Quick Start

This page splits into three sections by what’s on hand: simulation check needs no device, real-device run covers the full path from unboxing to a firmware upgrade, and cross-product teleoperation brings in Wuji Hand 2. Each section stands on its own, so skip to the next one when the prerequisites don’t apply.

Before You Start

What’s on hand	Where to start	Approximate time
No device yet	Simulation Check	10 minutes
One Wuji Glove	Real-Device Run	30 minutes
Wuji Glove plus Wuji Hand 2	Finish the real-device run, then Cross-Product Teleoperation	45 minutes

You need Ubuntu 22.04 or later and Python 3.10 or later.

Simulation Check

This section needs Git, Python, and any URDF viewer. No device required. Wuji Glove ships a 21-DOF hand skeleton model for checking frames, joints, and data mapping:

git clone https://github.com/wuji-technology/wuji-description.git
cd wuji-description
pip install urdf-viz

urdf-viz glove/body/urdf/right.urdf

Once the window opens, confirm the skeleton is complete with no missing meshes and that it has 21 joints. For the left-hand model, EMF module STL files, the transmitter cover STEP, and what each of the three mounting attachments is for, see Coordinate Frames and Models. Done when: the skeleton model renders correctly with all 21 revolute joints. A model that loads confirms the assets and the visualization path work. Tactile, EMF, and IMU data need a connected device, so continue with the next section.

Real-Device Run

This section needs one Wuji Glove, the data acquisition board, the supplied cables, and an Ubuntu host.

Step 1: Unboxing Check

Check everything in the box against the package contents: the USB-C to USB-C cable, the USB-C to Ethernet power adapter, the USB-A to USB-C cable, and the Ethernet cable.

Step 2: Install the Software

pip install wuji-sdk
curl -fsSL https://get.wuji.tech/cli | bash

The Wuji SDK reads glove data from code, and the Wuji CLI scans devices, runs calibration, and runs health checks from a terminal. For installation and environment requirements, see the Wuji SDK quick start and Wuji CLI installation.

Step 3: Connect the Data Acquisition Board

Use the USB-C to USB-C cable to connect the data acquisition board to the USB-C to Ethernet power adapter.

Pay attention to the orientation of the USB-C to USB-C cable. Both ends of the cable have a white rectangular label (shown as a blue block in the image below) on the same side to help you quickly identify the correct orientation. If the cable is inserted with the label side up into the data acquisition board, it must also be inserted with the label side up into the USB-C to Ethernet power adapter, otherwise it will only provide power without data transmission.

Step 4: Connect Ethernet and Power

Use the USB-C to Ethernet power adapter to connect the Ethernet cable and power cable. For the power cable, we recommend a USB-A to USB-C cable. After connecting, check that the data acquisition board indicator looks normal.

Step 5: Configure Computer Network

Verify the computer and glove are on the same network segment (default segment is 192.168.1.x). The first three octets of the IP address must match, and set the subnet mask to 255.255.255.0. The default IP is 192.168.1.100 for the left hand and 192.168.1.101 for the right hand. Avoid assigning these addresses to the computer to prevent conflicts. Pick either method:

Method	Best for	After a reboot
Graphical interface	Ubuntu desktop	Persists
Command line	Headless systems or remote terminals	Lost

The following example connects to the right-hand glove. Adjust the IP address based on the target glove.

Method 1: Graphical Interface

Open Settings and go to Network
Click the gear icon in the Wired row
Switch to the IPv4 tab and select Manual for IPv4 Method
Under Addresses, enter Address 192.168.1.50 and Netmask 255.255.255.0
Click Apply
Run ping 192.168.1.101 in a terminal to confirm connectivity

Method 2: Command Line

Replace the interface name in the commands with your actual interface name. An address set this way is lost after a system reboot. 1. Identify the network interface name

ip link show

Find the Ethernet interface name, for example eth0, enp3s0, or eno1. 2. Verify the Ethernet cable is connected

ethtool eth0 | grep "Link detected"

The output should show Link detected: yes. 3. Clear existing IP addresses

sudo ip addr flush dev eth0

This command removes all existing IP addresses from the interface. If the interface is being used for other network connections, they’ll be disconnected.

4. Set a static IP and subnet mask

sudo ip addr add 192.168.1.50/24 dev eth0

/24 corresponds to a subnet mask of 255.255.255.0.

5. Bring up the interface

sudo ip link set eth0 up

6. Verify the IP and subnet mask

ip addr show eth0

Confirm the output contains inet 192.168.1.50/24. 7. Test connectivity

# Right-hand glove example
ping 192.168.1.101

If connecting to the left-hand glove, use ping 192.168.1.100 instead. Receiving a response indicates a successful connection.

Step 6: Wear the Wuji Glove

Put on the Wuji Glove and adjust the position of the data acquisition board using the arm strap.

When putting on or removing the glove, apply force at the palm area. Do not pull on the wrist area.

When removing the glove, apply force on the fabric at the fingertips. Do not pull on the EMF modules or the back of the hand.

Important: After wearing, before connecting to software, ensure:

Keep fingers slightly bent in a natural, relaxed state
Do not cross the fingertip EMF modules, do not make a fist

Safety Guidelines:

Avoid use in humid environments
Do not over-bend the sensor areas
Store in a dry, cool place

Step 7: Install the Tracker (Optional)

To use an external Tracker for spatial tracking, peel back the soft cover on the EMF transmitter module on the back of the glove and mount the Tracker on the exposed mounting plate.

Different Tracker models need different adapters. For adapter STEP files and assembly notes, see Attachment STEP Files.

Step 8: Confirm the Device Is Online

wuji devices
wuji ping
wuji doctor

wuji devices lists the devices on the same subnet, wuji ping returns device type, serial number, firmware version, and IP, and wuji doctor runs a health check that locates EMF disconnections along with tactile dead points, rows, and columns. When the list comes back empty, check that the device has power and that the host sits on the same subnet as the glove.

Step 9: Connect to the Device and Check the State

from wuji_sdk import SdkManager

manager = SdkManager.instance()
glove = manager.auto_connect(device_name="glove")

print(glove.sn().get())         # serial number
print(glove.version().get())    # firmware version
print(glove.hand_side().get())  # hand side

With several devices on the subnet, use manager.connect(sn="<serial number>") instead. For connecting by address, by handedness, and other options, see device connection in the Wuji SDK. Only one client holds the glove connection at a time. When wuji viz or another SDK script already holds the same glove, this connection can’t be established, so exit the running client and try again. See Free Up an Occupied Device Connection. The indicator light on the data acquisition board tracks the connection. Yellow very slow flash means the host is connected but not pulling data, and cyan heartbeat means data is streaming. Red fast flash means the Ethernet link is down, and red solid means a sensor hardware fault. For how to handle each state, see Connection States and the Indicator Light.

Step 10: Run the 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:

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 calibration output saves to the current user profile and takes effect right away, producing the left- and right-hand models for that user. Calibration drives the accuracy of joint angles, skeleton, and fingertip poses. For contact detection, also run tactile calibration. For full parameters and error handling, see Wuji CLI hand model calibration.

Step 11: Get the First Data Frame

wuji sub tactile --count 1
wuji sub emf_poses --count 1
wuji sub imu_data/palm --count 1

--count 1 exits after one full frame arrives. To read data in an application, connect to the glove with the Wuji SDK and subscribe to tactile, emf_poses, or hand_skeleton. When tactile values read all 0 or -1, EMF confidence runs low, or the IMU drifts continuously, see Troubleshooting. For what each stream means and its structure, frames, and timestamps, see SDK Data Reference. To check the data visually, run wuji viz and view the hand skeleton, EMF receivers, tactile point cloud, and raw tactile matrix in your browser. For the full command, see Live Visualization.

Step 12: Stop and Take Off the Glove

Once reading finishes, disconnect to free the glove for other clients:

manager.disconnect_all()

When taking the glove off, apply force on the fabric at the finger pads and don’t pull on the EMF modules or the back of the hand. Store it in a dry, cool place and avoid folding the sensor areas. For the full requirements, see Storage and Environment.

Step 13: Upgrade the Firmware

Once the first data frame arrives, upgrade the firmware to the latest version:

wuji upgrade --check
wuji upgrade --type wuji_glove

--check is read-only and lists which devices have a firmware update. --type wuji_glove upgrades every glove in scope to its own latest version, and each device reboots into the new firmware once flashing finishes. For the full scope and action options, see Wuji CLI firmware upgrade. The calibration interfaces have minimum firmware and SDK versions. For the pairing, see the component version table in Release Notes. Done when: the device is online, the health check passes, hand model calibration completes, at least one valid frame arrives with a timestamp and handedness, and the firmware is up to date.

Cross-Product Teleoperation

This section needs one Wuji Glove that has finished the real-device run, plus one Wuji Hand 2 that has finished its quick start with all 20 joints online. Both devices sit on the same subnet and share the same handedness. Once the glove is on, it streams hand keypoints continuously. Retargeting converts them into 20 joint angles and sends them to the hand, which follows the finger motion in real time.

Confirm Both Devices Are Online

wuji devices
wuji ping

The list should show both wuji_hand_2 and wuji_glove. Check the serial numbers, firmware versions, and handedness. With other devices of the same type on the subnet, note the target serial number for the next step.

Run the Teleoperation Example

The full retargeting and teleoperation implementation lives in the Wuji SDK repository examples and updates together with the interface:

git clone https://github.com/wuji-technology/wuji-sdk.git
cd wuji-sdk/examples/python/retargeting
pip install wuji-sdk numpy

python 1.teleop_real.py

The example lists the SDK users first. On a first run, press Enter to keep the default user. For how the choice affects the hand model, see Choose the SDK user for teleop. The example runs against a right-hand assembly by default. For a left-hand assembly, change the SIDE constant at the top of the script. The example scans and connects to the device it finds. With several hands on the subnet, confirm the target device first so you don’t drive one someone else is using.

Complete a Cross-Product Motion

Clear the hand’s workspace and confirm nobody is touching it.
Put the glove on with fingers relaxed and slightly curled.
Run the example, starting with slow, small motions.
Watch whether motion stays continuous, directions match, and no error code fires.
Press Ctrl+C to stop. On exit, the example disables the hand and disconnects.

Stop right away on an abnormal pose, a communication break, or an error code, then work through Troubleshooting. For retargeting parameters, input format, and frame conventions, see hand retargeting in the Wuji SDK. For hand-tracking frame conventions and timestamp alignment, see SDK Data Reference. Done when: glove data keeps updating and the hand follows the finger motion under control.

Overview

Hardware

Software

More

Before You Start

Simulation Check

Real-Device Run

Step 1: Unboxing Check

Step 2: Install the Software

Step 3: Connect the Data Acquisition Board

Step 4: Connect Ethernet and Power

Step 5: Configure Computer Network

Method 1: Graphical Interface

Method 2: Command Line

Step 6: Wear the Wuji Glove

Step 7: Install the Tracker (Optional)

Step 8: Confirm the Device Is Online

Step 9: Connect to the Device and Check the State

Step 10: Run the Calibration

Step 11: Get the First Data Frame

Step 12: Stop and Take Off the Glove

Step 13: Upgrade the Firmware

Cross-Product Teleoperation

Confirm Both Devices Are Online

Run the Teleoperation Example

Complete a Cross-Product Motion

​Before You Start

​Simulation Check

​Real-Device Run

​Step 1: Unboxing Check

​Step 2: Install the Software

​Step 3: Connect the Data Acquisition Board

​Step 4: Connect Ethernet and Power

​Step 5: Configure Computer Network

​Method 1: Graphical Interface

​Method 2: Command Line

​Step 6: Wear the Wuji Glove

​Step 7: Install the Tracker (Optional)

​Step 8: Confirm the Device Is Online

​Step 9: Connect to the Device and Check the State

​Step 10: Run the Calibration

​Step 11: Get the First Data Frame

​Step 12: Stop and Take Off the Glove

​Step 13: Upgrade the Firmware

​Cross-Product Teleoperation

​Confirm Both Devices Are Online

​Run the Teleoperation Example

​Complete a Cross-Product Motion

Before You Start

Simulation Check

Real-Device Run

Step 1: Unboxing Check

Step 2: Install the Software

Step 3: Connect the Data Acquisition Board

Step 4: Connect Ethernet and Power

Step 5: Configure Computer Network

Method 1: Graphical Interface

Method 2: Command Line

Step 6: Wear the Wuji Glove

Step 7: Install the Tracker (Optional)

Step 8: Confirm the Device Is Online

Step 9: Connect to the Device and Check the State

Step 10: Run the Calibration

Step 11: Get the First Data Frame

Step 12: Stop and Take Off the Glove

Step 13: Upgrade the Firmware

Cross-Product Teleoperation

Confirm Both Devices Are Online

Run the Teleoperation Example

Complete a Cross-Product Motion