Reading guide

2.1 Beta

Hardware · Product DocumentationWuji Hand 2 2.1 BETANon-tactile

Recommended Reading Path

Follow these stages to understand the product, prepare it safely, connect it, and diagnose it.

1

Understand the Product

Start with the product structure, degrees of freedom, electrical interfaces, and package contents.

• Product Introduction — Specifications, structure, electrical characteristics, and package contents
  • Overview
  • Specifications
  • Mechanical Structure
  • Communication and Power Interface
  • Package Contents

2

Before Power-On

Confirm the power, mechanical operation, environmental, and cable-protection requirements.

• User Notice — Safety requirements before use
  • Power Safety
  • Mechanical Operation Safety
  • Environmental Requirements
  • Cable and Flex-Cable Protection
• Usage Constraints — Capability boundaries and available behavior for the Beta stage

3

Connect and Run

Connect through ROS 2 or the SDK, check the state, then run the first motion.

• ROS 2 Integration — Read state, control joints, and display the model in RViz through ROS 2
• SDK Reference — Static IPs, SdkManager, and connection options
  • Connect via SdkManager
  • ConnectOptions
  • Instance Attributes
• Run the First Motion — Enable the hand, then publish joint_command
• Wuji CLI Device Management — Scan devices and confirm the handshake and firmware version

4

Control and Diagnose

Move from whole-hand resources and joint numbering to diagnostics and log export.

• Hand-Level Resources — State, diagnostics, MIT parameters, and control actions
  • Clear Fault
  • User Origin
  • Joint Traversal
  • Joint Numbering
• Data Subscription — Async, sync, and callback receive modes
• Flash Log Export — Export device logs for diagnosis
• Doctor — Check connectivity, versions, and permissions

All Pages in This Version

Release Notes

Component versions and updates for Wuji Hand 2.1 (Beta)

Product Introduction

Specifications, structure, electrical characteristics, and package contents

User Notice

Power, mechanical operation, environmental, and cable-protection requirements

Usage Constraints

Beta-stage capability boundaries and available behavior

ROS 2 Integration

Read state, control joints, and display the model in RViz through ROS 2

SDK Reference

Connection, control, data, diagnostics, and log interfaces