Wuji Hand
Wuji Glove
Wuji Studio
Wuji SDKRetargeting User Guide
Overview
Wuji Hand Retargeting is a hand pose retargeting system that converts human hand tracking data into joint angles for the Wuji Hand dexterous hand. The current public examples support Apple Vision Pro live input, MediaPipe replay data, MP4 video input, and Intel RealSense camera input.
Key Features
- High-precision Retargeting: Adaptive analytical optimization algorithm for accurate human-to-robot hand mapping
- Multiple Input Sources: Support for Vision Pro, pre-recorded MediaPipe data, MP4 video, and Intel RealSense input
- Real-time Teleoperation: Support for live tracking inputs in both simulation and real hardware control
- Adaptive Algorithm: Automatically adjusts optimization strategy based on finger pinch state
- Multiple Hand Models: Drives both Wuji Hand (USB) and Wuji Hand 2 (networked), selectable through config files
- Simulation & Real Hardware: Supports both MuJoCo simulation and Wuji Hand real hardware control
Documentation
| Section | Description |
|---|---|
| Installation | System requirements, installation steps |
| Quick Start | Start driver, verify operation, run demos |
| Tuning Guide | tuning_tool usage, segment_scaling, parameter reference, tuning order |
| API Reference | Basic usage, message definitions, service interfaces |
| Appendix | Algorithm principles, related resources |