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
| 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) |
| 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 |
| IMU | 6-axis ICM42688 · 500 Hz |
|---|---|
| TACTILE SENSING | Vision-tactile fingertip array |
| GRIPPER OPENING | Gripper width sensor · 200 Hz · button-calibrated |
| 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 | 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.
FRONTIER
Tactile THIS GRIPPERTouch sensors on hand or gripper
$90–120
THE MIDDLE
TeleopOperator driving a real robot · varies by robot
$70–100
Full motion trackingVideo + full-body motion capture
$45–80
UMIHandheld gripper + wrist camera
$25–50
Wrist camsHead cam + a camera on each wrist
$20–40
EGO VIDEO
Stereo egoTwo synced cameras, adds depth
$12–30
Mono egoOne head-mounted camera
$2–10
Price per hour of data (USD)
CONTACT 联系
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SPEC SHEETS, MOQ & LEAD TIMES ON REQUEST.
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