Yumi

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Yumi is a handheld gripper built around the same Linear Gripper mechanism used on i2RT's YAM robot arms. Every demonstration you capture transfers seamlessly to YAM robots for policy training — no retargeting, no data conversion gap.
Pair Yumi with HTC Vive SteamVR Trackers or Meta Quest Touch Controllers for 6DoF pose tracking, capture synchronized visual streams and gripper joint states, and export ready-to-use datasets for imitation learning. Single-hand and bimanual capture are both supported.

How It Works
1. Capture — Hold Yumi and perform your manipulation tasks. The high-speed global shutter camera records the scene while your tracking hardware outputs 6DoF pose and gripper joint feedback in real time.
2. Export — Use the Yumi SDK to export structured, ready-to-use datasets.
3. Train — Load demonstrations directly into policy training for your YAM robotic arms, with native compatibility across LeRobot, ALOHA, and Isaac Sim.

Key Features
- Same Linear Gripper hardware as the i2RT YAM series — captured data fits YAM deployment perfectly
- High-speed global shutter camera, up to 400 fps for fast, dynamic motions
- Lightweight two-finger parallel gripper at an estimated 500 g
- Dual tracking options: HTC Vive SteamVR (sub-millimeter static precision) or Meta Quest inside-out tracking
- Gripper joint state feedback up to 500 Hz
- URDF export supported
- USB-C wired design — no onboard battery to manage or charge
- Bimanual human demonstration collection supported

Who It's For
Robotics research labs, embodied AI R&D teams, robot learning engineers, and dataset providers.

Applications
- In-the-wild human demonstration collection
- Behavior cloning and imitation learning for robotic manipulation
- Bimanual skill training for YAM robots
- Rapid policy prototyping

Specifications

• Camera
  - Sensor: 1/2.0" global shutter, 4.8µm × 4.8µm pixel size
  - Max resolution: 1280 × 1024 @ 200 fps (MJPEG) / 100 fps (YUV)
  - High-speed mode: 640 × 480 / 640 × 512 @ 400 fps
  - Output formats: MJPEG, YUV2 (YUYV)
  - Lens: f = 3.25mm, F2.7 aperture, 154.2° diagonal FOV, M12×P0.5 mount
  - SNR: 37.5 dB
  - Dynamic range: 77 dB
  - Minimum illumination: 0.5 lux
  - Auto features: AEC, AWB, AGC supported
• Gripper
  - Type: Two-finger parallel jaw gripper (same Linear Gripper as i2RT YAM)
  - Estimated max gripping force: 2 kg (preliminary estimate, pending formal testing)
  - Max opening: 95 mm
  - Min opening: 0 mm (fine enough to grip thin paper)
  - Joint rotation precision: ±0.1°
  - Max output feedback frequency: 500 Hz
  - Estimated weight: 500 g
  - Dimensions: 186 × 158 × 207 mm
  - Sensing: No tactile or force sensing
  - Power: 5V, ~3W (camera and HTC tracker included)
  - Communication interface: USB-C, wired connection, no onboard battery
• Pose Tracking Module
  - Compatible hardware: HTC Vive SteamVR Trackers / Meta Quest Touch Controllers
  - Tracking degrees of freedom: 6DOF
• HTC Vive SteamVR 2.0 Tracker (base station required):
  Sub-millimeter positioning accuracy (static) · 90 Hz pose update rate · Recommended tracking volume up to 10m × 10m room scale
• Meta Quest Touch / Touch Pro Controllers (inside-out):
  ~±2–5mm positioning accuracy (static, varies with occlusion and lighting) · 90 Hz pose update rate, 240 Hz on-controller IMU sampling · Tracking volume limited by the Quest headset's camera field of view
  - Onboard IMU: None — IMU data is sourced from the HTC Vive / Meta Quest controller hardware
  - Calibration: Follows the native HTC Vive / Meta Quest calibration workflow
• Software & Ecosystem
  - SDK: Available
  - URDF export: Supported
  - Supported frameworks: LeRobot, ALOHA, Isaac Sim
  - Bimanual data capture: Supported
  - Data pipeline: Real-time preview and data validation can be implemented via secondary development using the open-source SDK
  - Multi-sensor time synchronization accuracy: TBD
  - Operating temperature: Indoor ambient temperature (human-operated device, no formal temperature rating)

What is in the box?
- i2RT Yumi Handheld Gripper Assembly
- Onboard Global Shutter Camera
- USB-C Data & Power Cable
- SDK & Documentation download access

Note: HTC Vive / Meta Quest controllers and trackers are not included and must be supplied by the user.

If you have any questions about warranty-related matters, please refer to our Warranty Policy for more details.