Due to the water immersion and high temperatures of the bath, ASA was selected as the material for fabricating the basin tray. ASA resists degradation in this type of environment, while allowing for the beveled geometry originally designed for 3D printing. Exterior trays and other robot interfaces are 3D printed in PLA as they will not be subjected to as harsh of environments. The CAD files for the tray and all components can be found in the GitHub repository for this project . The robot's end effector for this experiment was designed to achieve three specific tasks: control a vertically oriented polymer sample, interface with the water bath lid, and dry each sample after immersion in the bath. Many iterations were tested before arriving at the current design, which gave rise to the features pictured in Figure . The CAD files for the gripper can be found in the GitHub repository for this project .