TOBI Data Glove Integration Checklist
Version: 2026-10-01 | ForMotion Glove G7 / G2-L
This is a project-assessment checklist, not recorded data, a delivery guarantee or robot certification.

1. Task and equipment
Target hand/arm model, degrees of freedom, URDF/joint definitions, control interface and task.
Glove model, handedness, size, quantity, wired/wireless topology, accessories and operating system.

2. Data contract (confirm actual SDK/firmware outputs)
Field names, units, handedness, joint names/order and fingertip reference frame.
Orientation representation, quaternion order, coordinate axes, calibration reference and missing-value rules.
Device/host timestamps, units, clock origin, wraparound and reconnection behavior.
Do not assume the device outputs every requested field. Define additional capture or limitations.

3. Synchronized capture and control
Camera/glove clocks, synchronization/alignment, error, drift, dropped frames and jitter.
Retargeting, joint limits, actual states and target commands.
Record resampling/interpolation; processed samples are not higher-frequency raw measurements.

4. Acceptance tests
Device/firmware/SDK versions, environment, operator, task, sample count and reference method.
Latency measurement endpoints, p50/p95, calibration time, drift, packet loss and task outcomes.
G7: nearby metal, close-hand operation and position reference frame.
G2-L: continuous operation, repeated calibration, Bluetooth obstruction and coexisting devices.

5. Delivery and licensing
Raw data, metadata, README, calibration, replay and validation scripts as agreed.
Data/code licensing, bill of materials, options, price, lead time, warranty and support scope.

Sources:
https://forsense-sdk-docs.xin/hardware/g7/specification
https://forsense-sdk-docs.xin/hardware/g2-l/specification
Contact: tobi@tobi.cn | +86 137 5502 0164