Unitree Dex3-1 ?

[soneo1127]

I’d like to train and deploy UnifoLM-WMA on a Unitree G1 equipped with the Dex3-1 three-finger hand.
From the docs, current deployment examples seem to assume a simple gripper.
https://github.com/unitreerobotics/unifolm-world-model-action/blob/main/unitree_deploy/README.md

I’m looking for guidance (and will happily contribute PRs) to make Dex3-1 fully usable for both training and control.

[hengguo-boop]

For dex3, you can refer to the implementation of this part.

Then add it to the end-effector section of the robot devices in unitree_deploy.

We will consider improving this section later.

[soneo1127]

Awesome!
I’d be very happy if you could share the README. Thank you so much.

[Subraiz]

@soneo1127 did you have any luck on getting this to work?