Device Parameters and Operations

// Whole-hand enable
wuji_hand_2_enable(dev, NULL);
// Whole-hand clear faults
wuji_hand_2_clear_fault(dev, NULL);

// Index finger only (flat indices 4..7)
uint8_t mask[20] = {0};
for (int i = 4; i < 8; i++) mask[i] = 1;
wuji_hand_2_enable(dev, mask);            // enable only the 4 index-finger joints
wuji_hand_2_clear_fault(dev, mask);       // clear faults only on the 4 index-finger joints

// Whole-hand emergency stop
wuji_hand_2_emergency_stop(dev);

// User origin
wuji_hand_2_set_origin(dev, NULL);
wuji_hand_2_clear_origin(dev, NULL);

WujiHandedness side;
wuji_hand_2_get_handedness(dev, &side);   // WUJI_HANDEDNESS_LEFT / _RIGHT

uint8_t n_online;
wuji_hand_2_online_joints_count(dev, &n_online);  // 0..20

// Two-call string getter: first probe with buf=NULL, buf_len=0 to learn the required size
size_t needed = 0;
wuji_hand_2_get_ip(dev, NULL, 0, &needed);
char* ip = malloc(needed);
wuji_hand_2_get_ip(dev, ip, needed, NULL);
printf("ip=%s\n", ip);
free(ip);