Data Structure Reference

This page lists all common data type field definitions in the Wuji SDK.

Common Types

FrameHeader

Header information for each data frame.

Vector3 / Vector3F64

Three-dimensional vector. Vector3 uses f32 precision, Vector3F64 uses f64 precision (used for IMU data, ROS compatible).

Quaternion

f64 precision quaternion representing 3D rotation.

Pose

Position and orientation.

Handedness

Device handedness enum, used for connecting by handedness.

ImuData

IMU sensor data, following the ROS sensor_msgs/Imu convention.

Wuji Hand 2 does not run onboard orientation fusion, so orientation_covariance[0] is always -1 when subscribing through hand.imu().

Coordinate Transforms

FrameTransform

Single coordinate transform.

FrameTransforms

Collection of coordinate transforms.

Recording Types

For complete usage and code examples, see Data Recording.

TopicRecorder

MCAP recording session configurator. Register channels, then call start() to begin recording.

RecordingHandle

Recording control handle returned by TopicRecorder.start().

RecordingSummary

Recording statistics returned by handle.stop().

QualityMetrics

Real-time quality metrics (5-second sliding window).

ChannelHealth

Per-channel health details (elements of channels on QualityMetrics).

QualitySummary

Aggregate recording quality statistics.

RecordingAlert

Quality alert.

RecordingStatus

Recording runtime status.

Device-Specific Types

Index by Product

Wuji Hand Types

Wuji Hand product docs will be archived soon. The wuji_sdk.WujiHand type definitions are maintained on this page.

HandJointStates

Real-time 20-joint state (the hand.joint_states().subscribe() frame). Joint order is finger-major: {left,right}_finger{1..5}_joint{1..4}.

{
  "header": { "seq": 42, "timestamp_us": 1709876543210, "frame_id": "" },
  "position": [0.001, -0.012, 0.087, 0.045, ...],
  "velocity": [],
  "effort": []
}

HandJointCommand

20-joint command frame. seq is client-incrementing so receivers can detect dropped frames.

TactileGloveFrame

A single pressure frame from the paired tactile glove, on a 20×31 grid.

Error Code Categories

The SDK has three unrelated categories of error codes. A value from one category means nothing in another:

Device fault codes lay their hex digits out as 0xSCNN, but don't decode the digits yourself. Treat each code as an opaque identifier that you can log, show to the user, or include in a bug report. In Python, describe_error() returns a dict. Read values by key, such as info["severity"] and info["clear_policy"]. The desc, cause, and resolution values preserve the firmware catalog's Chinese text.

Code 0 means no active error and isn't included in the catalog. describe_error(0) returns None, so no action is needed. If describe_error() returns None for a nonzero code, keep the numeric value in logs and bug reports. This can happen when the firmware contains an error code that the SDK catalog doesn't yet include.

Python formats error_code_current directly in the repr() for JointDiagnosticsEntry. A known nonzero code appears as 0x2102(Overcurrent), zero appears as 0x0000, and an unknown code appears as 0xFFFF(Unknown). This format changes only the object display. error_code_current remains an integer that you can pass to describe_error().

After an application subscribes through Python hand.joint_diagnostics().subscribe() or C wuji_hand_2_subscribe_joint_diagnostics, the SDK writes a readable log when a joint error first appears, changes, or clears. It doesn't repeat the log while the error code remains unchanged. Warning faults are recorded at warn, other nonzero faults at error, and recoveries at info.