> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Model Assets and Loading

This page covers Wuji Glove skeleton assets and URDF loading. For frame conventions, see [Coordinate Frames](https://docs.wuji.tech/docs/en/wuji-glove/latest/coordinate-frames.md).

## Model Assets

`glove/body/` holds the skeleton model used for hand motion tracking. The wrist carries the EMF transmitter base, and each fingertip carries a receiver coil.

| Category | Contents |
| - | - |
| Hand skeleton model | Left- and right-hand URDF skeletons, with 21 revolute joints across five fingers per hand |
| EMF modules | Wrist transmitter base `base_link_TX.STL`, fingertip receiver coil `base_link_RX.STL` |

## Requirements

| Use | Requirement |
| - | - |
| URDF preview | Any URDF viewer, such as urdf-viz |
| STEP / CAD | A CAD tool that supports STEP, such as FreeCAD or SolidWorks |

## Get and Load

Install Rust/Cargo before running `cargo install`. See the [urdf-viz installation guide](https://github.com/openrr/urdf-viz#install).

```bash theme={null}
git clone https://github.com/wuji-technology/wuji-description.git
cd wuji-description
cargo install urdf-viz

# Right hand
urdf-viz glove/body/urdf/right.urdf

# Left hand
urdf-viz glove/body/urdf/left.urdf
```

## Verify

1. Confirm the URDF viewer opens with no missing meshes.
2. Confirm the model shows 21 revolute joints.
3. Confirm each hand loads its own URDF.

A model that loads confirms the assets and the visualization path work. Tactile, EMF, and IMU data need a connected device.


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