Wonik Robotics

“A single trained model generates grasps for three morphologically distinct grippers — the Franka Panda (parallel-jaw), Robotiq 3-Finger (underactuated), and Allegro Hand (16-DOF dexterous) — by conditioning on gripper point cloud geometry and a learnable per-gripper query vector. The model achieves 71.38%, 72.16%, and 72.07% success rates respectively”

“Due to insufficient motor strength (maximum torque of 0.7 Nm)... our system cannot handle common stiff tool-use cases where the required force or activation threshold exceeds 10 N.”