# Developer Docs

## 概览

- [欢迎来到 Wuji 开发者文档](https://docs.wuji.tech/index.md): 在这里找到你需要的技术文档、指南与参考资料

## 硬件

### Wuji Hand 2

#### 2.2 Beta

- [阅读指引](https://docs.wuji.tech/docs/wuji-hand/latest/index.md)

##### 入门

- [版本识别与兼容性](https://docs.wuji.tech/docs/wuji-hand/latest/version-identification-and-compatibility.md)
- [产品介绍](https://docs.wuji.tech/docs/wuji-hand/latest/product-introduction.md)
- [用户须知](https://docs.wuji.tech/docs/wuji-hand/latest/user-notice.md)
- [快速开始](https://docs.wuji.tech/docs/wuji-hand/latest/quick-start.md)

##### 集成与开发

- [控制指南](https://docs.wuji.tech/docs/wuji-hand/latest/control-guide.md)
- [标定与配置](https://docs.wuji.tech/docs/wuji-hand/latest/calibration.md)
- [软硬件集成](https://docs.wuji.tech/docs/wuji-hand/latest/hardware-integration.md)

###### SDK 接口

- [数据流总览](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-reference/index.md)
- [关节状态与控制](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-reference/joint-control.md)
- [力矩与 MIT 参数](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-reference/effort-and-mit.md)
- [IMU](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-reference/imu.md)
- [设备参数与操作](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-reference/device-operations.md)
- [诊断与日志](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-reference/diagnostics.md)

###### SDK 使用实践

- [概览](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/index.md)
- [数据订阅：回调](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/subscribe-callback.md)
- [数据订阅：异步](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/subscribe-async.md)
- [发布控制指令](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/publish-command.md)
- [回放拇指对指动作](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/opposition-replay.md)
- [运行 MIT 关节扫描](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/mit-sweep.md)
- [输出率调节](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/stream-rate.md)
- [设备信息](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/device-info.md)
- [导出设备日志](https://docs.wuji.tech/docs/wuji-hand/latest/sdk-practice/export-flash-logs.md)

##### 运维与附录

- [维护](https://docs.wuji.tech/docs/wuji-hand/latest/maintenance.md)
- [故障排查](https://docs.wuji.tech/docs/wuji-hand/latest/troubleshooting.md)
- [附录](https://docs.wuji.tech/docs/wuji-hand/latest/appendix.md)

#### 2.1 Beta

- [Wuji Hand 2 2.1 Beta · 阅读指引](https://docs.wuji.tech/docs/wuji-hand/beta1/index.md): 仿生灵巧手。

##### 入门

- [产品介绍](https://docs.wuji.tech/docs/wuji-hand/beta1/overview.md)
- [用户须知](https://docs.wuji.tech/docs/wuji-hand/beta1/user-notice.md)
- [使用约束](https://docs.wuji.tech/docs/wuji-hand/beta1/usage-constraints.md)

##### 开发指南

- [SDK 接口](https://docs.wuji.tech/docs/wuji-hand/beta1/sdk-reference.md)

### Wuji Glove

- [Wuji Glove · 阅读指引](https://docs.wuji.tech/docs/wuji-glove/index.md): 智能数据手套。

#### 入门

- [产品介绍](https://docs.wuji.tech/docs/wuji-glove/introduction.md)
- [用户须知](https://docs.wuji.tech/docs/wuji-glove/user-notice.md)
- [快速开始](https://docs.wuji.tech/docs/wuji-glove/getting-started.md)

#### 集成与开发

- [标定与配置](https://docs.wuji.tech/docs/wuji-glove/calibration.md)
- [软硬件集成](https://docs.wuji.tech/docs/wuji-glove/hardware-integration.md)
- [坐标系说明](https://docs.wuji.tech/docs/wuji-glove/coordinate-frames.md)
- [原始数据转换](https://docs.wuji.tech/docs/wuji-glove/offline-pipeline.md)

##### SDK 接口

- [数据流总览](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/index.md)
- [触觉](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/tactile.md)
- [手部追踪](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/hand-tracking.md)
- [IMU](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/imu.md)
- [坐标变换](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/coordinate-transforms.md)
- [设备参数与操作](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/device-operations.md)
- [手部模型标定](https://docs.wuji.tech/docs/wuji-glove/sdk-data-reference/calibration.md)

##### SDK 使用实践

- [概览](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/index.md)
- [数据订阅：回调](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/subscribe-callback.md)
- [数据订阅：异步](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/subscribe-async.md)
- [数据录制](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/data-recording.md)
- [离线数据处理](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/offline-replay.md)
- [手部模型标定](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/hand-model-calibration.md)
- [触觉标定](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/tactile-calibration.md)
- [设置自定义手部模型](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/custom-hand-model.md)
- [输出率调节](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/stream-rate.md)
- [触觉接触网格视图](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/tactile-contact-view.md)
- [触觉残差网格视图](https://docs.wuji.tech/docs/wuji-glove/sdk-practice/tactile-residual-view.md)

#### 运维与附录

- [维护](https://docs.wuji.tech/docs/wuji-glove/maintenance.md)
- [故障排查](https://docs.wuji.tech/docs/wuji-glove/troubleshooting.md)
- [附录](https://docs.wuji.tech/docs/wuji-glove/appendix.md)

### Wuji Hand

- [Wuji Hand Archived · 阅读指引](https://docs.wuji.tech/docs/wuji-hand-v1/index.md): 仿生灵巧手。
- [发布记录](https://docs.wuji.tech/docs/wuji-hand-v1/release-notes.md)
- [产品介绍](https://docs.wuji.tech/docs/wuji-hand-v1/overview.md)
- [用户须知](https://docs.wuji.tech/docs/wuji-hand-v1/user-notice.md)

## 软件

### Wuji SDK

- [Wuji SDK · 阅读指引](https://docs.wuji.tech/docs/wuji-sdk/index.md): Python 与 C SDK。

#### 入门

- [SDK 概览](https://docs.wuji.tech/docs/wuji-sdk/introduction.md)
- [安装与环境](https://docs.wuji.tech/docs/wuji-sdk/quick-start.md)

#### 开发指南

- [设备发现与连接](https://docs.wuji.tech/docs/wuji-sdk/device-connection.md)
- [数据订阅机制](https://docs.wuji.tech/docs/wuji-sdk/data-subscription.md)
- [Wuji Hand 2 指尖触觉](https://docs.wuji.tech/docs/wuji-sdk/wuji-hand-2-tactile.md)
- [数据录制与离线处理](https://docs.wuji.tech/docs/wuji-sdk/data-recording.md)
- [通用数据类型](https://docs.wuji.tech/docs/wuji-sdk/data-reference.md)
- [SDK 用户与标定数据](https://docs.wuji.tech/docs/wuji-sdk/device-params.md)
- [时间同步与坐标变换](https://docs.wuji.tech/docs/wuji-sdk/time-sync.md)
- [手部重定向](https://docs.wuji.tech/docs/wuji-sdk/retargeting.md)

#### SDK 使用实践

- [概览](https://docs.wuji.tech/docs/wuji-sdk/sdk-practice/index.md)
- [重定向会话：关键点到关节角](https://docs.wuji.tech/docs/wuji-sdk/sdk-practice/retarget-session.md)
- [Wuji SDK 本地用户管理](https://docs.wuji.tech/docs/wuji-sdk/sdk-practice/user-management.md)
- [Wuji Hand 2 指尖触觉](https://docs.wuji.tech/docs/wuji-sdk/sdk-practice/hand2-fingertip.md)

#### 参考

- [最佳实践](https://docs.wuji.tech/docs/wuji-sdk/advanced.md)
- [故障排查](https://docs.wuji.tech/docs/wuji-sdk/troubleshooting.md)
- [C 接口参考](https://docs.wuji.tech/docs/wuji-sdk/c-sdk-reference.md)
- [附录](https://docs.wuji.tech/docs/wuji-sdk/appendix.md)

### Wuji CLI

- [Wuji CLI · 阅读指引](https://docs.wuji.tech/docs/wuji-cli/index.md): 命令行工具。

#### 入门

- [CLI 概览](https://docs.wuji.tech/docs/wuji-cli/introduction.md): Wuji CLI 的定位、命令一览与设计理念
- [快速开始](https://docs.wuji.tech/docs/wuji-cli/getting-started.md): 安装与更新 Wuji CLI、验证设备连接并配置 shell 补全

#### 使用指南

- [设备管理](https://docs.wuji.tech/docs/wuji-cli/device-management.md): 扫描设备、探测连通性与指定目标设备
- [参数读写](https://docs.wuji.tech/docs/wuji-cli/parameters.md): 用 resources、get 和 set 发现并读写设备参数
- [用户与标定数据](https://docs.wuji.tech/docs/wuji-cli/user.md): 用 wuji user 管理用户 Profile 并在机器间迁移标定数据
- [手部模型标定](https://docs.wuji.tech/docs/wuji-cli/hand-model-calibration.md): 用 wuji calib hand-model 在终端完成手套手部模型标定，产物按用户 Profile 保存
- [数据订阅](https://docs.wuji.tech/docs/wuji-cli/subscription.md): 用 sub 订阅实时数据流并采集到文件
- [遥操作录制](https://docs.wuji.tech/docs/wuji-cli/recording.md): 用 wuji record teleop 录制运行中的遥操作会话，管理录制历史并随支持包导出
- [实时可视化](https://docs.wuji.tech/docs/wuji-cli/visualization.md)
- [触觉标定](https://docs.wuji.tech/docs/wuji-cli/tactile-calibration.md): 用 wuji calib tactile 引导式标定手套触觉，一条命令完成采集、训练、验证与安装
- [健康诊断](https://docs.wuji.tech/docs/wuji-cli/doctor.md): 用 wuji doctor 逐项检查设备，定位 EMF 断线与触觉坏点故障
- [日志导出](https://docs.wuji.tech/docs/wuji-cli/logs.md): 用 wuji logs 一键导出日志支持包发给支持人员，快速定位设备问题
- [固件升级](https://docs.wuji.tech/docs/wuji-cli/firmware-upgrade.md): 用 wuji upgrade 检查固件更新、批量升级设备、安装指定版本或刷写本地固件文件
- [Studio 迁移指南](https://docs.wuji.tech/docs/wuji-cli/migration-from-studio.md): 从 Studio 导出数据并导入 CLI 的必要步骤，以及功能、命令与文档对照。

## 已归档

- [归档总览](https://docs.wuji.tech/archived.md)

### Wuji Studio

- [发布记录](https://docs.wuji.tech/docs/wuji-studio/release-notes.md)
- [Wuji Studio · 归档文档](https://docs.wuji.tech/docs/wuji-studio/index.md): 桌面控制应用。

#### 入门

- [概述](https://docs.wuji.tech/docs/wuji-studio/introduction.md)
- [下载与安装](https://docs.wuji.tech/docs/wuji-studio/installation.md)

#### 使用指南

- [基础设置](https://docs.wuji.tech/docs/wuji-studio/basic-settings.md)
- [设备管理](https://docs.wuji.tech/docs/wuji-studio/device-connection.md)
- [固件升级](https://docs.wuji.tech/docs/wuji-studio/firmware-upgrade.md)
- [设备标定](https://docs.wuji.tech/docs/wuji-studio/calibration.md)
- [触觉接触标定](https://docs.wuji.tech/docs/wuji-studio/tactile-calibration.md)

##### 数据可视化

- [概览](https://docs.wuji.tech/docs/wuji-studio/visualization/index.md)
- [布局预设](https://docs.wuji.tech/docs/wuji-studio/visualization/layout-presets.md)
- [面板类型](https://docs.wuji.tech/docs/wuji-studio/visualization/panel-types.md)
- [3D 手部可视化](https://docs.wuji.tech/docs/wuji-studio/visualization/hand-3d.md)
- [数据录制](https://docs.wuji.tech/docs/wuji-studio/visualization/recording.md)
- [设备日志](https://docs.wuji.tech/docs/wuji-studio/visualization/device-logs.md)

#### 参考

- [故障排查](https://docs.wuji.tech/docs/wuji-studio/troubleshooting.md)
- [Studio 迁移指南](https://docs.wuji.tech/docs/wuji-studio/migration-to-cli.md): 从 Studio 导出数据并导入 CLI 的必要步骤，以及功能、命令与文档对照。

### Wuji Hand ROS2

- [发布记录](https://docs.wuji.tech/docs/wujihandros2/release-notes.md): Wuji Hand ROS2 各版本更新内容与变更说明
- [Wuji Hand ROS2 · 归档文档](https://docs.wuji.tech/docs/wujihandros2/index.md): Wuji Hand 的 ROS 2 集成。

#### 入门

- [安装指南](https://docs.wuji.tech/docs/wujihandros2/installation.md)
- [快速开始](https://docs.wuji.tech/docs/wujihandros2/quick-start.md)

#### 配置

- [启动与配置](https://docs.wuji.tech/docs/wujihandros2/configuration.md)
- [ROS2 接口](https://docs.wuji.tech/docs/wujihandros2/ros2-interface.md)

#### 参考

- [附录](https://docs.wuji.tech/docs/wujihandros2/appendix.md)

### Wuji Hand HMI

- [发布记录](https://docs.wuji.tech/docs/wuji-hand-hmi/release-notes.md): Wuji Hand HMI 各版本更新内容与变更说明
- [Wuji Hand HMI · 归档文档](https://docs.wuji.tech/docs/wuji-hand-hmi/index.md): Wuji Hand 的设备端人机界面。

#### 入门

- [启动 HMI](https://docs.wuji.tech/docs/wuji-hand-hmi/getting-started.md)

#### 使用

- [面板介绍](https://docs.wuji.tech/docs/wuji-hand-hmi/panels.md)
- [连接与使能](https://docs.wuji.tech/docs/wuji-hand-hmi/connection.md)

#### 参考

- [故障排除](https://docs.wuji.tech/docs/wuji-hand-hmi/troubleshooting.md)

### Wuji Hand Upgrader

- [发布记录](https://docs.wuji.tech/docs/wuji-hand-upgrader/release-notes.md): Wuji Hand Upgrader 各版本更新内容与变更说明
- [Wuji Hand Upgrader · 归档文档](https://docs.wuji.tech/docs/wuji-hand-upgrader/index.md): Wuji Hand 固件升级工具。

#### 入门

- [软件安装](https://docs.wuji.tech/docs/wuji-hand-upgrader/installation.md)
- [连接设备](https://docs.wuji.tech/docs/wuji-hand-upgrader/connection.md)

#### 操作

- [固件升级](https://docs.wuji.tech/docs/wuji-hand-upgrader/upgrade.md)

#### 参考

- [故障排除](https://docs.wuji.tech/docs/wuji-hand-upgrader/troubleshooting.md)
- [卸载软件](https://docs.wuji.tech/docs/wuji-hand-upgrader/uninstallation.md)

### Wuji Hand SDK

- [发布记录](https://docs.wuji.tech/docs/wujihandpy/release-notes.md): Wuji Hand SDK 各版本更新内容与变更说明
- [Wuji Hand SDK · 归档文档](https://docs.wuji.tech/docs/wujihandpy/index.md): 关节级 Python SDK（wujihandpy）。

#### 入门

- [入门](https://docs.wuji.tech/docs/wujihandpy/introduction.md): 了解 Wuji Hand SDK (wujihandpy) 的安装配置、快速上手示例及核心概念，包括设备模型和数据模型。
- [教程](https://docs.wuji.tech/docs/wujihandpy/tutorial.md): Wuji Hand SDK (wujihandpy) 教程，涵盖设备连接、同步/异步读写和实时控制的使用方法。

#### 参考

- [API 参考](https://docs.wuji.tech/docs/wujihandpy/api-reference.md): Wuji Hand SDK (wujihandpy) 完整 API 参考，包括 Hand、Finger、Joint 类的字段列表和方法说明。

### Wuji Retargeting

- [发布记录](https://docs.wuji.tech/docs/wuji-retargeting/release-notes.md): Wuji Retargeting 各版本更新内容与变更说明
- [Wuji Retargeting · 归档文档](https://docs.wuji.tech/docs/wuji-retargeting/index.md): 遥操作动作映射。

#### 入门

- [安装与配置](https://docs.wuji.tech/docs/wuji-retargeting/installation.md)
- [快速开始](https://docs.wuji.tech/docs/wuji-retargeting/quick-start.md)

#### 进阶

- [调参指南](https://docs.wuji.tech/docs/wuji-retargeting/tuning.md): Retargeting 参数微调
- [API 介绍](https://docs.wuji.tech/docs/wuji-retargeting/api.md)

#### 参考

- [附录](https://docs.wuji.tech/docs/wuji-retargeting/appendix.md)

### Wuji MJLab

- [发布记录](https://docs.wuji.tech/docs/wuji-mjlab/release-notes.md): Wuji MJLab 各版本更新内容与变更说明
- [Wuji MJLab · 归档文档](https://docs.wuji.tech/docs/wuji-mjlab/index.md): 基于 MuJoCo 的强化学习实验室。

#### 入门

- [简介](https://docs.wuji.tech/docs/wuji-mjlab/introduction.md): Wuji Hand 上的立方体手内翻转——在 mjlab 中用 PPO 训练覆盖完整 SO(3) 目标空间的策略，并通过 sim-to-real 桥在真机上闭环部署。
- [安装](https://docs.wuji.tech/docs/wuji-mjlab/installation.md): 搭建 wuji-mjlab 训练与评测用的 pixi 环境，以及 sim-to-real 桥所需的可选 deploy 环境。

#### 训练

- [训练与评测](https://docs.wuji.tech/docs/wuji-mjlab/training.md): 训练 reorient PPO 策略、回放 checkpoint、评测成功率，并把训练好的策略导出为部署用的 ONNX。

#### 部署

- [硬件搭建](https://docs.wuji.tech/docs/wuji-mjlab/hardware.md): 搭建 reorient 策略的 sim-to-real 装置——相机、MVS SDK、ArUco cube、手腕 AprilTag、手部治具与相机内参标定。
- [Sim-to-real 部署](https://docs.wuji.tech/docs/wuji-mjlab/sim2real.md): 在真机 Wuji Hand 上运行训练好的 reorient 策略——软件管线、位姿估计调优、闭环控制与端到端冒烟测试。

#### 参考

- [架构](https://docs.wuji.tech/docs/wuji-mjlab/architecture.md): wuji-mjlab 背后的三层栈、reorient 任务与 MDP 设计、接触参数域随机化，以及如何新增任务。

### MuJoCo Sim

- [MuJoCo 仿真示例](https://docs.wuji.tech/docs/mujoco-sim/index.md)

### Isaac Lab Sim

- [Isaac Lab 仿真示例](https://docs.wuji.tech/docs/isaaclab-sim/index.md)

## 更多

- [发布记录](https://docs.wuji.tech/release-notes.md)
- [视频](https://docs.wuji.tech/videos.md)

## Other

- [数据流总览](https://docs.wuji.tech/docs/wuji-hand/beta1/sdk-reference/index.md)
- [Data Streams Overview](https://docs.wuji.tech/en/docs/wuji-hand/beta1/sdk-reference/index.md)

> The links below point to documentation indexes. Follow each `/_llms/` index recursively until you reach documentation pages.

## Indexes

- [English (161 pages)](https://docs.wuji.tech/_llms/en.txt): Documentation for English.


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