{
  "markdown": "# wuji-cli\n\n[![Release](https://img.shields.io/github/v/release/wuji-technology/wuji-cli)](https://github.com/wuji-technology/wuji-cli/releases)\n\nWuji CLI is a command-line tool for Wuji devices — scan, probe connectivity, read/write parameters, subscribe to real-time topics, visualize Wuji Hand 2 and Wuji Glove data, calibrate tactile contact models, run health diagnostics, and upgrade firmware, all from the terminal.\n\n**Get started with [Quick Start](#quick-start). For detailed documentation, please refer to [Wuji Documentation Center](https://docs.wuji.tech/en).**\n\n## Quick Start\n\n### Prerequisites\n\n- Linux x86_64/ARM64, Windows x86_64, or Apple Silicon macOS\n- Devices must be on the same local network (UDP) or connected via USB\n\n### Installation\n\n#### CLI Installation\n\nOn Linux or Apple Silicon macOS:\n\n```bash\ncurl -fsSL https://get.wuji.tech/cli | bash\n```\n\nOn Windows x86_64:\n\n```powershell\npowershell -ExecutionPolicy ByPass -c \"irm https://raw.githubusercontent.com/wuji-technology/wuji-cli/main/scripts/install-cli.ps1 | iex\"\n```\n\n#### Skills Installation\n\nuse npx to install skills:\n\n```bash\nnpx skills add wuji-technology/wuji-cli -g\n```\n\nAlternatively, use the install script:\n\n```bash\ncurl -fsSL https://get.wuji.tech/skills | bash\n```\n\n### Verification\n\n```bash\nwuji devices\n```\n\nshould show the list of discovered devices.\n\n```bash\n$ wuji devices\nfound 2 device(s)\n┌──────────────────┬───────────┬──────────┬─────────────────────┬─────────────────────┐\n│ SN               ┆ Transport ┆ USB Port ┆ IP                  ┆ Address             │\n╞══════════════════╪═══════════╪══════════╪═════════════════════╪═════════════════════╡\n│ WG1KXXXXXXXXXXX ┆ Udp       ┆ -        ┆ 192.168.1.101:50001 ┆ 192.168.1.101:50001 │\n├╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┼╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌╌┤\n│ WG1KXXXXXXXXXXX ┆ Udp       ┆ -        ┆ 192.168.1.106:50001 ┆ 192.168.1.106:50001 │\n└──────────────────┴───────────┴──────────┴─────────────────────┴─────────────────────┘\n💡 run `wuji ping` to get device type and firmware version\n```\n\n## Usage\n\nThe 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](https://docs.wuji.tech/en), read the [skills](skills/) directly, or [install skills](#skills-installation) for your AI agent.\n\n### Device Management\n\n```bash\nwuji devices                         # List all discovered devices\nwuji ping                            # Probe connectivity, report SN / firmware / IP\n```\n\n### Read / Write Parameters\n\n```bash\nwuji resources --sn <SERIAL>         # List readable parameters and subscribable topics\nwuji get firmware_version --sn <SERIAL>\nwuji set ip_address 192.168.1.100 --sn <SERIAL>\n```\n\n### Subscribe to Topics\n\n```bash\nwuji sub emf_poses --count 1\nwuji sub tactile --count 500 --jsonl > tactile.jsonl   # Record 500 frames to a file\n```\n\n### Visualize Wuji Hand 2 or Wuji Glove\n\n```bash\nwuji viz                            # Select a Hand 2 or Glove if needed, then open the Viewer\nwuji viz --sn <SERIAL>              # Select a specific Hand 2 or Glove\nwuji viz --no-zero                  # Skip runtime tactile zeroing for a tactile-equipped Hand 2\nwuji viz --no-open                  # Print the URL without opening a browser\nwuji viz --lan                      # Bind to a private address on the default route\nwuji viz --bind 10.42.0.7           # Bind to a specific local address, such as a VPN\n```\n\n`wuji viz` opens a live Rerun Viewer for Wuji Hand 2 and Wuji Glove, showing the hand pose and\navailable sensor data. Before starting a tactile-equipped Hand 2 without `--no-zero`, make sure all\nfive fingertips are completely unloaded and keep them unloaded until the terminal reports\n`Tactile zero: ready.` If you cannot confirm that or do not need a new zero, use `--no-zero`; Wuji\nGlove does not perform tactile zeroing.\n\n### Tactile Calibration\n\n```bash\nwuji calib tactile --sn <SERIAL>\n```\n\n### Health Diagnostics\n\n```bash\nwuji doctor                          # Run all checks\nwuji doctor -v                       # Detailed output with repair suggestions\n```\n\n### Firmware Upgrade\n\n```bash\nwuji upgrade --check                     # See which devices have firmware updates\nwuji upgrade --all                       # Upgrade every device to its latest firmware\nwuji upgrade --sn <SERIAL> --to 0.11.0   # Install a specific version\nwuji upgrade --sn <SERIAL> --list        # List available firmware versions\n```\n\nFlashing 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).\n\n### Updating the CLI\n\n```bash\nwuji update                          # Download and install the latest release\nwuji update --check                  # Check for updates without installing\n```\n\nThe 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`.\n\n### Scripting\n\nMost 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.\n\n### Shell Completions\n\n```bash\nwuji completions bash > ~/.local/share/bash-completion/completions/wuji\nexec bash\n```\n\nFor zsh, fish, powershell, or elvish, substitute the shell name in the command above.\n\n## Documentation\n\nFor detailed documentation, see the [Wuji Docs Center](https://docs.wuji.tech/docs/en/wuji-cli/latest/).\n\n## Changelog\n\nSee [CHANGELOG.md](CHANGELOG.md) for the version history.\n\n## Contact\n\nFor any questions, please contact [support@wuji.tech](mailto:support@wuji.tech).\n\n## License\n\n[MIT](LICENSE)\n",
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