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 support@wuji.tech.
Release files for wujihandpy 1.8.0
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Built distributions (wheels)
Total release size: 37.0 MB
Release files / wujihandpy-1.8.0-cp314-cp314t-win_arm64.whl
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