Model Assets and Loading

Hardware and Software Integration

This page covers Wuji Glove skeleton assets and URDF loading. For frame conventions, see Coordinate Frames.

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`

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

Install Rust/Cargo before running cargo install. See the urdf-viz installation guide.

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

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

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

Verify

Confirm the URDF viewer opens with no missing meshes.
Confirm the model shows 21 revolute joints.
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.