Request to Release URDF/Mesh and Frame Definition for the Custom UMI Gripper

[SII-dannyXSC]

Hi, thanks for the great work!

The paper describes a custom fingertip UMI device / hand-held UMI gripper used for collecting Hy-UMI demonstrations. Since the gripper geometry and coordinate frame convention are essential for interpreting the released trajectories and reproducing the action/state representation, would it be possible to release:

• the URDF or mesh/CAD files of the UMI gripper;
• the coordinate frame definition of the gripper / end-effector?

This would be very helpful for adapting the released dataset/model to new robot platforms, especially for Track-B style UMI-only cross-embodiment transfer.

Thanks!