GR00TNVIDIA GEAR

GR00T Data Hardware Prototypes

Explore the hardware

Three prototypes

Why we built them

Source on GitHub

These hardware prototypes were developed by the NVIDIA GEAR team to collect high-quality training data for general robot foundation models. We fully tested the designs by collecting data for GR00T 2, our foundation world-action model for robot manipulation.

We are releasing them as open-source designs so others can build the same hardware and collect data the same way. Each project includes a bill of materials, mechanical and electrical design files, a step-by-step assembly guide and a software guide.

01 / Hand exoskeleton

GEAR DexUMI

Higher DoF and better wearability than the original DexUMI exoskeleton, for collecting dexterous post-training data.

Open DexUMI documentation

Technical details

  • Three joint encoders on every finger, thumb included
  • Knuckle abduction sensed on all four fingers
  • Normal and shear force sensed on all five fingertips

16 DoF per hand 5 fingertip tactile sensors per hand

GEAR DexUMI

GEAR DexUMI exoskeleton exploded view, from the project CAD
GEAR DexUMI hand exoskeleton, isometric render
GEAR DexUMI exoskeleton, palm-up render
Assembled DexUMI exoskeleton, side view

GEAR UMI

GEAR UMI exploded view, from the project CAD
GEAR UMI handheld gripper, front isometric render
GEAR UMI gripper, rear isometric render
Assembled GEAR UMI gripper held in a hand

GEAR Neck

GEAR Neck exploded view with its cover, from the project CAD
GEAR Neck, front isometric render
GEAR Neck, rear isometric render
GEAR Neck, close-up of the pitch bracket and cameras
Photos and video

See the hardware

GEAR DexUMI: Complete exoskeleton, front
Complete exoskeleton, front
GEAR DexUMI: On the calibration tool
On the calibration tool
GEAR DexUMI: Worn on a hand
Worn on a hand
GEAR DexUMI: Finger linkages
Finger linkages

GEAR DexUMI photos and videos. Fingers closing into a fist and opening again, seen from the side, half speed