HuMI Hardware Guide

April 21, 2026 ยท View on GitHub

CAD models for both the data-collection gripper and the G1 deployment gripper are available in [this Google Drive folder](https://drive.google.com/drive/folders/1XYPeHa9aSRpgFEUmqDdas4HEVWylTmWI?usp=sharing).

Because we made only minor changes to the original UMI gripper, please refer to the UMI gripper documentation for assembly and 3D-printing instructions.

Deployment Hardware Setup Instructions

  1. Remove the original rubber hands from the robot, then install the G1 grippers.
  2. Mount a GoPro camera on the top cover of each gripper.
  3. Ensure that the inference workstation, the G1 robot, and the HTC tracker PC are connected to the same local network.
  4. Connect each camera system as follows:
    1. GoPro -> Media Mod
    2. Media Mod -> HDMI -> Elgato capture card
    3. Capture card -> USB -> workstation
    4. Media Mod -> USB -> power supply
  5. Set up two HTC trackers in the environment, with one attached to the robot's pelvis and the other placed on the floor.