WUJI trains 20-joint robot hand to spin a pen in sim, then deploys to real hardware
rohanpaul_ai · x · 2026-10-11
WUJI demonstrated Hand 2, a 20-joint robotic hand with four independently driven joints per finger and 1,000 Hz control, trained to spin a pen in a physics simulator and then run the same policy on real hardware, shown at IROS 2026 alongside a sensor glove for live human control.
- Pen spinning is a hard test: the pen rolls, slides and passes between fingers, and any lagging finger drops it
- Training used mjlab (built on MuJoCo) with PPO running 4,096 parallel virtual hands, plus motion-reference tracking for sim2real transfer
- Code and setup guides are open source
Related event: WUJI Hand 2: 20-DoF Robot Hand Masters Pen Spinning via Sim-to-Real(3 posts)→
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