The 3D printed parts are available here.

To create the 9 benchmark beams you will need to print:

• 2x in-f

• 5x angle-f

• 4x in-f-end

• 4x thru

• 10x in-m-end

• 2x in-m-end-feet

• 4x thru-m

• 12x Pegs

The slicer used to create the G-code for printing was Cura using the majority of the default settings except for some small changes.  A profile is available here with the settings used.

20 x 20mm extruded aluminium profile (similar to that found here) is required to create the links.

In total,  ~2.5 metres of aluminium profile is required. Any brand of aluminium profile will work as the 3D parts were designed with a fairly large tolerance.

You will need to cut the following lengths:

• 2x 163.3mm long

• 10x 120mm long

• 2x 100mm long

• 10x 70mm long

To assemble the beams, you will need:

• 48x T-Slot Nuts  for a 5mm groove with M5 thread (similar to those found here)

• 48x M5x10mm Hex Socket Countersunk Screw (similar to those found here)

Be aware the requirement is that the T-Slots, hex screws and aluminium profile are compatible. Additionally, the 3D printed parts have a hole for M5 screws.

The A4 drawing here will assist you in putting the beams together.

Each of the beams can have 2 fiducial markers attached. Download the A4 sheet from here to print 25x25mm markers. It is suggested to use thinker cardstock paper rather than typical paper. 

It  is simpler to update the planner files with your marker layout if you plan on executing the baseline than trying to copy our exact marker layout. 

Other useful parts are also available including:

• Finger tips designed for a Franka Emika Panda

• Clamp for fixing beams to the table

• Peg holder for supporting the pegs

These parts are available here.

To lay the parts out on the table a A2 template is provided. 

The A2 template is available here, as most people don't own a printer capable of printing A3 paper a template comprising of two A3 sheets is available here.