> ## 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.

# Hardware and Software Integration

<Info>
  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](/en/docs/wuji-glove/getting-started).
</Info>

## 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](/en/docs/wuji-glove/getting-started#step-tracker).

### 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.

<a id="attachment-step" />

### Attachment STEP Files

`glove/attachment/` holds AP214 STEP assembly files for the mounting attachments:

| STEP file | Purpose |
| - | - |
| `Wuji-glove-attachment.STEP` | Wuji Glove mounting interface |
| `Pico-tracker-attachment.STEP` | Adapter for mounting a PICO tracker on the glove |
| `Pico-controller-attachment.STEP` | Adapter for mounting a PICO 4 Ultra controller on the glove |

To integrate:

1. Open the file in a CAD tool that supports STEP, such as FreeCAD, SolidWorks, or Creo.
2. Check the mounting faces and alignment against the assembly structure.
3. 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.

| Category | Contents |
| - | - |
| Hand skeleton model | Left- and right-hand URDF skeletons, with 21 revolute joints across five fingers per hand |
| EMF modules | Wrist transmitter base `base_link_TX.STL`, fingertip receiver coil `base_link_RX.STL` |

For frame conventions and the frame tree, see [Coordinate Frames](/en/docs/wuji-glove/coordinate-frames).

### Requirements

| Use | Requirement |
| - | - |
| URDF preview | Any URDF viewer, such as urdf-viz |
| STEP / CAD | A CAD tool that supports STEP, such as FreeCAD or SolidWorks |

### Get and Load

```bash theme={null}
git clone https://github.com/wuji-technology/wuji-description.git
cd wuji-description
pip install urdf-viz

# Right hand
urdf-viz glove/body/urdf/right.urdf

# Left hand
urdf-viz glove/body/urdf/left.urdf
```

### Verify

1. Confirm the URDF viewer opens with no missing meshes.
2. Confirm the model shows 21 revolute joints.
3. Confirm each hand loads its own URDF.

A model that loads confirms the assets and the visualization path work. Tactile, EMF, and IMU data need a connected device.

## 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](/en/docs/wuji-glove/introduction#led-status-indicators).

### Network Configuration

The glove uses a static IP and doesn't support DHCP. The default segment is 192.168.1.x:

| Item | Left hand | Right hand |
| - | - | - |
| IP | 192.168.1.100 | 192.168.1.101 |
| Subnet mask | 255.255.255.0 | 255.255.255.0 |

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](/en/docs/wuji-glove/getting-started#step-network).

### 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.


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