Panels

Wuji Hand HMI consists of Global Panel, Single-Axis Panel, and Log Panel.

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Global Panel

The Global Panel is for whole-hand operations and status viewing. It operates the entire hand, with feedback from the spinal board.

Name	Description
Port selection	The Linux HMI auto-filters available ports. The Windows HMI doesn’t filter ports automatically. Launch the HMI first, then connect the hand. Check the Log Panel Operation Log for [INFO] New ports: ['COM XX'] to identify the Wuji Hand port.
Connect / Disconn	Choose the correct port and click Connect. Click Disconn to end the session.
Spinal board status	Displays: Left/Right hand, system firmware version, online time, e.g. Left 1.2.0 24m59s.
SN	Displays the device serial number.
Enable	Click Enable to power all joint motors. Motor status becomes RUN.
Disable	Click Disable to de-energize all joint motors. Motor status becomes READY.
CLR ERR	If WARNING/ERROR/FATAL appears, click CLR ERR first, then try enabling again after recovery.
POS MODE / RST POS	Click POS MODE to set motor mode to RT_FCL. While enabled, click RST POS to return the hand to the zero pose.
Soft RST	Restart the driver boards. During restart, motor status briefly shows DISCONN. After completion, motor status returns to READY.
中文 / EN	Toggle UI language between Chinese and English.
Run Demo	Click Run Demo to play a preset motion sequence for quickly verifying communication and basic motion.
Speed	Controls the demo playback speed multiplier. Drag the slider to adjust. Range 0.5x–3.0x, default 1.0x.
Glove pose	Click Glove pose to switch the hand to a posture that facilitates removing and installing soft components and gloves.
Effort Limit	Effort limit input field for entering the target value, used with the Set Effort Limit button.
Set Effort Limit	Sets the maximum effort output allowed for joints. Range 0–3.5 (A), default 1.5 (A). Enter a value in the input field and click Set Effort Limit. What is Effort?Effort is the actuation value in current space, filtered before output. It is not the actual measured current—think of it as relative actuation strength, useful for load monitoring and collision detection. Warning: Modifying Effort Limit may cause device damageIncreasing effort limit raises motor output torque and increases motor heating. Damage caused by incorrect settings is the user’s responsibility. Affects joint lifespan and accelerates component wear with unpredictable impact May cause irreversible damage to joints under certain operating conditions May accelerate thermal protection triggering, reducing continuous operation time May cause other serious consequences beyond those listed above
Help	Click Help to open this documentation page.

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Single-Axis Panel

The Single-Axis Panel is for single-joint operations and status viewing. It operates individual joint axes, with feedback from the driver board.

Name	Description
Joint	Joint name.
STATUS	DEFAULT: fallback state when the system reads an undefined or abnormal state READY: ready state—motor is disabled RUN: running state—motor is enabled CALIBRATE: calibration in progress. Don’t operate while calibrating DISCONN: disconnected. The motor and spinal board are disconnected, or the HMI isn’t connected to the hand WARNING: abnormal state. Click CLR ERR in the Global Panel to clear ERROR: error state. Click CLR ERR in the Global Panel to clear FATAL: unrecoverable error. If multiple power cycles don’t recover, contact support
TEMP	Displays the current motor temperature.
MODE	Displays the current control mode, e.g. RT_FCL.
POS-ACT	Displays the position feedback as a percentage within the factory-calibrated travel range.
POS-TAR	Displays the desired position as a percentage within the factory-calibrated travel range.
POS CRL	When MODE is RT_FCL and STATUS is RUN, drag the slider to set the target position.
OL-CW / OL-CCW	Open-loop motion corresponding to clockwise/counterclockwise polarities. Press and hold OL-CW or OL-CCW to rotate the motor in one direction.
FR	Click FR to open the factory reset dialog: Restore: restore certain parameters to factory values After restoring to factory settings, click Soft RST in the Global Panel for the changes to take effect. Save: save current parameters to Flash Save Factory Parameters: save factory calibration parameters to Flash Reset all parameters: restore all parameters to factory values
SOC / ROC	Factory zero may differ slightly from the URDF zero. For Sim2Real alignment, you can manually set a user zero close to the URDF zero. SOC (Set Origin Control): set the user zero to the current position feedback ROC (Reset Origin Control): restore the zero to the factory-calibrated zero

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Log Panel

The Log Panel has two sections. The left side displays the System log, recording warnings and errors at WARNING level and above. The right side displays the Operation log, recording initialization info and user actions. Right-click in the log area to:

• Copy system log / Copy operation log: copy selected log content to the clipboard.
• Export log: package both system and operation logs for troubleshooting.
• Clear system log / Clear operation log: clear the corresponding log area.
• Clear all logs: clear both system and operation logs.