Overall description: The model has been created with the specific aim of simulating a collaborative assembly task between a human operator and a collaborative robot (cobot) within the framework of the MindBot project. The 3D model is a planetary gearbox, and has been designed in order to both optimize the interaction between the human and the cobot. All its parts have been modelled to enable the best possible detection and grasping by the cobotic arm. For example, all the flat and circular profiles on shafts, ring gear, carrier and cover have been modelled considering the goal of a proper reference and alignment for the robotic hand. The cobot has been equipped with a two-finger gripper of 50-mm parallel stroke. One of the two fingers has been replved by a 3D-printed V-shape finger for improving the object centering during grasping. Files description: Model 00 contains the complete assembly of the planetary gearbox. Models 01,02,03,04,05,06,07,08 and 12 correspond to the parts of the assembly. Models 14 and 15 are additional objects used for positioning the sun-shaft, as presented in "Assem_SunShaft-Support", and improving the camera detection. "Finger_Vshape_..." is the model of the custom robot finger developed for our gripper.