Wuji Hand 2 指尖触觉

import json

from wuji_sdk import WujiException

try:
    info = hand.fingertip_thumb_info().get()
except WujiException as exc:
    # 上电后立即读取、未安装传感器或传感器固件较早时属于预期情况。
    # 跳过该手指，继续解码其余手指。
    print(f"thumb: no sensor info yet ({exc})")
else:
    fmt = json.loads(info.format)
    sub = hand.fingertip_thumb_data().subscribe()
    frame = await sub.recv_async()
    if frame.info_digest != info.digest:
        info = hand.fingertip_thumb_info().get()
        fmt = json.loads(info.format)
        # 按更新后的 fmt 重建解码器

point_link = R(base_rpy) * positions[i] + base_xyz
force_link = R(base_rpy) * R(point_rpy[i]) * [fx, fy, fz]

point_link = R(base_rpy) * aggregate_xyz + base_xyz

force_link = R(base_rpy) * R(aggregate_rpy) * [fx, fy, fz]
moment_link = point_link × force_link

import time

from wuji_sdk import NodeOfflineError, TactileState

hand.tactile_calibrate()

pending = ["thumb", "index", "middle", "ring", "pinky"]
deadline = time.monotonic() + 30.0
while pending and time.monotonic() < deadline:
    not_ready = []
    for finger in pending:
        try:
            if hand.tactile_status(finger).state != TactileState.Ready:
                not_ready.append(finger)
        except NodeOfflineError:
            # 该手指的触觉模块离线，继续等待
            not_ready.append(finger)
    pending = not_ready
    if pending:
        time.sleep(0.5)

if pending:
    raise RuntimeError(f"tactile calibration timed out: {pending}")
print("all fingertip sensors are ready")

from wuji_sdk import NodeOfflineError, WujiException

try:
    hand.tactile_status("ring")
except NodeOfflineError:
    print("无名指指尖传感器离线")
except WujiException as error:
    print(f"SDK 错误：{error}")

sub = hand.joint_diagnostics().subscribe()
frame = await sub.recv_async()
comm = frame.comm