Unitree G1 With Dex3-1 Hands#

Select --robot-name g1_dex3 for the G1 body with Unitree’s Dex3-1 hands. The asset is mjcf/g1_dex3.xml: the g1 model with the three-finger hands grafted onto the wrists in place of the rubber-hand markers. Every body joint, gain and body frame is the g1 robot’s; the fingers are extra joints.

Default Contract#

  • Config: protomotions/robot_configs/g1_dex3.py (G1Dex3RobotConfig).

  • Structure: 47 bodies, 43 joint DOFs (29 body joints plus 7 finger joints per hand); +X forward, Z up.

  • Observation anchor: torso_link; physical root: pelvis.

  • Target bodies: the g1 set, with the hands tracked at left_wrist_yaw_link and right_wrist_yaw_link, so a policy that tracks the body transfers between the two robots.

Finger joints use the GEAR-SONIC HOI experts’ Dex3 motor settings (stiffness 0.5, thumb root 2.0, damping 0.1, armature 0.001) and rest open in the default pose. The body uses the g1 standing pose and PD gains.

Motion And Deployment#

Use G1-retargeted motion; finger targets come from the experiment, not from the body motion file. A checkpoint trained on g1 does not load on g1_dex3 unchanged: the action and observation sizes include the 14 finger joints.