From Toy Problems to Industrial Reality: The wbk Assembly Benchmark

The wbk Industrial Assembly Task Board is a modular benchmark designed to address the complexities of robotic assembly tasks beyond the traditional peg-in-hole paradigm. This task board provides a diverse set of challenges that simulate real-world industrial assembly scenarios. Each module is tailored to test specific assembly complexities, including precision insertion, compliant assembly, and advanced planning for multi-part interactions.The modular design enables researchers to mix and match tasks, allowing for customized benchmarks that address specific research questions. All components are 3D-printable, ensuring accessibility and reproducibility across the robotics community. This paper presents the design rationale, task descriptions, and evaluation criteria for the task board, along with instructions on how to build the board yourself.