> ## 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.

# Calibration and Configuration

<Info>
  This page covers the two kinds of calibration for Wuji Glove plus device parameter configuration. Hand model calibration drives the accuracy of joint angles and fingertip poses, and tactile calibration trains a contact model for contact detection. Calibration output is isolated per SDK user.
</Info>

## Hand Model Calibration

Hand model calibration is isolated per user, and the Default user can't run it. Create a named profile, switch to it, then calibrate:

```bash theme={null}
wuji user create operator --switch
wuji calib hand-model
```

Before calibrating, keep fingers slightly bent and relaxed, without crossing the fingertip modules or making a fist. The output saves to the current user profile and takes effect right away, producing the left- and right-hand models for that user.

For full parameters, URDF lookup order, return fields, and error handling, see [Calibration](/en/docs/wuji-glove/sdk-data-reference/calibration) in SDK Reference. For command-line usage, see [Wuji CLI hand model calibration](/en/docs/wuji-cli/hand-model-calibration/).

## Tactile Calibration

For contact detection, run tactile calibration. It records guided hand motions, trains a contact model for that glove, and provides live contact detection on the `tactile_binary` stream.

For the motion guide and command-line usage, see [Wuji CLI tactile calibration](/en/docs/wuji-cli/tactile-calibration/). For the interface and data structures, see [Tactile](/en/docs/wuji-glove/sdk-data-reference/tactile) in SDK Reference.

## Device Operations

| Task | Interface | Notes |
| - | - | - |
| Parameter persistence | [Device Operations](/en/docs/wuji-glove/sdk-data-reference/device-operations#parameter-persistence) | Parameters written to the device survive a reboot |
| Reboot the device | [Device Operations](/en/docs/wuji-glove/sdk-data-reference/device-operations#reboot) | For parameters that need a reboot to take effect |
| Device logs | [Device Operations](/en/docs/wuji-glove/sdk-data-reference/device-operations#device-logs) | Export logs for diagnosis |

## User and Calibration Data

Calibration output and local data are isolated per SDK user, so switching users switches the active hand model. For user management and data export, see [SDK User Management](/en/docs/wuji-sdk/device-params/#sdk-user-management).

## Checks After Calibration

Confirm three things once calibration finishes:

1. `wuji doctor` passes, with no EMF disconnection and no tactile dead points, rows, or columns.
2. `wuji sub emf_poses --count 1` returns a frame with normal confidence.
3. Flexing and extending the fingers produces continuous joint angles in the correct direction.

If a check fails, calibrate again. If it still fails, see [Troubleshooting](/en/docs/wuji-glove/troubleshooting).

## Firmware and SDK Version Requirements

The calibration interfaces have minimum firmware and SDK versions. For the pairing, see the component version table in [Release Notes](/en/release-notes).

For full workflows and measurements, see [Hand Model Calibration](/en/docs/wuji-glove/sdk-practice/hand-model-calibration) and [Tactile Calibration](/en/docs/wuji-glove/sdk-practice/tactile-calibration) under SDK Usage Practices.


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