This page targets integration work: mounting Wuji Glove on a workstation, a robot arm, or a headset setup, plus getting and loading the skeleton model assets and the power and network conventions. For step-by-step first-connection instructions, see Quick Start.
Mechanical Integration
Data Acquisition Board Mounting
The data acquisition board straps to the forearm, and its position slides along the arm strap. A USB-C to USB-C cable connects the board to the USB-C to Ethernet power adapter, with both ends inserted label side up. A mismatched orientation supplies power without data transmission. When integrating into a fixed workstation or a robot arm, leave slack in the routing for the board and the cable so large hand motions don’t pull on it.Tracker Mounting Plate and Adapters
The soft cover on the EMF transmitter module on the back of the glove hides the Tracker mounting plate. Different Tracker models need different adapters, and their STEP files are listed under Attachment STEP Files below. For the mounting procedure, see Install the Tracker in Quick Start.Transmitter Cover STEP and Assembly Drawing
glove/body/step/ holds the transmitter cover STEP and an assembly PDF, for confirming the transmitter module envelope and its assembly relationships.
Attachment STEP Files
glove/attachment/ holds AP214 STEP assembly files for the mounting attachments:
To integrate:
- Open the file in a CAD tool that supports STEP, such as FreeCAD, SolidWorks, or Creo.
- Check the mounting faces and alignment against the assembly structure.
- Adapt the mounting holes to the target device, then complete the assembly.
Coordinate Frames and Models
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.
For frame conventions and the frame tree, see Coordinate Frames.
Requirements
Get and Load
Verify
- Confirm the URDF viewer opens with no missing meshes.
- Confirm the model shows 21 revolute joints.
- Confirm each hand loads its own URDF.
Electrical and Network Integration
Power and Cabling
The USB-C to Ethernet power adapter carries both power and Ethernet. For the power cable, use a USB-A to USB-C cable. After connecting, check the data acquisition board indicator, described in LED Status Indicators.Network Configuration
The glove uses a static IP and doesn’t support DHCP. The default segment is 192.168.1.x:
Set the host adapter to a static IP on the same subnet, avoiding these two addresses. For the step-by-step commands, see Configure Computer Network in Quick Start.
Multiple Devices and Handedness
The left- and right-hand gloves use different default IPs, so both stay online on one subnet.wuji devices lists every device on the subnet, and wuji ping returns device type, serial number, firmware version, and IP. With several devices of the same type present, pass --sn to target one and avoid connecting to the wrong device.