Wuji Hand
Wuji Glove
Wuji Studio
Wuji SDKDocumentation Guide
GitHub Repositories and Docs Entry Points
The table below summarizes Wuji Hand repositories, use cases, and recommended reading entry points.
| Category | Repository | Version | Use case | Reading entry |
|---|---|---|---|---|
| Software Tools | wujihand-upgrader |  | Firmware upgrade tool for Wuji Hand | Upgrader User Guide |
| wujihand-hmi |  | Real-time device monitoring, calibration, and debugging for Windows and Linux | HMI User Guide | |
| Developer Guide | wujihandpy |  | C++ core with Python bindings, for controlling and communicating with Wuji Hand | SDK User Guide |
| wujihandros2 |  | 1000Hz joint state publishing, real-time control interface, multi-hand setup, and RViz visualization | ROS2 User Guide | |
| wuji-retargeting |  | High-precision retargeting based on DexRetargeting, supporting Vision Pro hand tracking for real-time teleoperation | Retargeting User Guide | |
| wuji-hand-teleop |  | Real-time Wuji Hand and robot arm control with multiple input devices | ||
| Reference | wuji-description |  | URDF, MJCF, and USD models plus STEP/CAD assets for simulation, visualization, and mechanical integration | Description User Guide |
| mujoco-sim |  | Minimal demo for loading and controlling Wuji Hand in MuJoCo simulator | ||
| isaaclab-sim |  | Minimal demo for loading and controlling Wuji Hand in IsaacSim simulator |
Available Documentation
Changelog
Version updates and changelog for firmware, SDK, HMI, ROS2 driver, and other components
Product Introduction
Hardware specs, structure, electrical characteristics, and installation guide
- Product Overview
Introduction to Wuji Hand bionic dexterous hand with 20 DOF - Product Parameters
Technical specs for structure, control, load, and electrical performance - Product Structural Features
Five-finger bionic design, DOF configuration, and interface layout - Product Electrical Characteristics
Pin definitions and RGB indicator light status reference - Product Accessories Introduction
Included accessories, impact-resistant adapter, and Tactile Sensing Glove - Installation and Removal
Mounting steps for base, adapter, and hand, plus removal precautions and maintenance
User Notice
Safety precautions and legal terms for operating Wuji Hand
- Safety Precautions
Power, firmware, mechanical, environmental, and cable safety rules - Terms and Statements
Links to general terms, conditions, and safety disclaimers
Upgrader User Guide
Install and use Wuji Hand Upgrader for firmware updates
- Software Installation
System requirements, deb package installation, and verification steps - Device Connection
Connect Wuji Hand via USB and enter bootloader mode - Firmware Upgrade
One-click upgrade and manual firmware selection workflows - Troubleshooting
Fix dependency issues during deb package installation - Uninstall
Remove Wuji Hand Upgrader from your system
HMI User Guide
Control and monitor Wuji Hand using the HMI desktop application
- Launch HMI
Download and launch HMI on Windows or Ubuntu - Panel Introduction
Global, single-axis, and log panel functions and controls - Connect and Enable
Establish device connection, enable joints, and run demo sequence - Troubleshooting
Fix port permission and display scaling issues on Ubuntu
SDK User Guide
Python/C++ SDK for programmatic control of Wuji Hand joints
- Getting Started
Install wujihandpy, run quick start example, and learn core concepts - Tutorial
Device connection, sync/async read-write, real-time control, multi-threading, and USB disconnect handling - API Reference
Complete field list and method reference for Hand, Finger, Joint, and TactileGlove
ROS2 User Guide
ROS2 driver for high-frequency joint control and visualization
- Installation
Install SDK and ROS2 driver via source build or deb package - Quick Start
Launch driver, verify joint states, run demo, and open RViz - Configuration
Launch parameters, multi-hand setup, and joint naming conventions - ROS2 Interface
Message types, service calls, topic control, and code examples - Appendix
Troubleshooting, error code reference, and related resources
Retargeting User Guide
Map human hand poses to Wuji Hand joint angles in real time
- Installation
Clone repo, install dependencies, and configure Apple Vision Pro - Quick Start
Run simulation demo and real hardware teleoperation examples - Tuning Guide
tuning_tool usage, segment_scaling, parameter quick reference, recommended tuning order - API Reference
Retargeter usage, input/output formats, and configuration parameters - Appendix
Optimization algorithm principles, troubleshooting, and resources
Description User Guide
Model description package for the hand and related hardware, covering simulation, visualization, and mechanical integration
- Overview
Model package coverage and related repositories - System Requirements
Software versions for MuJoCo and ROS2 visualization - Integration Guide
Model install, MuJoCo/RViz/URDF visualization, and mechanical integration - Related Repositories
mujoco-sim, isaaclab-sim, and retargeting examples - Troubleshooting
Fix RViz display and rosdep initialization errors
Technical Support
For technical support or any questions, please contact us: support@wuji.tech