This page covers device-side calibration and parameter configuration: joint origin calibration, writing and persisting device parameters, where user and calibration data live, and the firmware and SDK version requirements. For interface definitions, see SDK Reference. For command-line operations, see the Wuji CLI docs. Joint Origin Calibration
The joint origin sets the reference for position commands and feedback. To calibrate the current physical position as the joint-side origin:
While a joint is moving, calibration waits until the next IDLE state. Disable the hand first and confirm the fingers rest in the target pose.
For how the origin maps to each joint’s motion direction, see Origin and Motion Direction.
For the origin accuracy boundary on a prototype, see Joint Origin Calibration in User Notice.
Device Parameters and Persistence
Device parameters fall into two classes: persistent parameters written to flash, and runtime parameters that reset on power loss.
Runtime parameters return to factory defaults after a reboot. For defaults and safe ranges, see Parameter Safety Limits.
Change the Device IP
set writes the new IP to flash. The firmware doesn’t hot-swap a running Ethernet stack, so the new IP takes effect on the next reboot. The full round trip is set → reboot → reconnect at the new IP → get to confirm:
The new IP takes effect after a reboot. set only writes to flash and doesn’t change a running connection. Before the reboot, get still returns the current IP.
User and Calibration Data
The Wuji SDK isolates calibration output and local data per user. Outside the default user, create a named profile and switch to it first. Calibration output saves to the current user’s profile and takes effect right away.
For the user management interface and the local data directory layout, see SDK User Management and User Data Export and Import.
Wuji CLI Configuration Entry Points
Without writing code, the Wuji CLI performs the same parameter reads, writes, and user management from a terminal:
Firmware and SDK Version Requirements
The calibration and parameter interfaces have minimum firmware and SDK versions. For the pairing, see the Hardware and Software Compatibility Matrix. For upgrade steps, see Step 11: Upgrade the Firmware in Quick Start.
