Device Discovery & Connection

Device Discovery

Use SdkManager.scan() to discover Wuji devices on the local network:

from wuji_sdk import SdkManager

manager = SdkManager.instance()
devices = manager.scan()

for dev in devices:
    print(f"SN: {dev.sn}, Type: {dev.device_type}, Address: {dev.address}")

Scans for Wuji devices connected via Ethernet on the local network. The returned DiscoveredDevice contains the serial number, address, and device type. device_type is a DeviceType enum (WujiGlove / WujiHand2 / WujiHand), so you can tell what a device is before connecting. Unknown means the type was not available at scan time or isn't recognized by this SDK build.

Connecting to a Device

Auto Connect

auto_connect() connects to the single device currently discovered. If multiple devices are present, the call fails because the target is ambiguous. Use connect() to disambiguate in that case:

glove = manager.auto_connect(device_name="glove")
print(f"Connected: {glove.serial_number}")

Connect by SN

Connect to a specific device by serial number:

glove = manager.connect(sn="WG1JA00XXXXXXXXX", device_name="glove")

Connect by Address

Manually connect using IP address and port:

glove = manager.connect(address="192.168.1.100:50000", device_name="glove")

Connect by USB

Wuji Hand attaches over USB. Filter SdkManager.scan() by TransportType.Usb:

from wuji_sdk import SdkManager, TransportType

manager = SdkManager.instance()
usb_devices = [d for d in manager.scan() if d.transport_type == TransportType.Usb]

hand = manager.connect(sn=usb_devices[0].sn, device_name="wuji_hand")
print(f"Connected: {hand.serial_number} ({hand.handedness_name()})")

If a matching-handedness tactile glove is plugged in alongside the hand, the SDK auto-pairs it on connect. Check with hand.is_tactile_attached() — it reflects the current attachment and turns False after the glove is unplugged at runtime. Once unplugged, the tactile status stream's state becomes 0 (not present), other tactile reads and subscriptions fail with a tactile_not_present error, and the hand itself keeps working. Re-attaching the glove requires reconnecting the hand.

Connect by Handedness

Connect to a two-handed device (such as Wuji Hand 2 or Wuji Glove) by left or right hand, without looking up a serial number first. The SDK scans the local network and selects the unique device by the fourth character of its serial number (J for left, K for right):

from wuji_sdk import Handedness

# Connect the right-hand device
hand = manager.connect(handedness=Handedness.Right, device_name="wuji_hand_2")

# Connect the left-hand glove
glove = manager.connect(handedness=Handedness.Left, device_name="wuji_glove")

handedness is mutually exclusive with sn and address—specify only one.

Connection Options

Configure connection parameters with ConnectOptions:

from wuji_sdk import ConnectOptions

options = ConnectOptions(
    timeout_ms=1000,   # Connection timeout (milliseconds)
    retry_count=3      # Number of retries
)

glove = manager.connect(
    sn="WG1JA00XXXXXXXXX",
    device_name="glove",
    options=options
)

enable_bridge (default True) controls whether multiple SDK instances (including processes on other hosts) can connect to the same device. When enabled, this process shares the connected device. Set it to False for exclusive access — other instances can't reach the device through this process.

Multi-device Management

The SDK supports connecting multiple devices simultaneously, each identified by a unique device_name:

left = manager.connect(handedness=Handedness.Left, device_name="left_hand")
right = manager.connect(handedness=Handedness.Right, device_name="right_hand")

# Get all connected devices
all_devices = manager.get_connected_devices()
for name, device in all_devices:
    print(f"{name}: {device.serial_number}")

# Get a device by name
left = manager.get_device(device_name="left_hand")

Disconnecting

# Disconnect a specific device
manager.disconnect(device_name="glove")

# Or disconnect via the device object
glove.disconnect()