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3D Printing Guide

Our system consists of 4 major components: Go2 robot dog, Arx5 robot arm, iphone and GoPro. To assemble them, we designed and 3d-printed the connecting parts using common printing materials. We use Ender S3 printer and the same configuration as UMI.

To download these CAD models, after selecting the part in the web GUI, you can find the highlighted part name in the Parts panel on the left. Right lick the highlighted part and then you can export it to STL files.

export cad

  • Fin-ray gripper finger(TPU). To print this part, please follow the UMI tutorial for detailed printing instructions.

  • GoPro mount for Arx5 robot arm: The black piece in the CAD Model. Material: PA6-CF Carbon Fibre Reinforced Nylon. To print this part, please follow the UMI tutorial for detailed printing instructions. Please generate regular support otherwise the model may collapse when printing.

  • Fin-ray finger holder (PLA): The two yellow pieces piece in the CAD Model. Please add tree support when slicing. You can rotate the model 90 degree so that the side face points down.

  • Go2-Arx5 mount (PLA): CAD Model. When slicing, please rotate the model so that the flat surface faces down.

  • Go2-iPhone mount base (PLA): CAD Model

  • iPhone 15 Pro Case (PLA): 60 Degree; 90 Degree. 60 Degree Mount is recommended for a camera view with more visual features and is the default pose transform in the real world codebase. Please add tree support when slicing. Note: Due to precision difference of different 3D printers, the iPhone case may not perfectly fit the iPhone. You can make a copy of the CAD model and adjust parameter slack_width in the model file, which changes the space between the case and an iPhone model.

slack width