Printing & Assembly
For slicer settings, BOM, and assembly steps, follow the original UMI guides:
Note: this build replaces the original UMI's GoPro with an iPhone 16 Pro Max and an OAK-1-W-97 camera (SKU).
All CAD files for the UMI-on-Air gripper system are open-source and hosted on Onshape. Download STL/STEP files directly, view interactively in your browser, or fork and modify.
OAK camera mount for the Unitree D1.
See full Unitree D1 assembly (visualization) →Click any card to open the part on Onshape. Use right-click → Export to download STL or STEP.
For slicer settings, BOM, and assembly steps, follow the original UMI guides:
Note: this build replaces the original UMI's GoPro with an iPhone 16 Pro Max and an OAK-1-W-97 camera (SKU).
CAD shared under CC BY-NC 4.0. Builds on the Universal Manipulation Interface (UMI); please cite UMI alongside UMI-on-Air.
Questions or issues — contact hgupt3@illinois.edu.