Appendix
This page collects the naming map that Wuji Hand 2 uses across the SDK, the model files, and the documentation, definitions of common terms, and the entry points for software, firmware, models, drawings, and example code.
Joint Naming Reference
For the global index, SDK label, anatomical name, motion range, and model naming of all 20 joints, see the Control Guide.
Glossary
| Term | Description |
|---|---|
| MIT force-position hybrid control | A control mode that computes torque as τ = Kp·(q_d − q) + Kd·(dq_d − dq) + τ_ff, combining position, velocity, and torque feedforward |
| Backdrive | The ability to drive a joint in reverse from the output side. Every axis on this product is back-drivable |
| FOC | Field-oriented control, the vector control method used to drive the motors |
| Enable / disable | Moving a joint into or out of a torque-carrying, controllable state |
| Emergency stop | The software action that stops the whole hand immediately, which takes no mask |
| Clear fault | The action that clears a joint fault state, applied according to the error code's clear policy |
| User origin | A user-level calibration that sets the current physical position as the joint-side zero |
| Over-current protection (OCP) | The hardware protection that trips when current exceeds the limit |
| Curb weight | The whole-unit weight convention that includes the soft pad and output cables but excludes the base |
Software
| Resource | How to get it |
|---|---|
| Wuji SDK (Python) | pip install wuji-sdk, with source and releases in the wuji-sdk repository |
| Wuji SDK (C) | Prebuilt packages ship with the wuji-sdk repository, see the C SDK reference for usage |
| Wuji Studio | Installers in the wuji-studio repository, docs in the Wuji Studio docs |
| Wuji CLI | Installers in the wuji-cli repository, docs in the Wuji CLI docs |
Firmware
Firmware packages aren't downloaded separately. Wuji Studio or Wuji CLI pushes the version that matches your device's hardware model and guides you through the upgrade.
Models and Drawings
| Resource | How to get it |
|---|---|
| URDF / MJCF / USD models | wuji-description v2026.8.14 or later, including the ROS2 package wuji_hand2_beta2_description. For loading and integration, see the Wuji Description docs |
| Whole-hand STEP assembly (with mount) | Ships with wuji-description v2026.8.14 or later for envelope and mounting-interface design. The assembly doesn't include the fingertip soft pads yet, so use the models under body/ for contact simulation |
| Palm mounting interface STEP and A3 drawing | Ships with wuji-description v2026.8.14 or later, with specifications in Hardware Integration |
Example Code
| Resource | Location |
|---|---|
| Python examples | examples/python/wuji_hand_2/ |
| C examples | examples/c/wuji_hand_2/ |