Data Streams Overview

SDK Reference

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The Wuji Hand 2 semantic API follows one pattern, hand.{resource}().{action}(), and every call acts on the whole hand (20 joints).

For control methods—unit conventions, MIT control mode, the joint table, and parameter safety limits—see the Control Guide. For origin calibration and parameter persistence, see Calibration and Configuration.

Shared SDK Capabilities

Cross-product capabilities such as installation, connection, and subscription come from the Wuji SDK (wuji_sdk, pip install wuji-sdk). This chapter links to them instead of copying them:

Capability	Wuji SDK documentation
Installation and environment requirements	Quick Start
Device discovery and connection	Device Connection
Data subscription and output rate	Data Subscription
SDK user management and data export	Device Parameters
Time synchronization	Time Synchronization
Data recording	Data Recording
C API	C API Reference
SDK-side logging and troubleshooting	Troubleshooting

For source and releases, see the wuji-sdk repository.

Data Streams

The device exposes the subscribable streams below. For how to subscribe, adjust the output rate, and close a subscription, see Wuji SDK data subscription.

Stream	Native output rate	Frame type
joint_states	1000 Hz	JointStateFrame
joint_diagnostics	Shares the `joint_states` device stream	JointDiagnosticsFrame
imu	100 Hz	ImuData

Joint commands go the other direction — see joint_command (PUB).

Data Types

Wuji Hand 2–specific frame and parameter types appear on the matching data stream pages. For the cross-device types FrameHeader, Vector3 / Vector3F64, Quaternion, Handedness, and ImuData, see the Wuji SDK data reference.

Example Code

Runnable, complete examples ship with the Wuji SDK.

Resource	Location
Python examples	`examples/python/wuji_hand_2/`
C examples	`examples/c/wuji_hand_2/`

For details on running each example, see SDK Practice. Each page includes commands, guidance for different situations, and measured results.