Device Calibration

Calibration removes per-unit sensor variance so that fingertip pinches, four-finger bends, and other gestures produce expected output. Complete it at least once per new device, and recalibrate as needed.

Calibration Home

Before opening calibration, pair your Wuji device on the Device Connection page. Click the Calibration icon on the Activity bar to enter the home page: the Devices sidebar lists connected devices on the left. The right side is the calibration entry, with the start button and the selected device's calibration status at center.

Select a device in the sidebar and click the central start button to enter the flow. An uncalibrated device runs a first-time calibration. A calibrated one runs a recalibration—the flow is the same either way.

The flow screen has three areas: left Devices sidebar (device list and calibration status), center guide area (current pose name and progress like Thumb-Index Tip Touch · 1/6, guide image, status hints), and right data panel (real-time SDK diagnostics).

Data Panel

While calibration runs, the right-side panel shows two metrics side by side:

Starting Calibration

Select a device on the home page and click the start button to enter the flow, then run through 6 poses in order. See Pose Reference below for each pose's illustration and tips.

Completing a Pose

Calibration runs automatically—no manual clicks. Once you hold a pose, the system detects, collects, and advances on its own:

1. Pose your hand following the guide
2. The system detects the pose and enters the Stabilizing phase, measuring how long you hold it steady
3. Once stable enough, it auto-advances to the Collecting phase and records data
4. When the pose completes, it shows Step completed and moves to the next pose automatically

Between poses, fully open your hand to keep the transition data clean. If a step fails to collect, the screen prompts you and you can click Recalibrate to start over. Switching to another view during calibration interrupts the current run.

Pose Reference

Step	Illustration	Pose	Constraint	Operation guide
1		Thumb-Index Tip Touch	Thumb–index EMF distance < 5 cm, with the fingertips facing each other at an angle > 100° (tip-to-tip, not pad-to-pad)	Touch only the thumb and index fingertips. Do not press the finger pads together.
2		Thumb-Middle Tip Touch	Thumb–middle EMF distance < 5 cm, with the fingertips facing each other at an angle > 100° (tip-to-tip, not pad-to-pad)	Touch only the thumb and middle fingertips. Do not press the finger pads together.
3		Thumb-Ring Tip Touch	Thumb–ring EMF distance < 5 cm, with the fingertips facing each other at an angle > 100° (tip-to-tip, not pad-to-pad)	Touch only the thumb and ring fingertips. Do not press the finger pads together.
4		Thumb-Pinky Tip Touch	Thumb–pinky EMF distance < 5 cm, with the fingertips facing each other at an angle > 100° (tip-to-tip, not pad-to-pad)	Touch only the thumb and pinky fingertips. Do not press the finger pads together.
5		Four-Finger Bend 90°	Index / middle / ring / pinky angles close to the target pose (thumb not constrained)	Bend the index, middle, ring, and pinky fingers together to about 90°—like a half-fist, not clenched, the thumb stays relaxed
6		Flat Open	Index / middle / ring / pinky angles close to the target pose (thumb not constrained)	Open the hand fully with all four fingers extended and close together, palm steady, the thumb stays relaxed

Calibration Complete

After all 6 steps finish, the completion page appears with a confirmation message and three actions:

Calibration data is saved automatically and persists across Studio restarts. The device's tag in the Devices sidebar changes from "Uncalibrated" to "Calibrated".

URDF Output Location

The generated URDF is saved per Studio user profile and per device:

~/.wuji/studio/data/user-profiles/<profile-id>/extensions/wuji.calibration/local/artifact/calibration/profiles/<device-sn>.urdf

Each user profile keeps its own copy and switching users doesn't affect the others. Click Show URDF on the completion page to open the folder in your file manager.

Calibration results can't be saved without a signed-in user. See Getting Started > User Profile for how to create one.

Debug Recording

When calibration starts, Studio automatically begins a recording named Calibration Debug that captures the current device's poses, transforms, IK, fingertip, and IMU data, excluding tactile streams. The recording stops automatically when calibration ends, whether it succeeds or fails.

Files save to the same directory as regular recordings—by default <Documents>/WujiStudio/recordings/, configurable in Studio settings. If calibration keeps failing, send the matching file along with the device SN to support@wuji.tech.

Troubleshooting

You may run into these during calibration: