One of the biggest challenges in this project has been creating good props for the three tasks I'm working on: sorting colored blocks, stacking blocks, and pressing buttons in a specific order.
I needed blocks, matching bins, and buttons that were the right size for the SO-101 arm — not too big for the workspace, but not so small that the gripper couldn't reliably grab them. Since I have access to a Bambu A1 Mini 3D printer, I decided to design and print most of the props myself.
I started with some models I found online, then adjusted them to better fit my setup. For example, my first version of the sorting bins I'm using for training block sorting was way too big, so I scaled it down, reprinted it, and used a ruler to make sure the blocks would actually fit inside the bins with space for the claw to reach in to correct any misplacements. Being able to quickly iterate like that saved me a lot of time and money compared to ordering things online and waiting.
3D printing my parts has had some downsides (I had to switch from printing switches to printing buttons because I couldn't find a reliable way to anchor the switches due to the filament being too light) but it lets me create tailored props when I need them. This project has been teaching me a lot about the research process and making my own props has been very interesting to do. I highly recommend investing in a 3D printer if you want to do robotics research or just make your own props for fun.