Thank you to O.T. VINTA for this fascinating piece of DIY technology! I found all the pieces fit together quite nicely with little modification other than sanding in areas that will experience friction from movement. The grippers are a little tight around the cube, but a little sanding and they fit snugly without being loose. I would recommend gluing on rubber padding to the surface of the grippers (I used red gasket rubber you can find at the hardware store) to eliminate slipping. Adequate light is essential for consistent results. I found that using a small desk lamp with a cloth cover for light diffusion worked quite well...too much direct light from LEDs causes reflections that will increase error rate.