This page covers mechanical mounting, coordinate frames and model assets, and power and network integration for 2.1 devices. The palm mounting interface and the overall structure don’t change between 2.1 and 2.2, while the model assets live in separate directories. For step-by-step first-connection instructions, see Quick Start.
Mechanical Integration
The hand mounts to a robot arm or a fixture through the wrist flange or the palm interface. Mounting dimensions, model frame conventions, left and right hand differences, and load and cable limits together decide which mounting options work.Wrist Mounting Interface
The wrist ships with a standard flange, and the box includes an adapter mount and an adapter flange (see Package Contents). Those parts cover desktop mounting and common flange interfaces.Palm Mounting Interface
The bottom of the palm provides a standard mounting interface for machining an arm-side adapter plate. Left and right hands share the same interface, and 2.1 matches 2.2:
For how to get the palm mounting interface STEP assembly and the single-page A3 dimensioned drawing, see Palm Mounting STEP and Drawings.
Left and Right Hand Differences
Left and right hands are mirrored parts with symmetric meshes. Factory default IPs differ by handedness, described under Network Configuration.Load and Cable Limits
- Evaluate wrist load, bending moment, and shock against the actual duty cycle, and avoid high loads and impacts until the limits are confirmed.
- Reserve cable bend radius, exit direction, and motion clearance in the integration design.
- Always run the hand with the soft pad and skin fitted. The flex cables on the finger surfaces are fragile, so handle them briefly and only during maintenance, described in User Notice.
Palm Mounting STEP and Drawings
The paths below provide the palm mounting-interface STEP files and drawings. For the Beta full-hand STEP assemblies, use wuji-description v2026.9.11.
Left and right files mirror each other. The palm mounting interface is identical between 2.1 and 2.2, and the version marker in each filename only aligns with its directory.
attachment/ sits outside the ROS 2 package root at body/, so colcon doesn’t install it.
Coordinate Frames and Models
Model Assets
The 2.1 model assets live underhand2/hand2_1/ and don’t collide with the hand2/hand2_2/ assets for 2.2.
The model is rooted at the arm flange mount, with the wrist shell connected through a fixed joint. Use the URDF definition for the relationship between the wrist mounting frame and the root link.
Requirements
Get and Load
URDF preview:
Verify
- Confirm MuJoCo or the URDF viewer opens with no missing meshes.
- Confirm the model shows 20 revolute joints.
- Confirm the directory and ROS 2 package name match 2.1.
Electrical and Network Integration
Power Supply
See Electrical and Power in Usage Constraints.
Power-Up and Power-Down Sequence
Power up by connecting the device-side XT30 first, then plugging in the adapter. Power down by confirming the device is at rest, disconnecting power, then unplugging the cables.Network Configuration
The device uses a static IP and doesn’t support DHCP. Factory default addresses:
Set the host adapter to a static IP on the same subnet, such as
192.168.1.50. Changing the IP takes four steps: set the new address, reboot the device, reconnect at the new IP, and get to confirm. See SDK Reference.
Multiple Devices and Clients
- With several devices on one subnet, factory IPs differ by handedness, so a third device needs its IP changed before it joins.
- Target a device with
--snormanager.connect(sn=...)to avoid connecting to the wrong one.