输出率调节

import asyncio
from wuji_sdk import DeviceType, SdkManager

async def main():
    manager = SdkManager.instance()
    hands = [d for d in manager.scan() if d.device_type == DeviceType.WujiHand2]
    sub = None
    try:
        hand = manager.connect(sn=hands[0].sn, device_name="hand")

        # 1. 取订阅句柄。频率在句柄存活期间有效
        sub = hand.joint_states().subscribe()

        # 2. 请求降频，返回值是设备实际生效的频率
        actual = sub.set_rate(100)
        print(f"requested 100 Hz, device applied {actual} Hz")

        for _ in range(5):
            frame = await sub.recv_async()
            print(f"frame at {actual} Hz: {len(frame.joints)} joints")

        # 3. 传 0 恢复设备默认
        print(f"restored to default: {sub.set_rate(0)} Hz")
    finally:
        if sub is not None:
            sub.close()
        manager.disconnect_all()

asyncio.run(main())

python examples/python/wuji_hand_2/4.set_stream_rate.py