wuji_glove_teleop

Wuji glove teleoperation with optional Vive tracking.

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Repository: wuji_glove_teleop (private)

Purpose

Teleop using Wuji gloves:

  • Hand joint tracking

  • Optional arm tracking via Vive

  • Hand2 hand control

Components

Component

Purpose

Glove driver

Read glove sensors

Retargeting

Map to robot hand

Vive integration

Arm position (optional)

Usage

Glove Only

ros2 launch wuji_glove_teleop glove.launch.py

With Vive Arm Tracking

ros2 launch wuji_glove_teleop full_teleop.launch.py

Topics

Topic

Type

Description

/wuji/hand_joints

JointState

Glove joint angles

/wuji/target_hand

JointState

Robot hand targets

Configuration

Complex gating logic for:

  • Grasp detection

  • Motion filtering

  • Safety limits

See repository documentation for detailed configuration.