Data Subscription

User Guide

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Subscribe to real-time data streams and capture them to files with sub

wuji sub <topic> subscribes to a device’s real-time data. By default it keeps subscribing until Ctrl+C. Add --count N to exit automatically after receiving N frames:

wuji sub emf_poses --count 1             # exit after 1 frame
wuji sub tactile --count 10 --sn <SN>    # 10 frames from a specific device
wuji sub imu_data/palm --count 1 --jsonl # one compact JSON object per frame

List subscribable topics with wuji resources — the command output is the authoritative list. Frequently used topics:

Topic	Description
`tactile`	Tactile matrix
`emf_poses`	EMF poses
`imu_data/palm`	IMU data
`tip_poses`	Fingertip poses
`hand_joint_angles`	Joint angles
`hand_skeleton`	Hand skeleton
`tf`	Coordinate transforms

Capture Data to Files

With --jsonl, each frame prints as one compact JSON line — pipe it for lightweight recording:

wuji sub tactile --count 500 --jsonl > tactile.jsonl          # silent capture
wuji sub emf_poses --count 500 --jsonl | tee emf.jsonl | jq   # capture while watching

Exit code 0 means all requested frames arrived, and nonzero means the subscription failed — ready for script assertions.