wujihandpy 1.8.0

Python bindings for WujiHandCpp

wujihandpy

Wuji Hand SDK: C++ core with Python bindings, for controlling and communicating with Wuji Hand. WujihandPy is the Python binding of WujihandCpp, providing an easy-to-use Python API for Wujihand dexterous-hand devices. Supports synchronous, asynchronous, unchecked operations and real-time control.

Get started with Quick Start. For detailed documentation, please refer to SDK Tutorial on Wuji Docs Center.

Repository Structure

├── src/                          # Python binding source code and C++ headers
│   ├── wujihandpy/               # Python package with type stubs
│   │   ├── __init__.py
│   │   └── _core/
│   ├── main.cpp
│   └── *.hpp
├── example/                      # Usage examples
│   ├── joint/                    # read / write / realtime / async / multithread / disconnect / glove donning / handedness-based connect
│   │   ├── 1.read.py
│   │   ├── 2.write.py
│   │   ├── 3.realtime.py
│   │   ├── 4.async.py
│   │   ├── 5.multithread.py
│   │   ├── 6.disconnect.py
│   │   ├── 7.glove_donning.py
│   │   └── 8.connect_by_side.py
│   ├── tactile/                  # Tactile sensing glove
│   │   └── basic.py
│   └── joint_with_tactile.py     # Drive both subsystems together
├── wujihandcpp/                  # Underlying C++ SDK implementation
│   ├── include/                  # C++ header files
│   │   └── wujihandcpp/
│   ├── src/                      # C++ source files
│   └── tests/
├── .github/
│   └── workflows/                # CI/CD automation
├── pyproject.toml
├── CMakeLists.txt
└── README.md

Quick Start

Installation

pip install wujihandpy

Linux USB permission:

echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0483", MODE="0666"' | \
sudo tee /etc/udev/rules.d/95-wujihand.rules && \
sudo udevadm control --reload-rules && sudo udevadm trigger

Basic Usage

import wujihandpy

hand = wujihandpy.Hand()

# Read all joint positions
positions = hand.read_joint_actual_position()

# Write target position to a joint
hand.finger(1).joint(0).write_joint_target_position(0.8)

Appendix

Performance and Optimization

While ensuring usability, WujihandPy has been optimized for performance and efficiency as much as possible.

We recommend prioritizing bulk read/write to maximize performance.

For scenarios that require smooth joint position control, be sure to use realtime_controller.

References

• Documentation: Quick Start
• API Reference: API Reference
• CI Workflows: workflow overview
• Package CI: wujihandcpp deb smoke gate
• URDF Files: wuji-hand-description

Contact

For any questions, please contact [e-mail].