Using Wuji Hand 2 and Wuji Glove with the dual-arm system

Configuration guideDual-Arm Data Collection System

In the standard dual-arm configuration, Wuji Hand 2 is mounted on both arms and the operator teleoperates arms and hands together with Wuji Gloves and VR. Assembly, wiring and network settings are completed before shipping. This page summarizes the architecture and what to check when mounting or replacing hands later.

What you need

Make sure you have everything before you start.

IncludedDual-arm system (Marvin Pro × 2)

IncludedWuji Hand 2 × 2pre-mounted in standard config

IncludedWuji Glove × 2

Option (sold separately)Controller holders

Contact HumansX ↗

Option (sold separately)USB foot pedal

Contact HumansX ↗

Steps

1. 
   1

   The setup

   VR moves the arms, gloves move the fingers.

2. 

   PC192.168.1.50

   

   HUB

   

   Hand L.110

   

   Hand R.111

   

   Glove L.100

   

   Glove R.101
   2

   Hand & glove addresses

   All on 192.168.1.x. Arms and VR on 6.6.x.

3. Teleop input

   Input deviceMulti-finger hand

   EnableFoot pedal

   ModeIncremental
   3

   Set input to multi-finger

   Stop services, then change and save.

   Setup steps →
4. 
   4

   Controller on the glove

   Fix it on the back of the glove.

5. 
   5

   Moves only while pressed

   Pedal = arms follow; fingers follow the gloves.

6. Terminal

   $ wuji devices

   # hand L/R ✓ glove L/R ✓
   6

   After swapping a hand

   Check detection, redo payload identification.

   Payload identification →

Hand power

The hands need a dedicated 12 V, ≥ 200 W supply (separate from the 24 V tool power). Ask HumansX before mounting or replacing hands yourself.

Detailed steps