wuji-cli

Wuji CLI is a command-line tool for Wuji devices — scan, probe connectivity, read/write parameters, subscribe to real-time topics, visualize Wuji Hand 2 data, calibrate tactile contact models, run health diagnostics, and upgrade firmware, all from the terminal.

Get started with Quick Start. For detailed documentation, please refer to Wuji Documentation Center.

Quick Start

Prerequisites

• Linux x86_64/ARM64, Windows x86_64, or Apple Silicon macOS
• Devices must be on the same local network (UDP) or connected via USB

Installation

CLI Installation

On Linux or Apple Silicon macOS:

curl -fsSL https://get.wuji.tech/cli | bash

On Windows x86_64:

powershell -ExecutionPolicy ByPass -c "irm https://raw.githubusercontent.com/wuji-technology/wuji-cli/main/scripts/install-cli.ps1 | iex"

Skills Installation

use npx to install skills:

npx skills add wuji-technology/wuji-cli -g

Alternatively, use the install script:

curl -fsSL https://get.wuji.tech/skills | bash

Verification

wuji devices

should show the list of discovered devices.

$ wuji devices
found 2 device(s)
┌──────────────────┬───────────┬──────────┬─────────────────────┬─────────────────────┐
│ SN               ┆ Transport ┆ USB Port ┆ IP                  ┆ Address             │
╞══════════════════╪═══════════╪══════════╪═════════════════════╪═════════════════════╡
│ WG1KXXXXXXXXXXX ┆ Udp       ┆ -        ┆ 192.168.1.101:50001 ┆ 192.168.1.101:50001 │
├╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┤
│ WG1KXXXXXXXXXXX ┆ Udp       ┆ -        ┆ 192.168.1.106:50001 ┆ 192.168.1.106:50001 │
└──────────────────┴───────────┴──────────┴─────────────────────┴─────────────────────┘
💡 run `wuji ping` to get device type and firmware version

Usage

The examples below cover common tasks. Run wuji <command> --help for all options. For the full command semantics — mental model, error handling, and JSON output reference — see the Wuji Documentation Center, read the skills directly, or install skills for your AI agent.

Device Management

wuji devices                         # List all discovered devices
wuji ping                            # Probe connectivity, report SN / firmware / IP

Read / Write Parameters

wuji resources --sn <SERIAL>         # List readable parameters and subscribable topics
wuji get firmware_version --sn <SERIAL>
wuji set ip_address 192.168.1.100 --sn <SERIAL>

Subscribe to Topics

wuji sub emf_poses --count 1
wuji sub tactile --count 500 --jsonl > tactile.jsonl   # Record 500 frames to a file

Visualize Wuji Hand 2

wuji viz                            # Select a hand if needed, zero tactile sensors, then open the Viewer
wuji viz --sn <SERIAL>              # Select a specific hand
wuji viz --no-zero                  # Skip runtime tactile zeroing
wuji viz --no-open                  # Print the URL without opening a browser
wuji viz --lan                      # Bind to a private address on the default route
wuji viz --bind 10.42.0.7           # Bind to a specific local address, such as a VPN

The viewer shows the live joint pose, on-hand fingertip forces, five fingertip panels, per-finger resultant forces, and a rolling 60-second force chart. By default, the command captures the current unloaded readings as the runtime tactile zero before opening the Viewer. Keep all five fingertip surfaces completely unloaded until the terminal reports that zeroing is ready. Use --no-zero to keep startup read-only whenever you cannot confirm that unloaded state or do not need a new runtime zero. The viewer binds to loopback by default. Use --lan to select a private address on the default route, or --bind <IP> to select a specific local address. Non-loopback access has no authentication or TLS and must be used only on a trusted network.

Tactile Calibration

wuji calib tactile --sn <SERIAL>

Health Diagnostics

wuji doctor                          # Run all checks
wuji doctor -v                       # Detailed output with repair suggestions

Firmware Upgrade

wuji upgrade --check                     # See which devices have firmware updates
wuji upgrade --all                       # Upgrade every device to its latest firmware
wuji upgrade --sn <SERIAL> --to 0.11.0   # Install a specific version
wuji upgrade --sn <SERIAL> --list        # List available firmware versions

Flashing asks for confirmation first (skip with --yes); downloads are verified and cached. A device already on the target version is skipped. Downgrading to an older version via --to or --file is allowed; the confirmation prompt flags it with a ⚠ DOWNGRADE warning. Use --force to downgrade a device that is ahead of the latest catalog version (e.g. a development unit with unreleased firmware).

Updating the CLI

wuji update                          # Download and install the latest release
wuji update --check                  # Check for updates without installing

The CLI also checks for new releases in the background, at most once every 24 hours, and shows a notice when an update is available. The check never blocks or slows down your commands. To turn the notice off, set WUJI_NO_UPDATE_CHECK=1.

Scripting

Most commands accept --json for structured output. wuji viz accepts --json and --jsonl; after the Viewer is ready, it writes one startup report to stdout. Live sensor frames are sent only to Rerun, while progress and errors are written to stderr. The exit code is 0 on success and nonzero on failure, so scripts can gate on it directly.

Shell Completions

wuji completions bash > ~/.local/share/bash-completion/completions/wuji
exec bash

For zsh, fish, powershell, or elvish, substitute the shell name in the command above.

Documentation

For detailed documentation, see the Wuji Docs Center.

Changelog

See CHANGELOG.md for the version history.

Contact

For any questions, please contact support@wuji.tech.

License

MIT