Assets and codebase for the Multi-Agent Synchronized Collaborative Assembly Replication (MASCAR) testbed. This testbed was developed by the Collaborative Robotics Lab at the National Institute of Standards and Technology.
For questions, contact: megan.zimmerman@nist.gov
View here: https://youtu.be/IEJgwW6c2EQ
Please see our short paper in HRI 2026 for an overview:
ACM Digital Library - Forthcoming
- Testbed Components
- Cart and Tabletop - Contains 2D and 3D models for recreation of the elements of the testbed, including the cart, surface mounting plates, and optical table tabletop design.
- Gripper Components - Designs for yoke flange attached to the Robotiq 2F-85 for manual positioning and button control
- MoCap Marker Plates - Models for attaching reflective mocap markers to the camera cold shoe mounts
- Raspberry Pi - RP case models
- NIST - Espressif ESP32-C3-DevKitC Case.stl - Custom-designed case for ESP32
- Laser_Diode_Holder.step - A custom holder for a laser diode used to help with shotgun mic alignment
- Diagrams, Bill of Materials, process description, design notes, and other instructions for running components of the testbed
- Human Subjects Testbed - SOP for testbed setup & assembly
- Universal Robots - Safety Manual for use of the UR3e
- Python Code) - Contains the code for controlling the Robotiq gripper via Raspberry Pi and UR RTDE, and the logger code for recording robot & gripper states
- URCaps - URCap program to be installed on UR3 for custom Robotiq gripper control