离线数据处理

pip install wuji-sdk
# 想读 MCAP 录制文件再装
pip install mcap

urdf: source=builtin_default, path=None

pipeline = WujiGlove.offline_pipeline(
    sn="WG1KA00XXXXXXXXX",
    hand_side="right",
    urdf_path="~/.wuji/sdk/models/WG1KA00XXXXXXXXX_hand.urdf",
)

WujiException: Internal error: failed to read explicit urdf_path (/nonexistent.urdf): No such file or directory

import json
from mcap.reader import make_reader
from wuji_sdk import WujiGlove, EmfPose, EmfPoseArray, FrameHeader, Pose, Quaternion

# 1. 从 MCAP 读出 emf_poses，按 seq 索引
frames = {}
with open("./data/<date>_<time>.mcap", "rb") as fp:
    for schema, channel, message in make_reader(fp).iter_messages():
        if not channel.topic.endswith("/emf_poses"):
            continue
        d = json.loads(message.data)
        frames[d["header"]["seq"]] = d

# 2. 建管线。sn 填采集那只手套的序列号
pipeline = WujiGlove.offline_pipeline(sn="WG1KA00XXXXXXXXX", hand_side="right")

# 3. 把 JSON 重建成 EmfPoseArray
def rebuild(d: dict) -> EmfPoseArray:
    h = d["header"]
    return EmfPoseArray(
        header=FrameHeader(seq=h["seq"], timestamp_us=h["timestamp_us"],
                           frame_id=h["frame_id"]),
        poses=[
            EmfPose(
                pose=Pose(
                    position=p["pose"]["position"],
                    orientation=Quaternion(*p["pose"]["orientation"]),
                ),
                confidence=p["confidence"],
            )
            for p in d["poses"]
        ],
    )

# 4. 逐帧重算
for seq in sorted(frames):
    angles = pipeline.hand_joint_angles().compute(rebuild(frames[seq]))
    skeleton = pipeline.hand_skeleton().compute(rebuild(frames[seq]))
    print(f"seq={seq} thumb={[round(a, 3) for a in angles.fingers[0].angles]} "
          f"joints={len(skeleton.joints)}")

from wuji_sdk import WujiGlove
pipeline = WujiGlove.offline_pipeline(sn=serial_number, hand_side="right")
print(pipeline.urdf_source, pipeline.urdf_source_path)

# make_emf_frame 的完整实现见 [Python 示例](https://github.com/wuji-technology/wuji-sdk/blob/main/examples/python/wuji_glove/3.offline_pipeline.py)
frames = [
    make_emf_frame(seq=1, timestamp_us=0, curl=0.00),
    make_emf_frame(seq=2, timestamp_us=8333, curl=0.35),
]

for frame in frames:
    angles = pipeline.hand_joint_angles().compute(frame)
    tips = pipeline.tip_poses().compute(frame)
    skeleton = pipeline.hand_skeleton().compute(frame)
    print(frame.header.seq, len(angles.fingers), len(skeleton.joints))

fused = pipeline.imu_data_palm().compute(
    make_raw_imu(seq=4, timestamp_us=25000)
)
print(fused.orientation)

python examples/python/wuji_glove/3.offline_pipeline.py

pipeline: sn=WujiGlove-DEMO-OFFLINE, hand_side=right
urdf: source=builtin_default, path=None
frame=1 fingers=5 tips=5 joints=21 thumb_conf=0.475 thumb_angles=[-0.565, -0.6, -0.6, -0.22, 0.629]
frame=2 fingers=5 tips=5 joints=21 thumb_conf=0.475 thumb_angles=[-0.699, -0.611, -0.714, -0.203, 0.934]
frame=3 fingers=5 tips=5 joints=21 thumb_conf=0.475 thumb_angles=[-0.731, -0.611, -0.734, -0.161, 1.087]
imu_palm seq=4 orientation=(0.000, -0.000, 0.000, 1.000) cov0=0.0

default_pl = WujiGlove.offline_pipeline(sn="WG1KA00XXXXXXXXX", hand_side="right")
custom_pl = WujiGlove.offline_pipeline(
    sn="WG1KA00XXXXXXXXX", hand_side="right",
    urdf_path="/path/to/custom_hand.urdf",
)