WUJI Hand 2: 20-Joint Robot Hand Learns Pen Spinning in Sim, Runs on Real Hardware
rohanpaul_ai · x · 2026-10-11
- WUJI trained its 20-joint WUJI Hand 2 to spin a pen inside a physics simulator using mjlab, then ran the same policy zero-shot on the real hand, demoed at IROS 2026.
- Pen spinning is a hard benchmark: the pen rolls, slides, and passes between fingers, and one late finger drops it.
- The hand has four independently motor-driven joints per finger and a 1,000 Hz control rate; WUJI also showed a sensor glove letting a person teleoperate the hand live.
Related event: WUJI Hand 2: 20-DoF Robot Hand Masters Pen Spinning via Sim-to-Real(3 posts)→
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