> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Data Streams Overview

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](https://docs.wuji.tech/docs/en/wuji-hand/latest/control-guide.md). For origin calibration and parameter persistence, see [Calibration and Configuration](https://docs.wuji.tech/docs/en/wuji-hand/latest/calibration.md).

## 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](https://docs.wuji.tech/docs/en/wuji-sdk/latest/quick-start.md) |
| Device discovery and connection | [Device Connection](https://docs.wuji.tech/docs/en/wuji-sdk/latest/device-connection.md) |
| Data subscription and output rate | [Data Subscription](https://docs.wuji.tech/docs/en/wuji-sdk/latest/data-subscription.md) |
| SDK user management and data export | [Device Parameters](https://docs.wuji.tech/docs/en/wuji-sdk/latest/device-params.md#sdk-user-management) |
| Time synchronization | [Time Synchronization](https://docs.wuji.tech/docs/en/wuji-sdk/latest/time-sync.md) |
| Data recording | [Data Recording](https://docs.wuji.tech/docs/en/wuji-sdk/latest/data-recording.md) |
| C API | [C API Reference](https://docs.wuji.tech/docs/en/wuji-sdk/latest/data-reference.md) |
| SDK-side logging and troubleshooting | [Troubleshooting](https://docs.wuji.tech/docs/en/wuji-sdk/latest/troubleshooting.md) |

For source and releases, see the [wuji-sdk repository](https://github.com/wuji-technology/wuji-sdk).

## 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](https://docs.wuji.tech/docs/en/wuji-sdk/latest/data-subscription.md).

| Stream | Native output rate | Frame type |
| - | - | - |
| [joint\_states](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-reference/joint-control.md#joint_states-sub) | 1000 Hz | [JointStateFrame](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-reference/joint-control.md#jointstateframe) |
| [joint\_diagnostics](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-reference/diagnostics.md#joint_diagnostics-sub) | Shares the `joint_states` device stream | [JointDiagnosticsFrame](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-reference/diagnostics.md#jointdiagnosticsframe-/-jointdiagnosticsentry) |
| [imu](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-reference/imu.md#imu-sub) | 100 Hz | [ImuData](https://docs.wuji.tech/docs/en/wuji-sdk/latest/data-reference.md#imudata) |

Joint commands go the other direction — see [joint\_command (PUB)](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-reference/joint-control.md#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](https://docs.wuji.tech/docs/en/wuji-sdk/latest/data-reference.md).

## Example Code

Runnable, complete examples ship with the Wuji SDK.

| Resource | Location |
| - | - |
| Python examples | [`examples/python/wuji_hand_2/`](https://github.com/wuji-technology/wuji-sdk/tree/main/examples/python/wuji_hand_2) |
| C examples | [`examples/c/wuji_hand_2/`](https://github.com/wuji-technology/wuji-sdk/tree/main/examples/c/wuji_hand_2) |

For details on running each example, see [SDK Practice](https://docs.wuji.tech/docs/en/wuji-hand/latest/sdk-practice/index.md). Each page includes commands, guidance for different situations, and measured results.


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