LABIT: Long-Horizon Robotic Assembly Benchmark for Industrial Tasks

Download → cad_prt_asm.zip
This includes all parts and assembly groups in Creo native file formats .prt and .asm. The predefined assembly groups are described in the following table.

Download → cad_step.zip
This includes all parts in .step file format.

Download → cad_stl.zip
This includes all parts in .stl file format.

For downloading individual files, see the images below. The link to download the respective file are provided beneath each image. Depending on your browser, you may have to right-click, "save target as"/"save link as" to save the file.

benchmark_assembly.asm: The completely assembled benchmark, without the board and fixations.	benchmark_start_position.asm: The start position of the benchmark, with all components aranged at their initial positions.	benchmark_final_position.asm: The final state of the benchmark, when all components are assembled.	housing_bottom_assembly.asm: Assembly group of all components which have to be assembled into the bottom housing.
housing_middle_assembly.asm: Assembly group of all components which have to be assembled into the middle housing.	housing_middle_assembly_initial.asm: The middle housing assembly with only the fixed parts.	housing_top_assembly.asm: Assembly group of all components which have to be assembled into the top housing.	housing_top_assembly_initial.asm: The top housing assembly with only the fixed parts.
wooden board drawing_board.pdf plate_benchmark.stp plate_benchmark.stl	housing bottom housing_bottom_printed_part.stp housing_bottom_printed_part.stl	housing middle housing_middle.stp housing_middle.stl	housing top housing_top.stp housing_top.stl
fixation_0 fixation_on_plate_0.stp fixation_on_plate_0.stl	fixation_1 fixation_on_plate_1.stp fixation_on_plate_1.stl	fixation_2 fixation_on_plate_2.stp fixation_on_plate_2.stl	fixation_3 fixation_on_plate_3.stp fixation_on_plate_3.stl
pcb pcb.stp pcb.stl	pcb_pin pin_pcb.stp pin_pcb.stl	coverplate coverplate.stp coverplate.stl	gearwheel gearwheel_teeth_35_mod_2.stp gearwheel_teeth_35_mod_2.stl
screw_hexagon screw_m5_16_hexagon_head.stp screw_m5_16_hexagon_head.stl	screw_m5_12 screw_m5_12.stp screw_m5_12.stl	bolt_midle_housing bolt_middle_housing.stp bolt_middle_housing.stl	dowel_pin positioning_pin_d5_20.stp positioning_pin_d5_20.stl
rotor rotor_printed_part.stp rotor_printed_part.stl	rotor_shaft bolt_rotor.stp bolt_rotor.stl	plug_inside_fixed plug_inside_fixed.stp plug_inside_fixed.stl	plug_inside_loose plug_inside_loose.step plug_inside_loose.stl
plug_outside_fixed plug_outside_fixed.stp plug_outside_fixed.stl	plug_outside_loose plug_outside_loose.stp plug_outside_loose.stl	o_ring o_ring.stp o_ring.stl	nozzle tube_nozzle.stp tube_nozzle.stl
nut nut_tube.stp nut_tube.stl	tube tube.stp tube.stl	clamp tube_clamp.stp tube_clamp.stl

The 3D printed parts were printed using a Bambu Lab X1C. The settings files can be viewed (left-click, should open in browser) and downloaded (right-click, "save target as"/"save link as") here:

• 0.16mm Optimal @BBL X1C.json
• Bambu PLA Matte @base.json
• Bambu PLA Matte @BBL X1C.json
• fdm_process_bbl_0.16.json