wujihandpy 1.3.0a2.dev6__cp310-cp310-manylinux_2_28_x86_64.whl

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Files changed (18) hide show
  1. wujihandpy/__init__.py +6 -0
  2. wujihandpy/_core/__init__.pyi +529 -0
  3. wujihandpy/_core/filter.pyi +8 -0
  4. wujihandpy/_core/logging.pyi +65 -0
  5. wujihandpy/_core.cpython-310-x86_64-linux-gnu.so +0 -0
  6. wujihandpy/_version.py +34 -0
  7. wujihandpy-1.3.0a2.dev6.dist-info/METADATA +268 -0
  8. wujihandpy-1.3.0a2.dev6.dist-info/RECORD +18 -0
  9. wujihandpy-1.3.0a2.dev6.dist-info/WHEEL +5 -0
  10. wujihandpy-1.3.0a2.dev6.dist-info/licenses/LICENSE +21 -0
  11. wujihandpy-1.3.0a2.dev6.dist-info/sboms/auditwheel.cdx.json +1 -0
  12. wujihandpy.libs/libblkid-a9167753.so.1.1.0 +0 -0
  13. wujihandpy.libs/libmount-ec61bd71.so.1.1.0 +0 -0
  14. wujihandpy.libs/libpcre2-8-516f4c9d.so.0.7.1 +0 -0
  15. wujihandpy.libs/libselinux-d0805dcb.so.1 +0 -0
  16. wujihandpy.libs/libudev-0287888a.so.1.6.11 +0 -0
  17. wujihandpy.libs/libusb-1-1b307d35.0.so.0.2.0 +0 -0
  18. wujihandpy.libs/libuuid-95b83d40.so.1.3.0 +0 -0
wujihandpy/__init__.py ADDED
@@ -0,0 +1,6 @@
1
+ from __future__ import annotations
2
+
3
+ from ._core import *
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+ from ._version import __version__
5
+
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+ __all__ = ["__version__", 'Hand', 'Finger', 'Joint', 'IController', 'filter']
wujihandpy/_core/__init__.pyi ADDED
@@ -0,0 +1,529 @@
1
+ from __future__ import annotations
2
+ import numpy
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+ import numpy.typing
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+ import typing
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+ from . import filter
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+ from . import logging
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+ __all__: list[str] = ['Finger', 'Hand', 'IController', 'Joint', 'filter', 'logging']
8
+ class Finger:
9
+ def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
10
+ ...
11
+ def get_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
12
+ ...
13
+ def get_joint_error_code(self) -> numpy.typing.NDArray[numpy.uint32]:
14
+ ...
15
+ def get_joint_firmware_date(self) -> numpy.typing.NDArray[numpy.uint32]:
16
+ ...
17
+ def get_joint_firmware_version(self) -> numpy.typing.NDArray[numpy.uint32]:
18
+ ...
19
+ def get_joint_lower_limit(self) -> numpy.typing.NDArray[numpy.float64]:
20
+ ...
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+ def get_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
22
+ ...
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+ def get_joint_upper_limit(self) -> numpy.typing.NDArray[numpy.float64]:
24
+ ...
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+ def joint(self, index: typing.SupportsInt) -> Joint:
26
+ ...
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+ def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
28
+ ...
29
+ def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
30
+ ...
31
+ def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
32
+ ...
33
+ def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
34
+ ...
35
+ def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
36
+ ...
37
+ def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
38
+ ...
39
+ def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
40
+ ...
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+ def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
42
+ ...
43
+ def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
44
+ ...
45
+ def read_joint_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
46
+ ...
47
+ def read_joint_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
48
+ ...
49
+ def read_joint_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
50
+ ...
51
+ def read_joint_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
52
+ ...
53
+ def read_joint_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
54
+ ...
55
+ def read_joint_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
56
+ ...
57
+ def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
58
+ ...
59
+ def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
60
+ ...
61
+ def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
62
+ ...
63
+ def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
64
+ ...
65
+ def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
66
+ ...
67
+ def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
68
+ ...
69
+ def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
70
+ ...
71
+ def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
72
+ ...
73
+ def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
74
+ ...
75
+ @typing.overload
76
+ def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
77
+ ...
78
+ @typing.overload
79
+ def write_joint_control_mode(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
80
+ ...
81
+ @typing.overload
82
+ def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
83
+ ...
84
+ @typing.overload
85
+ def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
86
+ ...
87
+ @typing.overload
88
+ def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
89
+ ...
90
+ @typing.overload
91
+ def write_joint_control_mode_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
92
+ ...
93
+ @typing.overload
94
+ def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
95
+ ...
96
+ @typing.overload
97
+ def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
98
+ ...
99
+ @typing.overload
100
+ def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
101
+ ...
102
+ @typing.overload
103
+ def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
104
+ ...
105
+ @typing.overload
106
+ def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
107
+ ...
108
+ @typing.overload
109
+ def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
110
+ ...
111
+ @typing.overload
112
+ def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
113
+ ...
114
+ @typing.overload
115
+ def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
116
+ ...
117
+ @typing.overload
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+ def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
119
+ ...
120
+ @typing.overload
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+ def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
122
+ ...
123
+ @typing.overload
124
+ def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
125
+ ...
126
+ @typing.overload
127
+ def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
128
+ ...
129
+ @typing.overload
130
+ def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
131
+ ...
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+ @typing.overload
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+ def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
134
+ ...
135
+ @typing.overload
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+ def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
137
+ ...
138
+ @typing.overload
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+ def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
140
+ ...
141
+ @typing.overload
142
+ def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
143
+ ...
144
+ @typing.overload
145
+ def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
146
+ ...
147
+ @typing.overload
148
+ def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
149
+ ...
150
+ @typing.overload
151
+ def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
152
+ ...
153
+ @typing.overload
154
+ def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
155
+ ...
156
+ @typing.overload
157
+ def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
158
+ ...
159
+ @typing.overload
160
+ def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
161
+ ...
162
+ @typing.overload
163
+ def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
164
+ ...
165
+ @typing.overload
166
+ def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
167
+ ...
168
+ @typing.overload
169
+ def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
170
+ ...
171
+ @typing.overload
172
+ def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
173
+ ...
174
+ @typing.overload
175
+ def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
176
+ ...
177
+ @typing.overload
178
+ def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
179
+ ...
180
+ @typing.overload
181
+ def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
182
+ ...
183
+ class Hand:
184
+ def __init__(self, serial_number: str | None = None, usb_pid: typing.SupportsInt = -1, usb_vid: typing.SupportsInt = 1155, mask: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_] | None = None) -> None:
185
+ ...
186
+ def finger(self, index: typing.SupportsInt) -> Finger:
187
+ ...
188
+ def get_firmware_date(self) -> numpy.uint32:
189
+ ...
190
+ def get_firmware_version(self) -> numpy.uint32:
191
+ ...
192
+ def get_handedness(self) -> numpy.uint8:
193
+ ...
194
+ def get_input_voltage(self) -> numpy.float32:
195
+ ...
196
+ def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
197
+ ...
198
+ def get_joint_bus_voltage(self) -> numpy.typing.NDArray[numpy.float32]:
199
+ ...
200
+ def get_joint_error_code(self) -> numpy.typing.NDArray[numpy.uint32]:
201
+ ...
202
+ def get_joint_firmware_date(self) -> numpy.typing.NDArray[numpy.uint32]:
203
+ ...
204
+ def get_joint_firmware_version(self) -> numpy.typing.NDArray[numpy.uint32]:
205
+ ...
206
+ def get_joint_lower_limit(self) -> numpy.typing.NDArray[numpy.float64]:
207
+ ...
208
+ def get_joint_temperature(self) -> numpy.typing.NDArray[numpy.float32]:
209
+ ...
210
+ def get_joint_upper_limit(self) -> numpy.typing.NDArray[numpy.float64]:
211
+ ...
212
+ def get_system_time(self) -> numpy.uint32:
213
+ ...
214
+ def get_temperature(self) -> numpy.float32:
215
+ ...
216
+ def raw_sdo_read(self, finger_id: typing.SupportsInt, joint_id: typing.SupportsInt, index: typing.SupportsInt, sub_index: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> bytes:
217
+ ...
218
+ def raw_sdo_write(self, finger_id: typing.SupportsInt, joint_id: typing.SupportsInt, index: typing.SupportsInt, sub_index: typing.SupportsInt, data: bytes, timeout: typing.SupportsFloat = 0.5) -> None:
219
+ ...
220
+ def read_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
221
+ ...
222
+ def read_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
223
+ ...
224
+ def read_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
225
+ ...
226
+ def read_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
227
+ ...
228
+ def read_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
229
+ ...
230
+ def read_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
231
+ ...
232
+ def read_handedness(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint8:
233
+ ...
234
+ def read_handedness_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint8]:
235
+ ...
236
+ def read_handedness_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
237
+ ...
238
+ def read_input_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
239
+ ...
240
+ def read_input_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
241
+ ...
242
+ def read_input_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
243
+ ...
244
+ def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
245
+ ...
246
+ def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
247
+ ...
248
+ def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
249
+ ...
250
+ def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
251
+ ...
252
+ def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
253
+ ...
254
+ def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
255
+ ...
256
+ def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
257
+ ...
258
+ def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
259
+ ...
260
+ def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
261
+ ...
262
+ def read_joint_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
263
+ ...
264
+ def read_joint_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
265
+ ...
266
+ def read_joint_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
267
+ ...
268
+ def read_joint_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.uint32]:
269
+ ...
270
+ def read_joint_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.uint32]]:
271
+ ...
272
+ def read_joint_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
273
+ ...
274
+ def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
275
+ ...
276
+ def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
277
+ ...
278
+ def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
279
+ ...
280
+ def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float32]:
281
+ ...
282
+ def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float32]]:
283
+ ...
284
+ def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
285
+ ...
286
+ def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.typing.NDArray[numpy.float64]:
287
+ ...
288
+ def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.typing.NDArray[numpy.float64]]:
289
+ ...
290
+ def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
291
+ ...
292
+ def read_system_time(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
293
+ ...
294
+ def read_system_time_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
295
+ ...
296
+ def read_system_time_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
297
+ ...
298
+ def read_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
299
+ ...
300
+ def read_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
301
+ ...
302
+ def read_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
303
+ ...
304
+ def realtime_controller(self, enable_upstream: bool, filter: filter.IFilter) -> IController:
305
+ ...
306
+ def start_latency_test(self) -> None:
307
+ ...
308
+ def stop_latency_test(self) -> None:
309
+ ...
310
+ @typing.overload
311
+ def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
312
+ ...
313
+ @typing.overload
314
+ def write_joint_control_mode(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
315
+ ...
316
+ @typing.overload
317
+ def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
318
+ ...
319
+ @typing.overload
320
+ def write_joint_control_mode_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
321
+ ...
322
+ @typing.overload
323
+ def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
324
+ ...
325
+ @typing.overload
326
+ def write_joint_control_mode_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
327
+ ...
328
+ @typing.overload
329
+ def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
330
+ ...
331
+ @typing.overload
332
+ def write_joint_current_limit(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
333
+ ...
334
+ @typing.overload
335
+ def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
336
+ ...
337
+ @typing.overload
338
+ def write_joint_current_limit_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
339
+ ...
340
+ @typing.overload
341
+ def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
342
+ ...
343
+ @typing.overload
344
+ def write_joint_current_limit_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
345
+ ...
346
+ @typing.overload
347
+ def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
348
+ ...
349
+ @typing.overload
350
+ def write_joint_enabled(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
351
+ ...
352
+ @typing.overload
353
+ def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
354
+ ...
355
+ @typing.overload
356
+ def write_joint_enabled_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
357
+ ...
358
+ @typing.overload
359
+ def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
360
+ ...
361
+ @typing.overload
362
+ def write_joint_enabled_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.bool_], timeout: typing.SupportsFloat = 0.5) -> None:
363
+ ...
364
+ @typing.overload
365
+ def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
366
+ ...
367
+ @typing.overload
368
+ def write_joint_reset_error(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
369
+ ...
370
+ @typing.overload
371
+ def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
372
+ ...
373
+ @typing.overload
374
+ def write_joint_reset_error_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
375
+ ...
376
+ @typing.overload
377
+ def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
378
+ ...
379
+ @typing.overload
380
+ def write_joint_reset_error_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
381
+ ...
382
+ @typing.overload
383
+ def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
384
+ ...
385
+ @typing.overload
386
+ def write_joint_sin_level(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
387
+ ...
388
+ @typing.overload
389
+ def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
390
+ ...
391
+ @typing.overload
392
+ def write_joint_sin_level_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
393
+ ...
394
+ @typing.overload
395
+ def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
396
+ ...
397
+ @typing.overload
398
+ def write_joint_sin_level_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.uint16], timeout: typing.SupportsFloat = 0.5) -> None:
399
+ ...
400
+ @typing.overload
401
+ def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
402
+ ...
403
+ @typing.overload
404
+ def write_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
405
+ ...
406
+ @typing.overload
407
+ def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
408
+ ...
409
+ @typing.overload
410
+ def write_joint_target_position_async(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
411
+ ...
412
+ @typing.overload
413
+ def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
414
+ ...
415
+ @typing.overload
416
+ def write_joint_target_position_unchecked(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64], timeout: typing.SupportsFloat = 0.5) -> None:
417
+ ...
418
+ class IController:
419
+ def __enter__(self) -> IController:
420
+ ...
421
+ def __exit__(self, arg0: typing.Any, arg1: typing.Any, arg2: typing.Any) -> None:
422
+ ...
423
+ def close(self) -> None:
424
+ ...
425
+ def get_joint_actual_position(self) -> numpy.typing.NDArray[numpy.float64]:
426
+ ...
427
+ def set_joint_target_position(self, value_array: typing.Annotated[numpy.typing.ArrayLike, numpy.float64]) -> None:
428
+ ...
429
+ class Joint:
430
+ def get_joint_actual_position(self) -> numpy.float64:
431
+ ...
432
+ def get_joint_bus_voltage(self) -> numpy.float32:
433
+ ...
434
+ def get_joint_error_code(self) -> numpy.uint32:
435
+ ...
436
+ def get_joint_firmware_date(self) -> numpy.uint32:
437
+ ...
438
+ def get_joint_firmware_version(self) -> numpy.uint32:
439
+ ...
440
+ def get_joint_lower_limit(self) -> numpy.float64:
441
+ ...
442
+ def get_joint_temperature(self) -> numpy.float32:
443
+ ...
444
+ def get_joint_upper_limit(self) -> numpy.float64:
445
+ ...
446
+ def read_joint_actual_position(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
447
+ ...
448
+ def read_joint_actual_position_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
449
+ ...
450
+ def read_joint_actual_position_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
451
+ ...
452
+ def read_joint_bus_voltage(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
453
+ ...
454
+ def read_joint_bus_voltage_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
455
+ ...
456
+ def read_joint_bus_voltage_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
457
+ ...
458
+ def read_joint_error_code(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
459
+ ...
460
+ def read_joint_error_code_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
461
+ ...
462
+ def read_joint_error_code_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
463
+ ...
464
+ def read_joint_firmware_date(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
465
+ ...
466
+ def read_joint_firmware_date_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
467
+ ...
468
+ def read_joint_firmware_date_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
469
+ ...
470
+ def read_joint_firmware_version(self, timeout: typing.SupportsFloat = 0.5) -> numpy.uint32:
471
+ ...
472
+ def read_joint_firmware_version_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.uint32]:
473
+ ...
474
+ def read_joint_firmware_version_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
475
+ ...
476
+ def read_joint_lower_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
477
+ ...
478
+ def read_joint_lower_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
479
+ ...
480
+ def read_joint_lower_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
481
+ ...
482
+ def read_joint_temperature(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float32:
483
+ ...
484
+ def read_joint_temperature_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float32]:
485
+ ...
486
+ def read_joint_temperature_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
487
+ ...
488
+ def read_joint_upper_limit(self, timeout: typing.SupportsFloat = 0.5) -> numpy.float64:
489
+ ...
490
+ def read_joint_upper_limit_async(self, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[numpy.float64]:
491
+ ...
492
+ def read_joint_upper_limit_unchecked(self, timeout: typing.SupportsFloat = 0.5) -> None:
493
+ ...
494
+ def write_joint_control_mode(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
495
+ ...
496
+ def write_joint_control_mode_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
497
+ ...
498
+ def write_joint_control_mode_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
499
+ ...
500
+ def write_joint_current_limit(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
501
+ ...
502
+ def write_joint_current_limit_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
503
+ ...
504
+ def write_joint_current_limit_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
505
+ ...
506
+ def write_joint_enabled(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
507
+ ...
508
+ def write_joint_enabled_async(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
509
+ ...
510
+ def write_joint_enabled_unchecked(self, value: bool, timeout: typing.SupportsFloat = 0.5) -> None:
511
+ ...
512
+ def write_joint_reset_error(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
513
+ ...
514
+ def write_joint_reset_error_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
515
+ ...
516
+ def write_joint_reset_error_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
517
+ ...
518
+ def write_joint_sin_level(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
519
+ ...
520
+ def write_joint_sin_level_async(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
521
+ ...
522
+ def write_joint_sin_level_unchecked(self, value: typing.SupportsInt, timeout: typing.SupportsFloat = 0.5) -> None:
523
+ ...
524
+ def write_joint_target_position(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
525
+ ...
526
+ def write_joint_target_position_async(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> typing.Awaitable[None]:
527
+ ...
528
+ def write_joint_target_position_unchecked(self, value: typing.SupportsFloat, timeout: typing.SupportsFloat = 0.5) -> None:
529
+ ...
wujihandpy/_core/filter.pyi ADDED
@@ -0,0 +1,8 @@
1
+ from __future__ import annotations
2
+ import typing
3
+ __all__: list[str] = ['IFilter', 'LowPass']
4
+ class IFilter:
5
+ pass
6
+ class LowPass(IFilter):
7
+ def __init__(self, cutoff_freq: typing.SupportsFloat = 10.0) -> None:
8
+ ...
wujihandpy/_core/logging.pyi ADDED
@@ -0,0 +1,65 @@
1
+ from __future__ import annotations
2
+ import typing
3
+ __all__: list[str] = ['Level', 'flush', 'set_log_level', 'set_log_path', 'set_log_to_console', 'set_log_to_file']
4
+ class Level:
5
+ """
6
+ Members:
7
+
8
+ Trace
9
+
10
+ Debug
11
+
12
+ Info
13
+
14
+ Warn
15
+
16
+ Error
17
+
18
+ Critical
19
+
20
+ Off
21
+ """
22
+ Critical: typing.ClassVar[Level] # value = <Level.Critical: 5>
23
+ Debug: typing.ClassVar[Level] # value = <Level.Debug: 1>
24
+ Error: typing.ClassVar[Level] # value = <Level.Error: 4>
25
+ Info: typing.ClassVar[Level] # value = <Level.Info: 2>
26
+ Off: typing.ClassVar[Level] # value = <Level.Off: 6>
27
+ Trace: typing.ClassVar[Level] # value = <Level.Trace: 0>
28
+ Warn: typing.ClassVar[Level] # value = <Level.Warn: 3>
29
+ __members__: typing.ClassVar[dict[str, Level]] # value = {'Trace': <Level.Trace: 0>, 'Debug': <Level.Debug: 1>, 'Info': <Level.Info: 2>, 'Warn': <Level.Warn: 3>, 'Error': <Level.Error: 4>, 'Critical': <Level.Critical: 5>, 'Off': <Level.Off: 6>}
30
+ def __eq__(self, other: typing.Any) -> bool:
31
+ ...
32
+ def __getstate__(self) -> int:
33
+ ...
34
+ def __hash__(self) -> int:
35
+ ...
36
+ def __index__(self) -> int:
37
+ ...
38
+ def __init__(self, value: typing.SupportsInt) -> None:
39
+ ...
40
+ def __int__(self) -> int:
41
+ ...
42
+ def __ne__(self, other: typing.Any) -> bool:
43
+ ...
44
+ def __repr__(self) -> str:
45
+ ...
46
+ def __setstate__(self, state: typing.SupportsInt) -> None:
47
+ ...
48
+ def __str__(self) -> str:
49
+ ...
50
+ @property
51
+ def name(self) -> str:
52
+ ...
53
+ @property
54
+ def value(self) -> int:
55
+ ...
56
+ def flush() -> None:
57
+ ...
58
+ def set_log_level(value: Level) -> None:
59
+ ...
60
+ def set_log_path(value: str) -> None:
61
+ ...
62
+ def set_log_to_console(value: bool) -> None:
63
+ ...
64
+ def set_log_to_file(value: bool) -> None:
65
+ ...
wujihandpy/_version.py ADDED
@@ -0,0 +1,34 @@
1
+ # file generated by setuptools-scm
2
+ # don't change, don't track in version control
3
+
4
+ __all__ = [
5
+ "__version__",
6
+ "__version_tuple__",
7
+ "version",
8
+ "version_tuple",
9
+ "__commit_id__",
10
+ "commit_id",
11
+ ]
12
+
13
+ TYPE_CHECKING = False
14
+ if TYPE_CHECKING:
15
+ from typing import Tuple
16
+ from typing import Union
17
+
18
+ VERSION_TUPLE = Tuple[Union[int, str], ...]
19
+ COMMIT_ID = Union[str, None]
20
+ else:
21
+ VERSION_TUPLE = object
22
+ COMMIT_ID = object
23
+
24
+ version: str
25
+ __version__: str
26
+ __version_tuple__: VERSION_TUPLE
27
+ version_tuple: VERSION_TUPLE
28
+ commit_id: COMMIT_ID
29
+ __commit_id__: COMMIT_ID
30
+
31
+ __version__ = version = '1.3.0a2.dev6'
32
+ __version_tuple__ = version_tuple = (1, 3, 0, 'a2', 'dev6')
33
+
34
+ __commit_id__ = commit_id = 'ga0d907b41'
wujihandpy-1.3.0a2.dev6.dist-info/METADATA ADDED
@@ -0,0 +1,268 @@
1
+ Metadata-Version: 2.2
2
+ Name: wujihandpy
3
+ Version: 1.3.0a2.dev6
4
+ Summary: Python bindings for WujiHandCpp
5
+ Author-Email: Zihan Qin <zihanqin2048@gmail.com>
6
+ Maintainer-Email: Wuji Technology <support@pan-motor.com>
7
+ License: MIT License
8
+
9
+ Copyright (c) 2025 Wuji Technology
10
+
11
+ Permission is hereby granted, free of charge, to any person obtaining a copy
12
+ of this software and associated documentation files (the "Software"), to deal
13
+ in the Software without restriction, including without limitation the rights
14
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
15
+ copies of the Software, and to permit persons to whom the Software is
16
+ furnished to do so, subject to the following conditions:
17
+
18
+ The above copyright notice and this permission notice shall be included in all
19
+ copies or substantial portions of the Software.
20
+
21
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
22
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
23
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
24
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
25
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
26
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
27
+ SOFTWARE.
28
+
29
+ Project-URL: homepage, https://github.com/Wuji-Technology-Co-Ltd/wujihandpy
30
+ Project-URL: repository, https://github.com/Wuji-Technology-Co-Ltd/wujihandpy
31
+ Project-URL: Bug Tracker, https://github.com/Wuji-Technology-Co-Ltd/wujihandpy/issues
32
+ Requires-Python: >=3.8
33
+ Requires-Dist: numpy
34
+ Description-Content-Type: text/markdown
35
+
36
+ # WujihandPy: Python bindings for WujiHandCpp
37
+
38
+ WujihandPy 是 [WujiHandCpp](https://github.com/Wuji-Technology-Co-Ltd/wujihandcpp) 的 Python 绑定。
39
+
40
+ 提供更简洁、更高效、更易用的接口与灵巧手设备进行交互。
41
+
42
+ ## 安装
43
+
44
+ WujihandPy 支持 pip 一键安装：
45
+
46
+ ```bash
47
+ pip install wujihandpy
48
+ ```
49
+
50
+ 对于 Linux 用户，需要额外配置 udev 规则以允许非 root 用户访问 USB 设备，可在终端中输入：
51
+
52
+ ```bash
53
+ echo 'SUBSYSTEM=="usb", ATTR{idVendor}=="0483", MODE="0666"' |
54
+ sudo tee /etc/udev/rules.d/95-wujihand.rules &&
55
+ sudo udevadm control --reload-rules &&
56
+ sudo udevadm trigger
57
+ ```
58
+
59
+ ### 常见错误
60
+
61
+ 若遇到报错 `Could not find a version that satisfies the requirement`，请尝试升级 pip：
62
+
63
+ ```bash
64
+ python3 -m pip install --upgrade pip
65
+ ```
66
+
67
+ 然后使用新的pip重新安装：
68
+
69
+ ```bash
70
+ python3 -m pip install wujihandpy
71
+ ```
72
+
73
+ ## 支持的 CPU 架构
74
+
75
+ - x86_64
76
+ - ARM64
77
+
78
+ ## 最低系统要求 (Linux)
79
+
80
+ ### glibc 2.28+
81
+
82
+ 使用 glibc 2.28 或更高版本的 Linux 发行版：
83
+ - Debian 10+
84
+ - Ubuntu 18.10+
85
+ - Fedora 29+
86
+ - CentOS/RHEL 8+
87
+
88
+ ### Python 3.8+
89
+
90
+ 支持以下 Python 版本：
91
+
92
+ - Python 3.8-3.14
93
+
94
+ ## 最低系统要求 (Windows)
95
+
96
+ WujihandPy 目前暂不支持 Windows，我们会尽快推进相关支持。
97
+
98
+ ## 示例代码
99
+
100
+ 所有示例代码均位于 [example](example) 目录下。
101
+
102
+ ## 部分参考 API
103
+
104
+ ### 导入模块
105
+
106
+ ```python
107
+ import wujihandpy
108
+ import numpy as np
109
+ ```
110
+
111
+ ### 连接至灵巧手
112
+
113
+ ```python
114
+ hand = wujihandpy.Hand()
115
+ ```
116
+
117
+ ### 读数据
118
+
119
+ ```python
120
+ def read_<dataname>(self) -> datatype
121
+ def read_<dataname>(self) -> np.ndarray[datatype] # For bulk-read
122
+ ```
123
+
124
+ 所有可使用的数据均定义在 `wujihandpy/_core.pyi` 中。
125
+
126
+ 例如，读取灵巧手的上电运行时间(us)：
127
+
128
+ ```python
129
+ time = hand.read_system_time()
130
+ ```
131
+
132
+ 除整手唯一的数据外，每个关节也有自己的数据，数据名称均以 `joint` 作为开头。
133
+
134
+ 例如，读取第1个手指（食指），第0个关节的当前位置数据：
135
+
136
+ ```python
137
+ position = hand.finger(1).joint(0).read_joint_actual_position()
138
+ ```
139
+
140
+ 关节角度为 `np.float64` 类型，单位为弧度，零点和正方向与 [URDF文件](https://github.com/Wuji-Technology-Co-Ltd/wujihand-urdf) 中定义的相同。
141
+
142
+ 用一条指令读取多个数据也是可行的，这被称为**批量读 (Bulk-Read)**。
143
+
144
+ 例如，以下指令读取整手所有（20个）关节的当前位置数据：
145
+
146
+ ```python
147
+ positions = hand.read_joint_actual_position()
148
+ ```
149
+
150
+ 进行批量读时，函数返回包含所有数据的 `np.ndarray[np.float64]`：
151
+
152
+ ```python
153
+ >>> print(positions)
154
+ [[ 0.975 0.523 0.271 -0.45 ]
155
+ [ 0.382 0.241 -0.003 -0.275]
156
+ [-0.299 0.329 0.067 -0.286]
157
+ [-0.122 0.228 0.315 -0.178]
158
+ [ 0.205 0.087 0.288 -0.149]]
159
+ ```
160
+
161
+ `read` 函数会阻塞，直到读取完成。保证当函数返回时，读取一定成功。
162
+
163
+ ### 写数据
164
+
165
+ 写数据拥有类似的 API，但多了一个参数用于传递目标值：
166
+
167
+ ```python
168
+ def write_<dataname>(self, datatype)
169
+ def write_<dataname>(self, np.ndarray[datatype]) # For bulk-write
170
+ ```
171
+
172
+ 例如，写入单个关节的目标位置数据：
173
+
174
+ ```python
175
+ hand.finger(1).joint(0).write_joint_target_position(0.8)
176
+ ```
177
+
178
+ 各关节的合法角度范围可通过以下 API 获取：
179
+
180
+ ```python
181
+ upper = < Hand / Finger / Joint >.read_joint_upper_limit()
182
+ lower = < Hand / Finger / Joint >.read_joint_lower_limit()
183
+ ```
184
+
185
+ 若写入的角度超出合法范围，会被自动限幅至最高/最低值。
186
+
187
+ **批量写**数据也是可行的，例如，批量为第一个手指写入目标位置数据：
188
+
189
+ ```python
190
+ hand.finger(1).write_joint_target_position(0.8)
191
+ ```
192
+
193
+ 如果每个关节的目标值不同，可以传入一个包含所有目标值的 `np.array`：
194
+
195
+ ```python
196
+ hand.finger(1).write_joint_target_position(
197
+ np.array(
198
+ # J1 J2 J3 J4
199
+ [0.8, 0.0, 0.8, 0.8],
200
+ dtype=np.float64,
201
+ )
202
+ )
203
+ ```
204
+
205
+ `write` 函数会阻塞，直到写入完成。保证当函数返回时，写入一定成功。
206
+
207
+ ### 异步读/写
208
+
209
+ 读写函数均有对应的异步版本，函数名以 `_async` 作为后缀。
210
+
211
+ ``` python
212
+ async def read_<dataname>_async(self) -> datatype
213
+ async def read_<dataname>_async(self) -> np.ndarray[datatype] # For bulk-read
214
+ async def write_<dataname>_async(self, datatype)
215
+ async def write_<dataname>_async(self, np.ndarray[datatype]) # For bulk-write
216
+ ```
217
+
218
+ 异步接口需 `await`；等待期间不阻塞线程/事件循环，返回时保证读/写已经成功。
219
+
220
+ ### Unchecked 读/写
221
+
222
+ 如果不关心读/写是否成功，可以使用 Unchecked 版本的读/写函数，函数名以 `_unchecked` 作为后缀。
223
+
224
+ ```python
225
+ def read_<dataname>_unchecked(self) -> None
226
+ def read_<dataname>_unchecked(self) -> None # For bulk-read
227
+ def write_<dataname>_unchecked(self, datatype)
228
+ def write_<dataname>_unchecked(self, np.ndarray[datatype]) # For bulk-write
229
+ ```
230
+
231
+ Unchecked 函数总是立即返回，不会阻塞，通常用于对实时性要求较高的场景。
232
+
233
+ ### Get
234
+
235
+ 如果希望获取以往读/写的结果，可以使用 `get` 系列函数：
236
+
237
+ ```python
238
+ def get_<dataname>(self) -> datatype
239
+ def get_<dataname>(self) -> np.ndarray[datatype] # For bulk-read
240
+ ```
241
+
242
+ `get` 系列函数同样不会阻塞，它总是立即返回最近一次读取到的数据，无论该数据来自 `read`、`async-read` 还是 `read-unchecked`。
243
+
244
+ 如果尚未请求过该数据，或请求尚未成功，`get` 函数的返回值是未定义的（通常为0）。
245
+
246
+ ### 实时控制
247
+
248
+ 默认的读/写方式均带有缓冲池，积攒一段时间数据后才进行传输，最高读/写频率无法超过 100Hz。
249
+
250
+ 对于需要流畅控制关节位置的场景，需使用 realtime_controller。
251
+
252
+ 具体的控制示例可见 [example](example) 目录：
253
+
254
+ 单向写：[realtime.py](example/4.realtime.py)
255
+
256
+ 双向读/写：[realtime_duplex.py](example/5.realtime_duplex.py)
257
+
258
+ ## 性能与优化
259
+
260
+ WujihandPy 在充分保证易用性的同时，尽可能优化了性能与效率。
261
+
262
+ 我们强烈建议优先使用批量读/写以最大限度地发挥性能。
263
+
264
+ 对于需要流畅控制关节位置的场景，请务必使用 realtime_controller。
265
+
266
+ ## 许可证
267
+
268
+ 本项目采用 MIT 许可证，详情见 [LICENSE](LICENSE) 文件。
wujihandpy-1.3.0a2.dev6.dist-info/RECORD ADDED
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wujihandpy-1.3.0a2.dev6.dist-info/WHEEL ADDED
@@ -0,0 +1,5 @@
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+ Wheel-Version: 1.0
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+ Generator: scikit-build-core 0.11.6
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+ Root-Is-Purelib: false
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+ Tag: cp310-cp310-manylinux_2_28_x86_64
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+
wujihandpy-1.3.0a2.dev6.dist-info/licenses/LICENSE ADDED
@@ -0,0 +1,21 @@
1
+ MIT License
2
+
3
+ Copyright (c) 2025 Wuji Technology
4
+
5
+ Permission is hereby granted, free of charge, to any person obtaining a copy
6
+ of this software and associated documentation files (the "Software"), to deal
7
+ in the Software without restriction, including without limitation the rights
8
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9
+ copies of the Software, and to permit persons to whom the Software is
10
+ furnished to do so, subject to the following conditions:
11
+
12
+ The above copyright notice and this permission notice shall be included in all
13
+ copies or substantial portions of the Software.
14
+
15
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21
+ SOFTWARE.
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