Wuji Hand 2 Fingertip Tactile

pip install wuji-sdk

import json
import struct
from wuji_sdk import SdkManager, DeviceType

FIELD_FMT = {"i8": "<b", "u8": "<B", "i16": "<h", "u16": "<H",
             "i32": "<i", "u32": "<I", "f32": "<f"}

manager = SdkManager.instance()

# 1. Connect. On a shared network, name a serial number
devices = [d for d in manager.scan() if d.device_type == DeviceType.WujiHand2]
hand = manager.connect(sn=devices[0].sn, device_name="hand_0")

# 2. Detect the capability before going further
if not any("fingertip" in t.path for t in hand.topics()):
    raise SystemExit("this device has no fingertip tactile, which needs 2.2 hardware or later")

# 3. Read info. The SDK drives the chunked read internally, so what
#    arrives here is already decoded.
#    v2026.9.14 and later use one accessor per finger
info = hand.fingertip_thumb_info().get()
fmt = json.loads(info.format)
if fmt["v"] != 1 or fmt["encoding"] != "point_array":
    raise ValueError(f"unsupported format: {fmt.get('encoding')}")

# 4. Build the decoder from format
point_count, stride = fmt["point_count"], fmt["point_stride"]
expect = point_count * stride + fmt["aggregate_stride"]

def read(defs, data, base):
    return {d["name"]: struct.unpack_from(
                FIELD_FMT[d["type"]], data, base + d["offset"]
            )[0] * d.get("scale", 1.0)
            for d in defs}

def decode(data):
    if len(data) != expect:
        raise ValueError(f"data length {len(data)} != expected {expect}")
    points = [read(fmt["point_fields"], data, k * stride)
              for k in range(point_count)]
    return points, read(fmt["aggregate_fields"], data, point_count * stride)

# 5. Subscribe to the stream and decode the data
sub = hand.fingertip_thumb_data().subscribe()

# 6. Pick the contact threshold from the declared unit, not a constant
unit = fmt["point_fields"][0].get("unit", "N")
threshold = {"normalized": 0.02, "N": 0.2}[unit]

# 7. Clean up
sub.close()
manager.disconnect_all()

python examples/python/wuji_hand_2/3.fingertip_typed.py