Documentation Guide
GitHub Repositories and Docs Entry Points
The table below summarizes Wuji Glove repositories, use cases, and recommended reading entry points.
| Category | Repository | Version | Use case | Reading entry |
|---|---|---|---|---|
| Cross-product Software | wuji-sdk |  | Integrate Wuji devices into your applications with real-time data streaming and control. | Wuji SDK docs |
| wuji-studio |  | Device management, data visualization, calibration, and firmware upgrade for Wuji devices | Wuji Studio docs | |
| wuji-cli |  | Debug, diagnose, and automate Wuji devices from the terminal, scripts, or AI Agents. | Wuji CLI docs | |
| Reference | wuji-description |  | Load Wuji robot models for simulation, visualization, and mechanical integration. | Wuji Description docs |
Available Documentation
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 SDK and Wuji Studio 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
Tactile matrix layout and change notes, plus TactileFrame / TactileZones / TactileBinary / TactileResidual / PointCloud field definitions - EMF & Hand Tracking
EmfPoseArray / FingertipPoses / HandJointAngles / HandSkeleton field definitions, plus EMF chain output rate tuning - IMU Data
Raw and fused subscription APIs, plus 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 - Hand Shape Calibration
Hand shape (IK) calibration, URDF lookup, and output per SDK user and hand side
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
Software documentation
- Wuji Studio Documentation — Desktop visualization application for device management and data visualization
- Wuji SDK Documentation — Python development kit for data subscription and device control
Technical Support
For technical support or any questions, please contact us: support@wuji.tech