Materials and CAD Files

The equipment used in our project is entirely available online or 3D printed. We have included the links to purchase the equipment and 3D printing filament as well as the CAD files below. This master spreadsheet contains all the equipment needed and how to obtain them. We detail the equipment and objects below.

Purchased Equipment

Links to purchase the required equipment can be found here.

This includes cameras, bin, spray paint for the bin, and filaments for the 3D printer.

Single-Object Manipulation Objects

Refer to color/shape name and number reference sheet for the name and number assigned to each shape and color throughout our project.
Image A

Assembly Boards
Set of 3 boards with 9 holes each. Each board has different sized holes

Image B

Assembly Objects
Set of pegs of three sizes, two lengths, and 9 shapes each for a total of 54 pegs.

Image B

Environment Fixture
Environment reorienting fixture for Single-Object Task pieces

Multi-Object Manipulation Objects

Image A

Assembly 1

Image B

Assembly 2

Image B

Assembly 3

Image B

Environment Fixture

Camera Mounts

We designed two types of camera mounts for the RealSense D405 cameras. One is used to mount the camera in a fix position pointing at the workspace, while the other is mounted between the flange and the gripper of the Franka Panda arm for a eye-in-hand view.

Workspace Setup

Once all the necessary materials have been obtained, you can set up the workspace for the robot according to the instructions and dimensions in the diagram below.
  1. Fix the bin 17 cm in front of the robot base.
  2. Fix the reorientation fixture onto the bin according to the dimensions in the diagram.
  3. Mount side camera posts outside the bin according to the dimensions in the diagram.
  4. Fix the 3D-printed side camera mount onto the interior side of the post with the bottom edge of the mount 15cm above the bottom of the bin.
  5. Mount the wrist camera between the flange and gripper of the Franka arm.
Image A

Workspace top view schematic with dimensions.



Image A

Workspace front view.