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Hardware Setup & 3D Print Files

Quick reference for deploying and debugging hardware for the supported task platforms. All 3D-printed parts use English filenames in the task folders below.

Table of Contents

1. Task_A / Task_B (Agilex Piper)

Directories: Task_A/, Task_B/

1.1 Components

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

1.2 Task_A Layout

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

1.3 Task_B Layout (demoA-style)

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

1.4 3D Models — Usage (Task_A / Task_B)

Gripper (end-effector)

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.

Camera mounts

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.

2. Task_C (ARX X5)

Directory: Task_C/

2.1 Components

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

2.2 Layout

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

2.3 3D Models — Usage (Task_C)

Grippers (secondary arms)

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.

Bases (table-mounted)

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.

Camera mounts

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.

Assembly

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.

3. Inference Host

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.