Mantis UMI

Mantis UMI is a pair of handheld two-finger grippers for collecting bimanual manipulation demonstrations. The gripper geometry matches Almond’s Axol robot, allowing end-effector-centred demonstrations to transfer into Axol training workflows. An ergonomic trigger commands the fingers one-to-one, and swappable tips adapt contact with different objects.

Tracker mounts accept Vive Tracker 3.0, Vive Ultimate or Quest 3 controllers for six-degree-of-freedom pose capture. Optional wrist-view hardware adds two ZED X One S fisheye global-shutter cameras, while compute can be supplied by the user or an Orin NX-based ZED Box. Recorded data works with the open-source Axol SDK and LeRobot format for imitation learning, policy pre-training and cross-embodiment dataset generation.