快速开始

git clone --depth 1 https://github.com/wuji-technology/wuji-description.git
cd wuji-description
pip install mujoco

python -m mujoco.viewer --mjcf=hand2/hand2_1/body/mjcf/right.xml

pip install wuji-sdk

ping 192.168.1.110   # 左手，右手为 192.168.1.111

wuji devices
wuji ping

from wuji_sdk import SdkManager

manager = SdkManager.instance()
hand = manager.auto_connect(device_name="wuji_hand_2")

from wuji_sdk import WujiHand2

print(hand.online_joints_count().get())   # 预期 20

sub = hand.joint_diagnostics().subscribe()
frame = None
while frame is None:
    frame = sub.recv()
for j in frame.joints:
    if j.error_code_current:
        print(j.nid, WujiHand2.describe_error(j.error_code_current))
sub.close()

import time

hand.enable()

# 等待所有在线关节进入 Enabled 状态
sub = hand.joint_diagnostics().subscribe()
deadline = time.monotonic() + 5.0
while time.monotonic() < deadline:
    frame = sub.recv()
    if frame is not None and frame.joints and all(
        j.status_word.ext_state == 2 for j in frame.joints
    ):
        break
else:
    sub.close()
    raise TimeoutError("关节使能超时")
sub.close()

import time
from wuji_sdk import JointCommand

# 读取当前姿态。nid 按 5 个槽位为一组，关节占每组的前 4 个槽位
sub = hand.joint_states().subscribe()
frame = None
while frame is None:
    frame = sub.recv()
start = [0.0] * 20
for j in frame.joints:
    bus, node_index = divmod(j.nid - 1, 5)
    if bus < 5 and node_index < 4:
        start[bus * 4 + node_index] = float(j.position)
sub.close()

# 使用最新 SDK 示例中的保守参数
hand.effort_limit().set(1.5)
hand.mit_params().set((3.0, 0.05))

pub = hand.joint_command().publish()
steps = 300   # 1.5 秒 × 200 Hz
for i in range(1, steps + 1):
    ratio = i / steps
    positions = [position * (1.0 - ratio) for position in start]
    pub.send([JointCommand(position, 0.0, 0.0) for position in positions])
    time.sleep(1.0 / 200)
pub.close()

hand.disable()              # 失能全部关节，状态灯转为白色呼吸
manager.disconnect_all()    # 断开连接

wuji ping

wuji devices
wuji ping

git clone https://github.com/wuji-technology/wuji-sdk.git
cd wuji-sdk/examples/python/retargeting
pip install wuji-sdk numpy

python 1.teleop_real.py