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Budget UMI Teleop Retrofit on Annin AR4

IntermediateEducation

Teleoperates an Annin AR4 for tabletop manipulation using the UMI inte

Built by Di Di

1

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Budget UMI Teleop Retrofit on Annin AR4

About my build

Di adapted the Universal Manipulation Interface (UMI) stack onto a low-cost Annin AR4 with a custom 3D-printed servo gripper and a consumer fisheye camera. The video shows external and eye-in-hand views of the arm performing tabletop manipulation. Open-source retrofit code is on GitHub for makers chasing affordable imitation-learning / teleop research.

Workflow / process

Teleoperator moves the AR4 through UMI → camera views guide the gr

Primary use cases

  • DIY Learning Projects

Software used

  • AR4 Python Controller

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