DAS Finger Manual v1.0

简体中文 | English

1. Important Safety Information

1.1 Safety Instructions

Please read this section carefully and follow all safety guidelines before first use.
For assistance, contact: support@genrobot.ai

1.1.1 Warning Symbol Meanings

• ⚠️ Danger: May cause serious injury, death, or major property damage.
• ⚠️ Warning: May cause personal injury or equipment damage.
• ⚠️ Caution: May cause equipment failure or data loss.
• 💡 Tip: Helpful suggestions for better operation.

1.2 Liability and Limitations

• Do not modify, alter, or tamper with the device.
• GENROBOT.AI is not responsible for issues caused by misuse, unauthorized modifications, or improper operation.
• By using this device, you agree to all safety terms and assume full responsibility for its operation.
• This product is not intended for users under 18 years old.

1.3 Integrator and User Responsibilities

• Perform a complete hazard and risk assessment before deployment.
• Implement appropriate safety protections based on the assessment results.
• Ensure all hardware and software are installed and configured correctly.
• Do not disable or alter safety measures without authorization.
• Comply with applicable laws, standards, and industry regulations.

1.4 Environmental Requirements

• Operating temperature: 0°C–40°C (optimal 22±2°C)
• Relative humidity: 40% RH–65% RH (no condensation)
• Ingress protection: IP50
• Magnetic flux density: ≤50 mT
• Illuminance ≤500 lux; avoid direct light and highly reflective surfaces
• Stable floor; stay away from motors, VFDs, high‑power supplies, Wi‑Fi 6E / 5G base stations
• Dust‑free, no oil smoke, no corrosive gases

1.5 Usage Warnings

1.5.1 Danger Warnings

• Never modify or tamper with the device.
• Stop using the device if it is damaged or unstable.
• Avoid exposing the device to strong magnetic fields for extended periods.

1.5.2 Operational Warnings

• Implement safety measures based on your risk assessment.
• Keep bystanders away from the device motion area.
• Reassess risk when integrating new components or equipment.
• Read all relevant device manuals before operation.

1.5.3 Maintenance Warnings

• Use only genuine accessories and replacement parts.
• Inspect the device regularly to catch issues early.
• Follow the recommended maintenance schedule.
• Store the device under compliant environmental conditions.

1.6 Data Security and Privacy

1.6.1 Data Protection

• Handle captured data securely; it may contain sensitive information.
• Back up important data regularly.
• Understand the data policies of any connected cloud services.
• Comply with applicable data protection regulations.

1.6.2 Privacy Protection

• Respect others’ privacy when operating in public.
• Obtain necessary consent before recording or collecting data.
• Follow local laws on data acquisition.

2. Product Overview

2.1 Key Features

DAS (Data Acquisition System) is a general-purpose embodied multimodal data acquisition system.
Gen DAS Fingers is a dual‑finger, body‑free data capture device from GenRobot for fine manipulation and precise execution in embodied AI. The lightweight body integrates four sensing modalities—vision, touch, inertial sensing, and magnetic encoding—supporting millimeter‑class tactile resolution and trajectory reconstruction for dexterous, human‑like control with realistic tactile feedback and faithful human behavior data.

2.2 Packing List and Specifications

Item	Qty	Specification
Main unit	1	285 g
Tactile end effectors	2	Left / right tactile ends
Screws	2	M2×5 Torx countersunk
Wrench	1	L‑shaped Torx wrench
Data cable	1	USB 3.0 to Type‑C, 1 m

2.3 Device Layout

Module	Layout / specifications
Camera	One ~2 MP wide‑angle RGB camera; horizontal FOV ~150°, vertical FOV ~130°, diagonal ~180°; recording at 30 Hz.
Battery	Battery: Capacity: 2000 mAh (typical) Charger: 5 V / 2 A or 5 V / 3 A Typical charge time: 1.5–2 h Runtime: ~2.5 h Port: Type‑C (charging, USB 3.1 Gen 1 data)
IMU	High‑accuracy 6‑axis sensor in a 2×2 IMU array, calibrated and processed in software; gyro bias stability ~2.5°/h, temperature drift ~0.03°/s from −40°C to 85°C.
URDF	Use the Feishu URDF document as the source of truth.

2.4 Finger Features

Basic functions

1. Device layout
   Main modules and ports are shown in the left figure below.

2. Power on / off

   • Short‑press the power key: green LED on = powered on.
   • Long‑press the power key: green LED off = powered off.

   Power actions are illustrated in the right figure below.

   

   Layout

   

   Power

3. Settings

   3.1 Wi‑Fi

   • Tap Settings at the top of the screen to open Wi‑Fi; when connected, the status shows in the upper‑right corner.
   • Note: SSIDs must use ASCII characters only; Chinese SSIDs are not supported.

   3.2 Magnetic encoder calibration

   • Close the gripper, tap Zero calibration to set the current angle as 0°, then use as normal.

   3.3 Sensor status

   • Inspect each sensor’s working state.

   3.4 Device ID

   • View the unique device identifier.

   3.5 Firmware update

   • After Wi‑Fi is connected, you can upgrade firmware over the air (OTA).

   3.6 File management

   • List captured files; you can manually delete unwanted data.

   3.7 Factory reset

   • Formats the data partition (use with caution).

   3.8 Camera preview

   • Live camera preview.

2.5 Ego + Finger multi-device capture

Multi-device capture requires one Ego and two Finger units. Follow the steps below for pairing and capture prep.

Pairing

1. Finger radio band and handedness

   • On the home screen, long‑press the L / R hand icon in the lower‑left to choose left or right hand. The radio band must match the app configuration, then tap Apply settings to save.
   • Return home and tap the Ego headset connection entry in the lower‑right.

   

   Band & L/R

   

   Connect Ego

2. Ego app pairing

   • For Ego app install and features, see the DAS App section in the DAS Ego manual.
   • When pairing Ego with other UMI‑class devices, we recommend this order:
   1. Tap Recording init.
   2. Configure primary device: set the radio band and word to match the Finger side, and set it as primary.
   3. Check whether the Finger home icons highlight; highlighting usually means pairing succeeded.
   4. In the Ego app, confirm online device count is 2, matching the two Finger units.

   

   ① Init

   

   ② Primary

   

   ③ Highlight

   

   ④ Online ×2

Pairing troubleshooting

If pairing fails, confirm Ego app, Ego firmware, and Finger firmware are all up to date. Release notes:

• DAS Ego & DAS App: version and update notes
• DAS Finger: Finger document

Data capture

1. Link status
   Confirm 2× Finger + 1× Ego are paired and communicating.

2. Finger sensors

   • Open Settings → Sensor status and check each channel (if you have not installed the tactile jaw, missing tactile data is expected).
   • Open encoder calibration: when the gripper is fully closed, angle should be near 0° (or 360°); recalibrate if the error is large.

3. Ego SD card
   Ensure an SD card is inserted in Ego; check status in the app.

4. Wear the devices

   • Ego: wear the headset per the guide in DAS Ego — Data collection guide.
   • Finger: wear both Finger units correctly on your hands.
   

5. Start / stop recording

   • Start: within about 0.5 s, perform three rapid full closes. The Finger UI dims to show only timer and signal; Ego plays start recording.
   • Stop: again three rapid full closes within ~0.5 s. The Finger UI returns to full brightness; Ego plays end recording.
   • Because Ego has multiple cameras, after the stop gesture wait ~2 s until end recording finishes before moving, so all cameras can stop cleanly.

Reference video

Exporting Finger data

Connect Finger to a computer with Type‑C to export data (supported on Windows and Linux).

2.6 Ego & Finger data processing

Raw data (on-device)

Raw captures from the same session share the same recording start timestamp and a unique group_uuid for grouping.

Example filenames:

Device	Example
Ego	DAS-Ego_20260502145555_center_leader_9a4bf1de_782f8d.mcap
Left Finger	das_finger_20260502_145555_left_sub_left_9a4bf1de.mcap
Right Finger	das_finger_20260502_145555_right_sub_right_9a4bf1de.mcap

Here 9a4bf1de is the UUID fragment for that session.

Merging

Local merge

1. Ego
   Remove the recording SD card and copy the mcap files to your computer with the included card reader.

2. Finger
   Connect each Finger to your computer with a Type‑C ↔ USB cable and copy the data off the device.

3. Merge
   Place Ego and both Finger raw files in the same folder, then run the merge scripts as documented in the repo.

Merge scripts (GitHub)

• das-datakit · scripts/ego

Ego SLAM processing

See the Data Processing Guide in the DAS Ego manual.

Finger localization processing

To be completed.

Multimodal data overview

Parsing

1. DAS parsing SDK: github.com/genrobot-ai/das-datakit
2. Visualization: https://monitor.genrobot.com/#/index

Data topics

Robot indices in the merged bag (current convention; subject to change)

Index	Device
robot0	DAS Ego
robot1	DAS Finger (left)
robot2	DAS Finger (right)

Main topics in the merged bag (robot0 / robot1 / robot2)

Robot	Topic	Schema	Rate	Description
robot0	/robot0/sensor/camera0/compressed … /robot0/sensor/camera5/compressed	CompressedImage	30 Hz	Six H.264 RGB streams, left to right
robot0	/robot0/sensor/camera0/camera_info … /robot0/sensor/camera5/camera_info	CameraCalibration	one shot	Intrinsics / extrinsics for each RGB camera
robot0	/robot0/sensor/camera2/camera_info_resize /robot0/sensor/camera3/camera_info_resize	CameraCalibration	one shot	Calibration for the two lower‑resolution center cameras
robot0	/robot0/sensor/imu	IMUMeasurement	200 Hz	IMU
robot0	/robot0/vio/eef_pose	PoseInFrame	30 Hz	Ego 6D pose in the world frame; see DAS Ego — coordinate systems & topics
robot0	/robot0/vio/relative_eef_pose	PoseInFrame	30 Hz	World origin at Ego pose at t=0; relative motion thereafter
robot0	/robot0/sensor/audio	AudioData	30 Hz	Audio (up to ~15 s per segment in current builds)
robot0	/robot0/system/info	SystemInfo	1 Hz	System info
robot1 robot2	/robot1/sensor/camera0/compressed /robot2/sensor/camera0/compressed	CompressedImage	30 Hz	Left / right Finger camera
robot1 robot2	/robot1/sensor/camera0/camera_info /robot2/sensor/camera0/camera_info	CameraCalibration	one shot	Left / right Finger calibration
robot1 robot2	/robot1/sensor/imu /robot2/sensor/imu	IMUMeasurement	200 Hz	Left / right Finger IMU
robot1 robot2	/robot1/sensor/magnetic_encoder /robot2/sensor/magnetic_encoder	MagneticEncoderMeasurement	50 Hz	Magnetic encoder jaw opening (m)
robot1 robot2	/robot1/vio/eef_pose /robot2/vio/eef_pose	PoseInFrame	30 Hz	Left / right Finger 6D pose in the same world frame as Ego

Raw recordings may not include /robot0/vio/eef_pose, /robot1/vio/eef_pose, /robot2/vio/eef_pose; those streams appear after algorithmic merge / post‑processing.

Coordinate frames

URDF

• DAS Ego URDF: Feishu document
• DAS Finger URDF: Feishu document

World frame

• Ego and both Finger poses are expressed in the world frame built from Ego’s pose at capture start.
• Topic‑level detail: DAS Ego — coordinate systems & topic introduction

Body / local frames

Ego

• See DAS Ego — body / local frame

Finger

• Origin at the camera optical center; X forward, Y left, Z up, right‑handed (aligned with base_link in the URDF).