wuji-hand-description

Robot model description package for Wuji Hand. Provides URDF, MuJoCo (MJCF), and USD assets for simulation and visualization. Includes ROS2 launch and RViz configuration files for quick inspection of left and right hand models.

Get started with Quick Start. For detailed documentation, refer to Wuji Hand Description Guide on Wuji Docs Center.

Repository Structure

├── docking/             // Docking module assets (URDF, MJCF, meshes, USD)
├── launch/              // ROS2 launch files for model visualization
├── meshes/              // STL meshes for visual and collision geometry
├── mjcf/                // MuJoCo XML models for left and right hands
├── rviz/                // RViz presets for left and right hands
├── step/                // STEP source files for CAD exchange
├── usd/                 // Isaac Sim USD assets for left and right hands
├── urdf/                // URDF models for local tools and ROS2
├── CMakeLists.txt       // ROS2 package installation rules
├── package.xml          // ROS2 package manifest
└── README.md

Quick Start

Installation

git clone https://github.com/wuji-technology/wuji-hand-description.git

Running

MuJoCo

# Navigate to the repository directory
cd wuji-hand-description

# Right hand
python -m mujoco.viewer --mjcf=mjcf/right.xml

# Left hand
python -m mujoco.viewer --mjcf=mjcf/left.xml

ROS2 and RViz

# Source ROS2 environment, replace <distro> with your installed ROS2 distribution
source /opt/ros/<distro>/setup.bash

# If not cloned in this workspace yet:
cd ~/ros2_ws/src
git clone https://github.com/wuji-technology/wuji-hand-description.git
cd ..

rosdep install --from-paths src --ignore-src -r -y
colcon build --packages-select wuji_hand_description
source install/setup.bash

# Left hand (default)
ros2 launch wuji_hand_description display.launch.py

# Right hand
ros2 launch wuji_hand_description display.launch.py hand:=right

Isaac Sim (USD)

Load usd/left/wujihand.usd or usd/right/wujihand.usd directly in Isaac Sim. For a complete simulation example, see isaaclab-sim.

Adapters

The step/adapter/ directory provides two mounting adapters for connecting the Wuji Hand to a robotic arm flange:

• Direct adapter — rigidly connects the hand to the arm.
• Impact-resistant adapter — two-part design that separates under overload to protect the hand.

Each option ships with a STEP model and an assembled PDF drawing. See Adapter-Installation-Instructions.md for step-by-step mounting guidance.

Simplified structural models

The step/simplified-structural/ directory contains simplified STEP models of the left and right hand frames with temporary fingertips, intended for mechanical integration and mounting interface checks.

Docking module

The docking/ directory ships a standalone docking link (URDF, MJCF, USD, STL) intended to be attached to the hand palm or to an arm flange via a fixed joint when composing a full robot description. It is not included in the default display launch files.

# MuJoCo preview of the docking link
python -m mujoco.viewer --mjcf=docking/mjcf/docking.xml

# URDF preview (non-ROS, relative mesh path)
# e.g. with urdf-viz:
urdf-viz docking/urdf/docking.urdf

Contact

For any questions, please contact support@wuji.tech.