Documentation Guide

Changelog

Version update records and changelog for firmware, SDK, Studio and other components

Product Introduction

Product overview, specifications, structural components, accessories, and software

• Product overview
  Product positioning, core capabilities and typical application scenarios
• Specifications
  Glove parameters (dimensions, weight, tactile sensors, spatial tracking, IMU, etc.) and EMF specifications
• Product components
  Structural components (palm, back, data acquisition board)
• Product accessories
  Accessory list and descriptions
• Software
  Wuji SDK and Wuji Studio capabilities and system requirements

Getting Started

Hardware connection, network configuration, wearing guide and software installation

• Connection and configuration
  Data acquisition board connection, Ethernet & power setup, computer network configuration
• Software installation
  Links to Wuji Studio and Wuji SDK documentation

SDK Data Reference

All data streams, data structures, device operations, and calibration for Wuji Glove through the SDK

• Data Streams Overview
  Three categories of data streams (raw / post-processed / global) plus FrameHeader and time-sync note
• Tactile Data
  TactileFrame / TactileZones / TactileBinary / TactileResidual / PointCloud field definitions
• EMF & Hand Tracking
  EmfPoseArray / FingertipPoses / HandJointAngles / HandSkeleton field definitions, plus EMF chain output rate tuning
• IMU Data
  ImuData field definitions, compatible with ROS sensor_msgs/Imu
• Coordinate Transforms
  tf_static / tf data APIs, independent of any per-sensor data stream
• Device Maintenance
  Parameter persistence, reboot, device logs, and available parameter table
• Calibration
  IK calibration flow, hand profile selection, URDF lookup, error handling, and per-SDK-user isolation

Offline Pipeline

Save raw data and recompute hand and IMU products offline

• When to use it
  Use cases and CPU savings
• Workflow
  Online capture, save, offline recompute in three steps
• Create an offline pipeline
  WujiGlove.offline_pipeline() and URDF lookup order
• Recompute hand products
  Recompute hand_joint_angles, tip_poses, hand_skeleton
• Recompute IMU fusion
  Recompute fused IMU orientation offline
• Construct input frames
  Schema constructors for non-SDK-recorded data

Coordinate Frames

Coordinate conventions (right-hand system, axis definitions) and frame tree structure (REP-155 standard)

Troubleshooting

Connection troubleshooting (IP setup, ping, multi-NIC, firewall) with cross-product entries