isaaclab-sim

Simulation demo (IsaacSim): minimal demo for loading and controlling the Wuji Hand in IsaacSim simulator. The script loads the default right hand model and plays the trajectory in a loop. Supports both left and right hand configurations.

video.mp4

Table of Contents

• Repository Structure
• Usage
  • Prerequisites
  • Running
• Contact

Repository Structure

├── assets/
├── data/
│   └── wave.npy
├── wuji_hand_description/
├── run_sim.py
├── wuji_hand.py
└── README.md

Directory Description

Directory / File	Description
assets/	Asset files for simulation
data/	Trajectory data files including wave.npy
wuji_hand_description/	Git submodule containing Wuji Hand model descriptions (URDF, MJCF, meshes)
run_sim.py	Main simulation script
wuji_hand.py	Wuji Hand model implementation

Usage

Prerequisites

git clone --recurse-submodules https://github.com/wuji-technology/isaaclab-sim.git

Follow the official documentation to set up your environment.

Running

python run_sim.py

The script loads the default right hand model and plays the trajectory from data/wave.npy in a loop.

To use the left hand, edit HAND_SIDE = "left" in run_sim.py.

Contact

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