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Wuji Hand Setup Guide

This document describes how to prepare Wuji Hand for G1 teleoperation in this repository.

1. Print the G1-Wuji Adapter and Mount the Hand

First, 3D print the G1-Wuji adapter from link, then mount the Wuji hand on the G1 robot.

2. Install Upgrader and Flash Firmware

Connect power to the hand, connect the hand to your PC with a USB cable, then follow the official Upgrader guide at link to install Upgrader and flash firmware.

3. Configure udev for Non-root USB Access

Run the following commands on Linux to allow non-root USB access:

echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0483", MODE="0666"' | \
sudo tee /etc/udev/rules.d/95-wujihand.rules && \
sudo udevadm control --reload-rules && \
sudo udevadm trigger

4. Query Serial Number and Update Startup Script

Query the device serial number with:

lsusb -v -d 0483:2000 | grep iSerial

Then set hand_side and serial_number in wuji_hand_real.sh before starting the controller.

More Information

For more Wuji Hand details, see the official documentation at link.