UMI-3D Hardware v0.1.0 — Initial Hardware Research Preview
This is the initial public research release of the UMI-3D Hardware repository, providing hardware design resources and ROS driver support for building the LiDAR-enhanced UMI-3D sensing and data collection setup.
What is included
- Hardware building guide for the UMI-3D handheld gripper
- Bill of Materials (BOM) for the UMI-3D sensing setup
- CAD and 3D-printable STL resources
- Mechanical designs for the handheld gripper and robot-side mounts
- Wiring guide for LiDAR-camera hardware synchronization
- ROS driver setup for LiDAR, camera, MVS configuration, and rosbag recording
- References to the UMI-3D SLAM pipeline, policy repository, dataset, and project homepage
Main hardware components
- Livox MID-360 / MID-360S LiDAR
- Hikrobot industrial camera
- Lens module
- LiDAR-camera hardware synchronizer
- 12V battery power supply
- 3D-printed gripper mount and soft-finger components
- Robot-side mounts for supported manipulator setups
Main features
- Low-cost UMI-3D hardware design for robust 3D spatial data collection
- Hardware-synchronized LiDAR-camera sensing setup
- 3D-printable mechanical components for reproduction and adaptation
- ROS driver scripts for launching LiDAR, camera, and rosbag recording
- Compatible with the broader UMI-3D SLAM, calibration, data processing, and policy learning workflow
Status
This release is intended as a hardware research preview. The repository is provided to support reproducibility, community testing, and further hardware adaptation. It is not yet considered production-ready.
Known limitations
- The current design is mainly tested with the authors’ UMI-3D hardware setup
- Some hardware variants and embodiment extensions may still be under development
- Users may need to adapt mounts, wiring, calibration, and driver settings for their own robot platforms
- No official manufacturing QA process, hardware certification, or production-level assembly procedure is included in this release
Recommended use
Use this release as a fixed reference point for building the initial UMI-3D hardware setup, including mechanical assembly, sensor wiring, ROS driver configuration, and rosbag data recording.
Citation
If you use this hardware design, CAD files, 3D-printable parts, ROS drivers, or related resources in your research, please cite the UMI-3D paper and the corresponding repositories.