear as separate branches from the world frame.
3. Confirm that the camera frame stays fixed when the arm moves.
4. Check that the positions and orientations match your physical workspace.

7. Verify with TransformPose

Use TransformPose to verify the relationship between the camera and arm frames. Place an object at a known position visible to the camera, then transform that position from the camera frame to the world frame. The result should match the object’s measured position in the workspace.

For details on the TransformPose API, see Frame System Concepts.

Troubleshooting

What’s Next