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3D Printing Instructions

Object

  • The .stl for printing the Stanford Bunny can be found at /assets/3d_printing/object/stanford_bunny.stl.
  • The print file can be found at /assets/3d_printing/object/stanford_bunny.form.
  • The printing is done on a Formlabs Form 3 SLA 3D printer. The materials used are:
    • Transparent bunny: Clear Resin V4
    • Black Bunny: Black Resin V4
    • Reflective Bunny: Tough 2000 V1 + Generic reflective paint from Amazon
  • Some tips for printing:
    1. Try to align the supports at the bottom of the bunny, which tends to be invisible during experiments and won't be touched. Supports will leave some artifacts (bumps) on the surface.
    2. Avoid using the cure station for the transparent bunny, because curing will cause the clear resin to become yellowish.
    3. For the same reason, we did not cure the black and reflective bunnies as we want maximum comparability among them. Instead, we use a fan to blow on the three bunnies for 24 hours.

Camera and Tactile Sensor Mount

  • The .stl files for the mount that connects the sensor/camera to the robot are located at:
    • /assets/3d_printing/sensor_mount/xArm6_Interface_V2.STL
    • /assets/3d_printing/sensor_mount/xArm6_Sensor_Mount_V2.STL
  • The design source files from Solidworks are also in the same folder
  • The interface is to connect to the robot EEF flange, while the mount will carry the camera and the sensor. The mount will be inserted at the top of the interface.
  • The assembly file, which puts the models of mount, interface, sensor, and camera together, can be found in the /assets/3d_printing/sensor_mount/assembly folder.
    • This can be used for visualization in RViz or collision avoidance. For collision avoidance, I recommend downsampling the assembly stl to reduce the face number. There is a sample in the provided xArm ROS2 package
  • Two M2 screws to connect the GelSight Mini tactile sensor. Two M3 screws to connect the Intel RealSense D405 camera.
  • Important: The dimension of the mount is measured in Solidworks and put to the configuration file in the RealSense interface package and the GelSight tactile sensor interface package so that we can accurately acquire the pose of camera and the sensor in the world coordinate by adding offsets to the EEF's coordinate.
    • To acquire accurate transformation between the camera and the robot base (and therefore the world coordinate), it's recommanded to perform hand-eye calibration to cross-verify. You can use this custom package, or any similar package online.
    • Therefore, if you modify the parts' dimensions, please update the configuration in the ROS2 packages accordingly. Specifically, the only realsense_ROS2_interface/realsense_capture/config/calibration.yaml and gelsight_ROS2_interface/gelsight_capture/config/gsmini.yaml.

Object Mounting Platform

  • The .stl file for the mounting platform that connects the object to the tripod can be found at:
    • /assets/3d_printing/tripod_mount/Tripod_Plate_180MM_V2.STL
    • /assets/3d_printing/tripod_mount/Tripod_Plate_180MM_V2_LID.STL
  • The Tripod_Plate_180MM_V2.STL can be inserted into the groove of the Arca-Swiss plate as we mentioned in the Appendix of the Arxiv paper. The LID then connects to the former so the object can be fastened on this platform.