Bill of Materials 物料清单
BREE combines standard hardware with 3D-printed fixtures and task objects. This page lists the core hardware, calibration fixtures, mounting components and task object quantities. BREE 结合标准硬件与 3D 打印夹具和任务物品。本页列出核心硬件、标定夹具、安装部件与任务物品数量。
Core hardware核心硬件
| Item物品 | Qty数量 | Notes备注 | Link链接 |
|---|---|---|---|
| SO-101 follower arm从臂 | 2 | Left = ACM0, right = ACM1左 = ACM0，右 = ACM1 | TBD |
| SO-101 leader arm主臂 | 2 | Left = ACM2, right = ACM3左 = ACM2，右 = ACM3 | TBD |
| Global camera (overhead)全局相机（俯视） | 1 | 640×480 @ 30 fps, MJPG | TBD |
| Wrist cameras腕部相机 | 2 | Mounted on grippers; left = video2, right = video4装于夹爪；左 = video2，右 = video4 | TBD |
| Host PC (CUDA GPU)主机（CUDA GPU） | 1 | 24 GB+ VRAM recommended for large VLAs大型 VLA 建议 24 GB+ 显存 | TBD |
| USB cables / powered hubUSB 线 / 带供电 HUB | 1 set | Plug arms in ACM0→3 order按 ACM0→3 顺序插臂 | TBD |
| Tabletop workspace桌面工作区 | 1 | Fixed background & lighting固定背景与光照 | TBD |
Calibration fixtures and mounting hardware标定夹具与安装部件
Prepare the non-task components below from 3DAssets for arm calibration, arm and camera mounting, lighting and rack assembly. Confirm the midpoint fixture dimensions and structure before use; use reference-image overlays to align the cameras.按 3DAssets 的非任务目录准备下列部件，用于机械臂标定、机械臂与相机安装、照明固定和机架装配。使用前确认中点夹具尺寸与结构；相机对齐使用参考图叠加。
| Component部件 | Asset file资源文件 | Purpose用途 |
|---|---|---|
| Midpoint calibration fixture中点标定夹具 | Callibrator/Calibrator.step | Fixture-based arm midpoint calibration机械臂限位夹具中点标定 |
| Arm pedestal机械臂底座 | Arm-Pedestal/Arm-Pedestal.step | Mount and secure the arms安装并固定机械臂 |
| Global camera mount全局相机支架 | Camera-Mount/camera_global_mount.step | Secure the global camera in the reference view固定全局相机，保持参考视角 |
| Wrist camera mount腕部相机支架 | Camera-Mount/camera_wrist_mount.step | Mount cameras on the follower grippers将腕部相机安装在从臂夹爪处 |
| Lamp bracket灯架 | Lamp Bracket/Lamp Bracket.SLDPRT | Secure the lighting固定照明装置 |
| Rack assembly机架装配 | Rack-Assemble/rack assemble.zip | Frame build and bill of materials框架搭建与物料清单 |
Use the Hardware Assembly guide for mounting and the System Calibration guide for calibration and camera alignment.安装流程见硬件装配；标定及相机对齐流程见系统标定。
Task object set任务物品清单
Task numbers and model filenames follow the numbered task folders in 3DAssets. Prepare the parts below before setting up each scene.任务编号与模型文件名按 3DAssets 下的任务目录同步。布置场景前，按下表准备物品。
Print the different manipulable parts of every object using different filament colors. This helps the model learn to associate each language instruction with the intended object or part.所有物体的不同操作部分都应使用不同颜色的耗材打印，帮助模型在学习时准确对应语言指令所指的物体或部位。
| Task ID任务编号 | Task / asset folder任务 / 资源目录 | Object / model file物品 / 模型文件 | Qty数量 |
|---|---|---|---|
| 01 | Pick and Place抓取与放置 Task01_Pick-and-Place | cuboid.step plate1.step | 2 1 |
| 02 | Switch Pushing拨动开关 Task02_Switch Pushing | switchswitch（开关） | 2 |
| 03 | Trajectory Pushing轨迹推动 Task03_Trajectory-Pushing | handle.step lid.step trajectory-pedestal.step | 1 1 1 |
| 04 | Plate Loading托盘装载 Task04_Plate-Loading | cube.step Plate2.step | 2 1 |
| 05 | Cup Hanging挂杯 Task05_Cup-Hanging | Cup holder.step Cup.step | 1 1 |
| 06 | Block Stacking积木堆叠 Task06_Block-Stacking | cube.step | 2 |
| 07 | Drawer Placement抽屉放置 Task07_Drawer-Placement | drawer cabinet.step drawer.step cube.step | 1 1 1 |
| 08 | Cylinder Insertion圆柱体插入 Task08_Cylinder-Insertion | Lower part.step Upper part.step | 1 1 |