  In this paper, we present a model set for designing human-robot collaboration
(HRC) experiments. It targets a common scenario in HRC, which is the
collaborative assembly of furniture, and it consists of a combination of
standard components and custom designs. With this work, we aim at reducing the
amount of work required to set up and reproduce HRC experiments, and we provide
a unified framework to facilitate the comparison and integration of
contributions to the field. The model set is designed to be modular,
extendable, and easy to distribute. Importantly, it covers the majority of
relevant research in HRC, and it allows tuning of a number of experimental
variables that are particularly valuable to the field. Additionally, we provide
a set of software libraries for perception, control and interaction, with the
goal of encouraging other researchers to proactively contribute to our work.
