Quick reference for deploying and debugging hardware for the supported task platforms. All 3D-printed parts use English filenames in the task folders below.
Directories: Task_A/, Task_B/
| Component | Specification |
|---|
| Arm | Agilex Piper |
| Cameras | Intel RealSense D435 (triple-camera setup) |
| Printed parts | Left/right wrist camera mounts, center camera mount, center camera base |
| Parameter | Value |
|---|
| Center camera height (from table top) | 76 cm |
| Center camera view – mount angle | 30° |
| Left secondary arm → table front edge | 18 cm |
| Right secondary arm → table front edge | 18 cm |
| Center base → left secondary arm center | 34 cm |
| Center base → right secondary arm center | 34 cm |
| Left primary arm → table front edge | 18 cm |
| Right primary arm → table front edge | 12 cm |
| Left–right primary arm center distance | 39 cm |
| Parameter | Value |
|---|
| Center camera height (from table top) | 93 cm |
| Center camera view – mount angle | 30° |
| Left secondary arm → table front edge | 27 cm |
| Right secondary arm → table front edge | 27 cm |
| Center base → left secondary arm center | 16 cm |
| Center base → right secondary arm center | 16 cm |
| Left primary arm → table front edge | 18 cm |
| Right primary arm → table front edge | 11 cm |
| Left–right primary arm center distance | 40 cm |
| File | Format | Use |
|---|
agilex-gripper.STEP | STEP | CAD import / interchange. Use for design or export to other tools. |
agilex-gripper.SLDPRT | SolidWorks | Native part. Edit or export to STEP/3MF from here. |
agilex-gripper.3mf | 3MF | Use for 3D printing. Load in your slicer (Cura, PrusaSlicer, etc.); contains mesh and is print-ready. |
agilex-gripper-modified.STEP | STEP | Modified gripper assembly. Same use as above when the modified design is required. |
agilex-gripper-modified.SLDPRT | SolidWorks | Modified gripper native part. |
agilex-gripper-soft.SLDPRT | SolidWorks | Soft gripper variant. Use if deploying the soft gripper; export to STEP or 3MF for printing. |
Usage: Mount the printed gripper on the wrist flange of each Agilex Piper arm (left and right). Use either the standard or modified version per your build; use the soft variant only if specified for the task.
| File | Format | Use |
|---|
camera-bottom-mount-bracket.STEP | STEP | Camera bottom bracket — CAD/slicer. |
camera-bottom-mount-bracket.SLDPRT | SolidWorks | Same bracket, native. |
end-effector-camera-mount-d435i-centered.STEP | STEP | End-effector camera mount for Intel RealSense D435i, optical center aligned. |
Usage: Print the camera-bottom-mount-bracket and use it at the center camera base (table-mounted). Print end-effector-camera-mount-d435i-centered and attach it to the wrist of each arm; mount one D435i per arm for the left/right wrist cameras. Follow the layout tables in §1.2 / §1.3 for heights and distances.
Directory: Task_C/
| Component | Specification |
|---|
| Arm | ARX X5 |
| Cameras | Intel RealSense D435 (triple-camera setup) |
| Printed parts | Left/right secondary arm grippers, left/right wrist camera mounts, center camera mount, center camera base |
| Parameter | Value |
|---|
| Center camera height (from table top) | 93 cm |
| Center camera view – mount angle | 30° |
| Left secondary arm base → table front edge | 45 cm |
| Right secondary arm base → table front edge | 87 cm |
| Center base → left secondary arm center | 22 cm |
| Center base → right secondary arm center | 22 cm |
| Left primary arm → table front edge | 18 cm |
| Right primary arm → table front edge | 11 cm |
| Left–right primary arm center distance | 53 cm |
| File | Format | Use |
|---|
gripper-1.STEP, gripper-1.SLDPRT | STEP / SolidWorks | Left secondary arm gripper. Print and mount on the left secondary arm flange. |
gripper-2.STEP, gripper-2.SLDPRT | STEP / SolidWorks | Right secondary arm gripper. Print and mount on the right secondary arm flange. |
Usage: Use STEP for slicing or CAD; use SLDPRT to edit in SolidWorks. Print one of each and install on the corresponding secondary arm.
| File | Format | Use |
|---|
left-right-base.SLDPRT | SolidWorks | Left and right base parts. Export to STEP or 3MF for printing if needed. |
center-base.SLDPRT | SolidWorks | Center base. Same workflow. |
base-integrated.STEP, base-integrated.SLDPRT | STEP / SolidWorks | Integrated base (single assembly). Use when building the unified base; print from STEP or export 3MF from SolidWorks. |
left-right-base-drawing.SLDDRW, left-right-base-drawing.PDF | Drawing | Assembly/dimension reference for left and right bases. |
center-base-drawing.SLDDRW | Drawing | Reference for center base. |
base-integrated-drawing.SLDDRW | Drawing | Reference for integrated base. |
Usage: Print either the separate bases (left, right, center) or the base-integrated version. Place on the table according to §2.2. Use the PDF/SLDDRW drawings for assembly and bolt positions.
| File | Format | Use |
|---|
arx-d435-centered.STEP, arx-d435-centered.SLDPRT | STEP / SolidWorks | ARX D435 centered mount. Primary wrist camera mount for D435; use on left and right arms. |
camera-bottom-mount-bracket.STEP, camera-bottom-mount-bracket.SLDPRT | STEP / SolidWorks | Camera bottom bracket for the center (table-mounted) camera. |
arx-camera-mount-v1.STEP, arx-camera-mount-v1.3mf | STEP / 3MF | ARX camera mount variant 1. Use 3MF for printing. Alternative to arx-d435-centered if needed. |
arx-camera-mount-v2.STEP | STEP | Variant 2; use in CAD or slicer. |
arx-camera-mount-v2-2mm.STEP | STEP | Variant 2 with 2 mm adjustment. |
arx-camera-mount-v3.STEP | STEP | Variant 3. |
arx-camera-mount-new-v1.STEP | STEP | New variant 1. Choose the variant that matches your ARX arm and camera setup. |
Usage: Print arx-d435-centered (or the chosen variant) for each arm’s wrist camera, and camera-bottom-mount-bracket for the center camera. Mount D435 units and align with the layout in §2.2.
| File | Format | Use |
|---|
mount-assembly.SLDASM | SolidWorks assembly | Full mount assembly. Open in SolidWorks to see how grippers, bases, and camera mounts go together; use for BOM and assembly order. |
Usage: Reference only; do not print. Use to verify fit and assembly sequence before printing parts.
| Component | Requirement |
|---|
| GPU | NVIDIA RTX 4090 (≥ 48 GB VRAM) |
File formats: Use STEP for CAD exchange and most slicers; use 3MF when provided for direct 3D printing. SLDPRT / SLDDRW / SLDASM are for SolidWorks only.