原始数据转换

from wuji_sdk import WujiGlove

pipeline = WujiGlove.offline_pipeline(
    sn="WujiGlove-12345",   # 必填，加载该设备的参数表
    hand_side="right",       # 必填，"left" 或 "right"
    urdf_path=None,          # 可选，指定标定手部模型文件
)

print(pipeline.sn)               # "WujiGlove-12345"
print(pipeline.hand_side)        # "right"
print(pipeline.urdf_source)      # "override" | "calibration_file" | "builtin_default"
print(pipeline.urdf_source_path) # 实际 URDF 路径，或 None

for emf_poses in my_recording_reader():   # 自定义读取器，逐帧返回 EmfPoseArray
    angles   = pipeline.hand_joint_angles().compute(emf_poses)
    tips     = pipeline.tip_poses().compute(emf_poses)
    skeleton = pipeline.hand_skeleton().compute(emf_poses)
    save(angles, tips, skeleton)   # 自定义写入器

for raw_frame in my_imu_reader():   # 逐帧返回原始 ImuData
    fused = pipeline.imu_data_palm().compute(raw_frame)
    save(fused)   # 自定义写入器

from wuji_sdk import (
    EmfPose, EmfPoseArray, FrameHeader, ImuData,
    Pose, Quaternion, Vector3F64,
)

emf = EmfPoseArray(
    header=FrameHeader(seq=1, timestamp_us=0, frame_id="r_hand_emf_tx"),
    poses=[
        EmfPose(
            pose=Pose(position=[0.05, 0.0, 0.0],
                      orientation=Quaternion(0.0, 0.0, 0.0, 1.0)),
            confidence=1.0,
        )
        for _ in range(5)
    ],
)

raw_imu = ImuData.raw(
    header=FrameHeader(seq=1, timestamp_us=0, frame_id="imu_raw/palm"),
    angular_velocity=Vector3F64(0.0, 0.0, 0.0),
    linear_acceleration=Vector3F64(0.0, 0.0, 9.8),
)