Bill of materials

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Core hardware

Item Approx. cost Notes Purchase Link
SO-101 follower arm (black) ~$200 Main robot platform WowROBO, Partabot
Intel RealSense D455 ~$425 Top camera RealSense AI
Vinmooog Wrist RGB webcam $15 Wrist-mounted camera Amazon
Glendan 32"x32" Light box kit $150 PVC frame, diffuser, LED panels, background sheet Amazon
Mini clamps, USB-C to A cables, rubber friction tape ~$25 Supporting hardware Mini Clamps, USB-C to A cables, Friction tape
Object set (see below) ~$215 Objects from dataset for benchmarking See 'Object Set' section below
Total cost ~$1050

Printing & 3D-printing requirements

  • 4cm AprilTag (36h11 family)

  • Top camera mount parts: backplate + snap-hooks for the D455 mount.

  • Wrist camera mount for the SO-101 end-effector.
  • Miscellaneous parts required for assembly: 2x M3×6 mm screws, 1x M3×12 mm screw, 1x M3 nut, 2x M4×6 mm screws
  • Use PLA or PETG.
  • Typical settings: 15% infill, 0.4 mm nozzle.
  • Print these files before assembly:
Paper Print Part Paper Print Quantity Notes Link
4cm AprilTag (36h11 family) x1 For camera calibration, print on standard 8.5x11 paper, 100% scale Box
3D Part 3D-Print Quantity Notes Link
Part 1 (snap-hooks) x2 Hooks for top camera mount Box
Part 2 (backplate) x1 Backplate for top camera mount Box
Wrist camera mount x1 Wrist-mounted camera for Vinmooog RGB camera TheRobotStudio

Object set

The benchmark object set includes different variations of plates, bowls, blocks, towels, a button, a pen cup, oven, pepper, whiteboard eraser, and boxes. These are all low-cost and available directly from Amazon.

Object Price (USD) Variations of object used Link
Button 9.99 N/A Amazon
Pen cup 5.99 N/A Amazon
Colored towels 7.49 Pink, yellow, blue Amazon
Oven 34.98 N/A Amazon
Mug coasters 13.98 Green, orange, purple, yellow Amazon
Colored bowls 12.99 Red, blue, yellow, green Amazon
White board & marker 9.75 N/A Amazon
Toy fruit set 15.99 Apple, yellow pear Amazon
Colored plates 19.99 Red, blue Amazon
Spoon & fork set 7.99 N/A Amazon
Toy bread set 27.99 Croissant (A), small bun (B), donut (C) Amazon
Tissue boxes 7.49 Green box Amazon
Black pepper 2.49 N/A Amazon
Colored pencil box 14.99 Blue, yellow, pink Amazon
Colored blocks 16.99 Red, blue, yellow, green, orange, purple Amazon
Whiteboard eraser 3.12 N/A Amazon
Total: 212.21