Actuated UMI Gripper

The Actuated UMI Gripper is an open-source, 3D-printable parallel-jaw gripper that adds powered actuation to the Universal Manipulation Interface (UMI) hand-held gripper. A single DYNAMIXEL XL430-W250-T servo drives the jaws through a flat belt and twin MGN7C linear rails, with constant-force springs for return. The repo provides v1 and v2 STL part sets, STEP assembly files, and an assembly guide, with optional GelSight Mini tactile mounts in v2.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from assembly/actuated-UMI-v2-assy.step.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: actuated-umi/actuated-umi-gripper. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.