数据订阅：异步

pip install wuji-sdk

import asyncio
from wuji_sdk import SdkManager, DeviceType, JointStateFrame

async def print_joint_state(hand):
    # 1. 取订阅句柄
    sub = hand.joint_states().subscribe()
    while True:
        # 2. 异步等下一帧，队列空时协程挂起
        frame: JointStateFrame = await sub.recv_async()
        h = frame.header
        positions = [f"{j.position:+.3f}" for j in frame.joints[:4]]
        print(f"[{hand.device_name}][JointState] seq={h.seq} "
              f"t={h.timestamp_us}us frame={h.frame_id!r} thumb_pos={positions}")

async def main():
    manager = SdkManager.instance()
    hands = [d for d in manager.scan() if d.device_type == DeviceType.WujiHand2]
    try:
        # 3. 连接。多设备环境指定 sn
        hand = manager.connect(sn=hands[0].sn, device_name="hand_0")
        # 4. 每台设备一个协程，并发跑
        await asyncio.gather(print_joint_state(hand))
    finally:
        manager.disconnect_all()

asyncio.run(main())

python examples/python/wuji_hand_2/1.subscribe_async.py

Connected: WH2KA00XXXXXXXXX (20 joints online)
[hand_0][JointState] seq=147508 t=210677379743us frame='r_wrist' thumb_pos=['+0.003', '-0.018', '+0.021', '+0.056']