3D Model

[joe210599]

Hi @monkeyrom,

Thanks for publishing this project — it's been a great reference for getting started with the CR5 + RealSense D435i
combination.

I'm trying to reproduce the eye-in-hand setup shown in dobot1.jpg / dobot2.jpg and would like to print the same camera
bracket that mounts the D435i to the CR5 tool flange. I've gone through the repo and the companion repo
(3D_Object_Detection_and_Pose_Estimation_for_Automated_Bin-Picking_Application) but couldn't find any mechanical files
(no .stl, .step, .f3d, or CAD folder).

Would you be willing to share the adapter as:

• STL for direct 3D printing, and/or
• STEP / F3D so the design can be adjusted (e.g. for a different camera offset or a force-torque sensor in between)?

If the part isn't yours to share (e.g. designed by a colleague or under a lab license), even a rough sketch with the
key dimensions — flange bolt circle (ISO 9409-1-50-4-M6), camera offset, and the D435i screw pattern used (1/4"-20 vs
the two M3 holes on the back) — would already help a lot.

Happy to credit you and contribute back any improvements (e.g. a parametric Fusion 360 version) as a PR if useful.

Thanks!

[monkeyrom]

Hi,

Thank you for your interest in the project.

Please find attached the CAD file for the camera bracket used in the eye-in-hand setup shown in the repository images.
Feel free to modify or improve the design for your application.

realsense 2.3 v1.zip

Thank you for your support and contribution to the community.