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Overview

GEAR UMI is based on the Universal Manipulation Interface (Chi et al., 2024): a 3D-printed, hand-held gripper for recording human demonstrations anywhere, with no robot needed. This build replaces the GoPro with an OAK-4P top camera and an 8MP USB trigger camera, and adds TPU flexure fingers, a magnetic rotary encoder, and mounts for either an iPhone 15 Pro or a VIVE tracker. The recorded data trains robot manipulation policies. The design also aims to reduce assembly time and weight, and it takes care of ergonomics with its handle and wrist wrap.

License

The UMI data-collection software and the gripper firmware use Apache-2.0 by default. The complete Record3D-derived iPhone adapter, including NVIDIA adaptations, is LGPL-2.1-only. Other third-party components keep their own licenses; see NOTICE. The hardware designs and this documentation are licensed under CC BY 4.0, except vendor product photos. See the repository licensing section.