GX-1手持式 UMI 数据采集夹爪

MODULAR UMI GRIPPER

Modular handheld UMI gripper with vision-tactile fingertips, a 200° fisheye, ToF depth and four SLAM cameras for capturing human manipulation as robot-ready data. Run it from an Ubuntu host PC or the wearable backpack kit.

CAMERA: 1280 × 1280 @ 60 fps · 200° fisheye
TACTILE: Vision-tactile fingertip array
POSE ACCURACY: 1 – 3 mm
IMU: 6-axis · 500 Hz
HAND-UNIT WEIGHT: 635 – 780 g
BACKPACK KIT: i9 · 1 TB · 4 h+ recording

SPECIFICATIONS 技术规格

Modular UMI gripper, three-quarter view: camera head with two lenses above a two-finger gripper with tactile fingertips

PLATFORM 平台
VARIANTS	4 variants: Rotational or Translational gripper × Portable (onboard visual SLAM) or Full-Featured (adds VIVE Tracker 3.0 + 2 base stations)Single- and dual-device kits
ARCHITECTURE	Tethered handheld + external Ubuntu host PC over USB-COptional wearable compute backpack
GRIPPER TYPE	Two-finger · Rotational (arc motion, fits Robotiq 85) or Translational (parallel, fits ARX X5) · swappable fingertips
MAX OPENING	88 ± 2 mm
MAX GRIP FORCE	2 kg
DIMENSIONS	270 × 162 × 215 mm
WEIGHT	635 – 780 g by variantRotational Portable 635 · Translational Portable 700 · Rotational Full-Featured 735 · Translational Full-Featured 780 (± 5 g)

VISION 视觉
PRIMARY CAMERA	Fisheye RGB · 1280 × 1280 @ 60 ± 1 fps
FIELD OF VIEW	DFOV 200° · HFOV = VFOV 172.52°
SLAM CAMERAS	4 × 640 × 480 @ 30 fps · HFOV 130° (2 front, 2 top)
DEPTH SENSING	ToF · 320 × 240 @ 30 ± 1 fps · FOV D78° H64° V50° · depth error < 1.5 % within 2 m

MOTION & TOUCH 运动与触觉
IMU	6-axis ICM42688 · 500 Hz
TACTILE SENSING	Vision-tactile fingertip array
GRIPPER OPENING	Gripper width sensor · 200 Hz · button-calibrated

LOCALIZATION 定位
POSE METHOD	Portable: onboard visual SLAM, no base stationsFull-Featured: VIVE Tracker 3.0 + 2 laser base stations fused with vision
POSE ACCURACY	1 – 3 mm~1 mm Full-Featured with laser, unoccluded · ~3 mm vision-only · vision-only drift 0.1 % average relative displacement
TRACKING ENVELOPE	Full-Featured base stations: 7 m range · 160° × 115° field · 100 scans/s · sub-mm resolution · tracker needs line of sight
TIME SYNC	Timestamp-aligned camera streams

COMPUTE, POWER & INTERFACE 计算、供电与接口
COMPUTE	External host PC · Core Ultra 7 265K or betterCore i9-14900K or better for dual video + SLAM composite + ToF visualization
WEARABLE KIT	Optional wearable backpack: i9 (14 core / 20 thread) · 1 TB storage · 4 h+ continuous recording · swappable battery · 4.6 kg
POWER / RUNTIME	USB-C powered · 5 V, < 4 WDC input: avg < 7 W, 3 A peak · VIVE Tracker 3.0 battery 7.5 h
STORAGE	Host PC1 TB on the wearable backpack kit
CONNECTIVITY	USB 3.2 Gen2 Type-C · 10 Gbps · dedicated USB 3.0+ port
SOFTWARE / OS	Ubuntu 20.04 & 22.04 · ROS 1 & ROS 2 · hardware SDK · web data platform · monitor tool

DATA OUTPUT 数据输出

CAPTURED STREAMS: Fisheye RGB · ToF point cloud · vision-tactile fingertips · gripper width · fused 6-DoF pose · SLAM images
RAW FORMAT: .mp4 RGB · .pcd ToF · .txt clamp width and trajectory
POSE RECORD: timestamp x y z qx qy qz qw · origin at gripper-closed midpoint · X forward, Y right, Z up
TOOLING & QC: Web data platform: live SLAM + RGB preview, replay, websocket streams · dual-device auto-match · SDK
SAMPLE DATA: Public sample dataset · full ~10,000-trajectory set on request

APPLICATIONS 应用

UMI-style gripper demonstrations for imitation learning and policy training
Embodiment-free collection: record human manipulation without a robot body
Industrial assembly, sorting and production-line demonstration data
Dual-hand and bimanual task captureDual-device kit
Tactile-rich fine manipulation with force and contact data
Outdoor and field collection without base stationsPortable variant · wearable backpack kit

WHAT AN HOUR OF DATA SELLS FOR 每小时数据价格

Rough price per hour of robotics data, by sensor stack. Geography, environment and exclusivity shift every figure.

Tactile GX-1Touch sensors on hand or gripper

$90–120

TeleopOperator driving a real robot · varies by robot

$70–100

Full motion trackingVideo + full-body motion capture

$45–80

Standard UMI (non-tactile)Handheld gripper + wrist camera

$25–50

Wrist camsHead cam + a camera on each wrist

$20–40

Stereo egoTwo synced cameras, adds depth

$12–30

Mono egoOne head-mounted camera

$2–10

Price per hour of data (USD)

ROUGH ESTIMATES

CONTACT 联系

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