入门

python3 -m pip install wujihandpy

echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0483", MODE="0666"' |
sudo tee /etc/udev/rules.d/95-wujihand.rules &&
sudo udevadm control --reload-rules &&
sudo udevadm trigger

# quickstart.py
import time
import wujihandpy

hand = wujihandpy.Hand()
try:
    # 使能所有关节（阻塞，保证成功）
    hand.write_joint_enabled(True)

    # 使食指第 0 关节转至 1.57 rad（约 90° 下压）
    hand.finger(1).joint(0).write_joint_target_position(1.57)

    # 等待动作完成
    time.sleep(0.5)
finally:
    # 使用完毕务必失能所有关节
    hand.write_joint_enabled(False)

python3 quickstart.py

ERROR: Could not find a version that satisfies the requirement wujihandpy (from versions: none)
ERROR: No matching distribution found for wujihandpy

python3 -m pip install --upgrade pip && python3 -m pip install wujihandpy

error: externally-managed-environment

× This environment is externally managed
╰─> To install Python packages system-wide, try apt install
    python3-xyz, where xyz is the package you are trying to
    install.

    If you wish to install a non-Debian-packaged Python package,
    create a virtual environment using python3 -m venv path/to/venv.
    Then use path/to/venv/bin/python and path/to/venv/bin/pip. Make
    sure you have python3-full installed.

    If you wish to install a non-Debian packaged Python application,
    it may be easiest to use pipx install xyz, which will manage a
    virtual environment for you. Make sure you have pipx installed.

    See /usr/share/doc/python3.12/README.venv for more information.

note: If you believe this is a mistake, please contact your Python installation or OS distribution provider. You can override this, at the risk of breaking your Python installation or OS, by passing --break-system-packages.
hint: See PEP 668 for the detailed specification.

[ERROR] No device found with specified vendor id (0x0483)
Traceback (most recent call last):
  File "/workspaces/quickstart.py", line 5, in <module>
    hand = wujihandpy.Hand()
           ^^^^^^^^^^^^^^^^^
RuntimeError: Failed to init.

Bus 001 Device 032: ID 0483:2000 WUJITECH WUJIHAND

[ERROR] No device found with specified vendor id (0x0483)
[ERROR]   Device 1 (0483:2000): Ignored because device could not be opened: -3 (ERROR_ACCESS)
[ERROR] Consider relaxing some filters
Traceback (most recent call last):
  File "/workspaces/quickstart.py", line 5, in <module>
    hand = wujihandpy.Hand()
           ^^^^^^^^^^^^^^^^^
RuntimeError: Failed to init.

export WUJI_LOG_PATH=~/logs/wujihand
export WUJI_LOG_LEVEL=debug
python3 your_script.py

import os
import wujihandpy
from wujihandpy import logging as wuji_logging

wuji_logging.set_log_path(os.path.expanduser("~/logs/wujihand"))
wuji_logging.set_log_level(wuji_logging.Level.Debug)

hand = wujihandpy.Hand()

export WUJI_LOG_LEVEL=debug
python3 your_script.py