> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Data Streams Overview

The Wuji Hand 2 semantic API follows one pattern, `hand.{resource}().{action}()`, and every call acts on the whole hand (20 joints).

For control methods—unit conventions, MIT control mode, the joint table, and parameter safety limits—see the [Control Guide](/en/docs/wuji-hand/latest/control-guide). For origin calibration and parameter persistence, see [Calibration and Configuration](/en/docs/wuji-hand/latest/calibration).

## Shared SDK Capabilities

Cross-product capabilities such as installation, connection, and subscription come from the Wuji SDK (`wuji_sdk`, `pip install wuji-sdk`). This chapter links to them instead of copying them:

| Capability | Wuji SDK documentation |
| - | - |
| Installation and environment requirements | [Quick Start](/en/docs/wuji-sdk/quick-start/) |
| Device discovery and connection | [Device Connection](/en/docs/wuji-sdk/device-connection/) |
| Data subscription and output rate | [Data Subscription](/en/docs/wuji-sdk/data-subscription/) |
| SDK user management and data export | [Device Parameters](/en/docs/wuji-sdk/device-params/#sdk-user-management) |
| Time synchronization | [Time Synchronization](/en/docs/wuji-sdk/time-sync/) |
| Data recording | [Data Recording](/en/docs/wuji-sdk/data-recording/) |
| C API | [C API Reference](/en/docs/wuji-sdk/data-reference/) |
| SDK-side logging and troubleshooting | [Troubleshooting](/en/docs/wuji-sdk/troubleshooting/) |

For source and releases, see the [wuji-sdk repository](https://github.com/wuji-technology/wuji-sdk).

## Data Streams

The device exposes the subscribable streams below. For how to subscribe, adjust the output rate, and close a subscription, see [Wuji SDK data subscription](/en/docs/wuji-sdk/data-subscription/).

| Stream | Native output rate | Frame type |
| - | - | - |
| [joint\_states](/en/docs/wuji-hand/latest/sdk-reference/joint-control/#joint_states-sub) | 1000 Hz | [JointStateFrame](/en/docs/wuji-hand/latest/sdk-reference/joint-control/#jointstateframe) |
| [joint\_diagnostics](/en/docs/wuji-hand/latest/sdk-reference/diagnostics/#joint_diagnostics-sub) | Shares the `joint_states` device stream | [JointDiagnosticsFrame](/en/docs/wuji-hand/latest/sdk-reference/diagnostics/#jointdiagnosticsframe-/-jointdiagnosticsentry) |
| [imu](/en/docs/wuji-hand/latest/sdk-reference/imu/#imu-sub) | 100 Hz | [ImuData](/en/docs/wuji-sdk/data-reference/#imudata) |

Joint commands go the other direction — see [joint\_command (PUB)](/en/docs/wuji-hand/latest/sdk-reference/joint-control/#joint_command-pub).

## Data Types

Wuji Hand 2–specific frame and parameter types appear on the matching data stream pages. For the cross-device types `FrameHeader`, `Vector3` / `Vector3F64`, `Quaternion`, `Handedness`, and `ImuData`, see the [Wuji SDK data reference](/en/docs/wuji-sdk/data-reference/).

## Example Code

Runnable, complete examples ship with the Wuji SDK.

| Resource | Location |
| - | - |
| Python examples | [`examples/python/wuji_hand_2/`](https://github.com/wuji-technology/wuji-sdk/tree/main/examples/python/wuji_hand_2) |
| C examples | [`examples/c/wuji_hand_2/`](https://github.com/wuji-technology/wuji-sdk/tree/main/examples/c/wuji_hand_2) |

For a run-by-run record of these examples, see [SDK Practice](/en/docs/wuji-hand/latest/sdk-practice). Each page covers the command, the runtime branches, and measured results.


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