IMU

SDK Reference

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imu (SUB)

Onboard IMU stream: pushes acceleration and angular velocity at a native output rate of 100 Hz, adjustable down through the subscription handle. The device does no onboard orientation fusion, so the orientation field is unavailable and orientation_covariance[0] = -1 marks it invalid per the ROS sensor_msgs/Imu convention. Data is reported in the IMU sensor’s own frame, and the mapping between its axes and the hand structure will be defined in a future hand model update.

sub = hand.imu().subscribe() # → Subscription[ImuData]
s = await sub.recv_async()
a, g = s.linear_acceleration, s.angular_velocity # m/s² and rad/s
print(s.header.seq, a.x, a.y, a.z, g.x, g.y, g.z)
sub.close()

ImuData is a cross-device shared type. See the Wuji SDK data reference for field definitions.

The C API matches the Python API on this page and uses the wuji_hand_2_ prefix. For initialization conventions, memory management, error codes, and build setup, see the C API Reference.

The wuji_hand_2_subscribe_imu callback carries WujiImuData, the same schema as the Wuji Glove imu_palm() stream. Close the subscription handle with wuji_sub_close.