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Release Notes
Every firmware, SDK, and tool release across the Wuji platform—
7 products · 30 release events
All Releases
Wuji Hand 2 (Beta 2)
Wuji Hand 2 (Beta 1)
Wuji Glove
Wuji Hand
Wuji SDK
Wuji CLI
Wuji Studio
Wuji Description
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Hardware
3
Wuji Hand 2 (Beta 2)
6 releases · 68 changes · latest 2026.8.31
固件 v2.6.0
Latest
2026.8.31
10 changes
Wuji SDK v2026.8.31
Added error code 0x2115 for motor phase-current imbalance. The affected joint stops and remains disabled until you clear the error.
Fingertip sensor metadata now reports the total-force contact point and axis directions. Applications can use the information to calculate force and torque at the fingertip. Existing applications that do not use the new information continue to work unchanged.
The phase-current imbalance check (0x2115) no longer raises an error or stops the joint.
+ 7 more
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固件 v2.4.0
2026.8.17
23 changes
Wuji SDK v2026.8.17
Wuji Studio v2026.8.17
Wuji Retargeting v2026.8.17
+1
Added adjustable push rate for subscribed data streams: the host can now ask the device to send a stream more slowly, saving bandwidth and downstream processing on the host. The device applies a rate it supports and reports back the rate in effect. Adjustable streams are the real-time joint stream, the five fingertip tactile streams, and the IMU stream. Rates reset to full speed when the last subscriber of a stream goes away, and when the host disconnects or reconnects. Requires Wuji SDK v2026.8.17 or later.
Changed fingertip per-point force reporting from absolute force readings to normalized values, so readings are directly comparable across fingers and sensor types without knowing each sensor's force range.
Fixed fingertip force readings not responding below 2 N.
+ 20 more
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固件 v2.2.3
2026.8.3
14 changes
Wuji SDK v2026.8.3
Wuji Studio v2026.8.3
Wuji Retargeting v2026.8.3
Added a status light on the hand's back logo that shows the device state at a glance — powering up, ready, running, updating firmware, and warning or fault conditions. See the status light guide
Added warning code 0x0015: abnormal motor parameters
Fixed some known issues
+ 11 more
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Wuji Description v2026.7.23
2026.7.23
7 changes
Added the Wuji Hand 2 (Beta 1) delivery, the first revision recalibrated under the new coordinate-system rules, with the coordinate conventions fixed from this revision on—integer unit joint axes, anatomical link/joint naming (for example r_thumb_cmc_flex), the {l,r}_wrist root link, and the actuator naming scheme ({l,r}_{THJ|FFJ|MFJ|RFJ|LFJ}{0-3}, J0 = flexion … J3 = DIP)—later revisions stay compatible and only update physical parameters and geometry details, and each hand has 20 actuated revolute joints (5 fingers × 4 joints).
Added Wuji Hand 2 (Beta 1) left- and right-hand models: URDF with relative mesh paths plus a ROS variant using package://wuji_hand2_description paths, MuJoCo MJCF with collision geometry as the convex hull of each link mesh, layered Isaac Sim USD assets whose drive gains hold the pose on bare Play, and anatomically named STL meshes—the kp/kv drive gains are carried over from the Wuji Hand platform calibration and will be updated once system identification on Wuji Hand 2 hardware is complete.
Added five fingertip query sites per hand ({l,r}_{finger}_tip, display group 3) for grasp-point queries and fingertip trajectory evaluation.
+ 4 more
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固件 v2.1.0
2026.7.21
8 changes
Wuji SDK v2026.7.21
Per-finger tactile data streams with the frame layout defined by self-describing sensor metadata — the host fetches the metadata first, then decodes the stream against it
Query tactile sensor status (model and calibration status)
Recalibrate the fingertip tactile sensors at runtime, resetting all five fingertips to a fresh zero baseline (triggered through the SDK's tactile_calibrate)
+ 5 more
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固件 v2.0.0
2026.7.14
6 changes
Wuji SDK v2026.7.14
Wuji Studio v2026.7.14
Wuji Description v2026.7.14
This firmware targets Beta 2 hardware. Beta 1 hardware will not receive this update — the firmware list only offers packages that match your device hardware
Fixed other known issues and improved overall stability
disconnect() now fully releases the hand: after disconnecting, the hand is immediately available to any other application or machine, exactly as if your application had exited. Previously the hand could remain held by the application until it exited
+ 3 more
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Wuji Glove
15 releases · 107 changes · latest 2026.8.31
固件 v0.12.0
Latest
2026.8.31
1 change
Fixed some known issues.
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固件 v0.11.4
2026.8.17
8 changes
Wuji SDK v2026.8.17
Added adjustable push rate for subscribed data streams: the host can now ask the device to send a stream more slowly, saving bandwidth and downstream processing on the host. The device applies a rate it supports and reports back the rate in effect. Adjustable streams are the tactile frame, the tactile zones, the EMF tracking stream, and the six IMU streams. Rates reset to full speed when the stream is no longer in use or the device reconnects. Requires Wuji SDK v2026.8.17 or later.
Fixed Palm IMU frame sequence numbers skipping values on a healthy link. FrameHeader.seq now increases exactly by one for every published frame, so a gap in the sequence again means real frame loss. Previously the counter could report a 0.35% phantom frame loss.
Removed the EMF pose rate divider—Python glove.emf_poses_rate_divider(), C wuji_glove_get_emf_poses_rate_divider / wuji_glove_set_emf_poses_rate_divider, and the matching examples. Upgrade the device firmware to v0.11.4 or later, then use set_rate on an emf_poses subscription. The setting resets when the last subscription closes or the device reconnects. Lowering emf_poses also lowers the EMF input rate used for hand tracking.
+ 5 more
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Wuji SDK v2026.8.3
2026.8.3
9 changes
Wuji Description v2026.8.3
Added guided tactile calibration — record prompted hand motions to train a per-glove contact model for real-time contact detection (tactile_binary). Python: glove.calibrate_tactile() / glove.calibrate_tactile_blocking(). C: blocking guided flow with pose-prompt callbacks.
C SDK: Added wuji_glove_set_tactile_binary_sensitivity for standalone tactile_binary observation tools. It changes the SDK-local contact sensitivity for the connected glove and rejects non-finite or non-positive values.
C SDK: Added the runnable user-management example examples/c/wuji_glove/3_user_management.c for inspecting the current SDK user, creating or updating named users, and switching users before calibration.
+ 6 more
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固件 v0.11.2
2026.7.14
20 changes
Wuji SDK v2026.7.14
Wuji Studio v2026.7.14
Wuji Description v2026.7.14
Aligned the tactile point cloud to 526 active taxels. The firmware still scans the raw 24×32 sensor array and drops the dead column, publishing 24×31 (744-value) tactile frames, and the point-cloud active mask excludes eight more hardware-masked taxels on top of that. Update the Wuji SDK to a matching version so point-cloud decoding uses the same 526-taxel mapping
Calibration results (the URDF hand model) now belong to the SDK user and hand side instead of an individual glove, so swapping to another glove of the same side no longer requires recalibration. Calibration recorded by older SDK versions is not loaded anymore — recalibrate under your user profile
The hand_profile calibration option is deprecated and ignored (passing it emits a DeprecationWarning). The calibration result was simplified to handedness plus a single calibrated_urdf path, and the calibration.hand_profile and calibration.hand_model_paths.* parameters were removed: setting them now fails, and values left by older versions are ignored
+ 17 more
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固件 v0.11.1
2026.7.1
2 changes
Fixed intermittent hand-pose jumps: IMU FIFO packets are validated before fusion, so invalid samples no longer corrupt the pose estimate
Fixed IMU initialization not respecting the factory configuration. Palm-IMU devices no longer probe disabled slots or report partial initialization
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Wuji SDK v2026.6.18
2026.6.18
4 changes
Wuji Studio v2026.6.18
固件 v0.11.0
Tactile data layout updates to 744 values in 24×31 (was 768, 24×32), shrinking tactile, tactile_residual, tactile_binary frames and the per-zone layout, with invalid taxels still reported as -1.0
Tactile matrix and per-zone matrix panels now display the new 24×31 (744) layout
MCAP playback now rejects legacy 24×32 (768) or corrupted tactile recordings with a warning instead of rendering them at the wrong dimensions
+ 1 more
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Wuji SDK v2026.6.16
2026.6.15
19 changes
Wuji Studio v2026.6.15
Wuji Description v2026.6.12
Added glove.tactile_residual() publishing 768 continuous contact-residual values at the same rate as tactile (positive = pressed, ~0 = no contact, -1.0 = invalid), mirroring TactileFrame shape so existing tactile-grid visualizers work unchanged. Apply your own thresholding instead of the built-in tactile_binary output.
Added a prebuilt C SDK (libwuji_sdk_c.so + wuji_sdk.h) covering device connection, cross-device coordinate transforms (tf / tf_static), and stream subscriptions (tactile, tactile zones, EMF poses, hand joint angles, hand skeleton, tactile point cloud), for x86_64-linux-gnu / aarch64-linux-gnu / aarch64-android.
Hand pose solving now runs in parallel, reducing compute time behind hand_joint_angles and derived hand-tracking data, output values and schemas unchanged.
+ 16 more
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Wuji SDK v0.10.0
2026.5.18
10 changes
Wuji Studio v2026.5.18
hand_joint_angles and tip_poses now derive from the URDF kinematic chain. Output schemas are unchanged, but numerical values may differ from previous versions.
Removed glove.tactile_raw() — subscribe to glove.tactile() (calibrated tactile frames) instead.
Removed glove.factory_reset().
+ 7 more
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固件 v0.10.1
2026.4.28
1 change
Fixed some known issues.
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固件 v0.10.0
2026.4.27
2 changes
Wuji Studio v0.10.0
Fixed periodic tactile data dropouts, improving sampling stability.
Auto-checks for Studio and device firmware updates, surfacing new versions in a toast and the notification center, with one-click navigation to the download page or upgrade view.
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固件 v0.9.0
2026.4.7
1 change
Wuji SDK v0.9.0
Wuji Studio v0.9.0
Fixed some known issues.
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固件 v0.8.0
2026.3.24
1 change
Wuji SDK v0.8.0
Wuji Studio v0.8.0
Fixed some known issues.
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固件 v0.7.0
2026.3.23
2 changes
Wuji SDK v0.8.0
Wuji Studio v0.8.0
Improved log availability and reliability during startup and operation.
Improved upgrade stability and reduced false upgrade failure reports.
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固件 v0.6.0
2026.2.14
15 changes
Wuji SDK v0.6.0
Wuji Studio v0.6.0
Added hand skeleton and fingertip pose visualization with per-finger confidence coloring, joint axis display, and opacity settings.
Added 3D panel tactile point cloud pressure coloring with standard colormaps (plasma, viridis, etc.) and transfer functions.
Added device log panel to bottom bar with source and level filtering.
+ 12 more
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固件 v0.4.0
2026.2.9
12 changes
Wuji SDK v0.5.0
Wuji Studio v0.5.0
Smart glove with tactile sensing and motion capture.
Tactile sensing: Full-hand tactile data with per-zone output (palm, thumb, index, middle, ring, pinky).
Motion capture: Fingertip tracking module for 5-finger motion capture.
+ 9 more
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Wuji Hand
Archived
10 releases · 48 changes · latest 2026.8.17
Wuji SDK v2026.8.17
Latest
2026.8.17
2 changes
Direct hand methods (read_joint_state(), enable()/disable(), clear_all_faults(), effort-limit and diagnostics accessors, opening a realtime controller) now fail with a disconnect error after disconnect() instead of continuing to operate the device. Python raises WujiException. C returns WUJI_STATUS_ERR_DISCONNECTED.
Disconnecting now releases the USB device even when a joint-state subscription is still open. The same process can reconnect immediately without first closing the subscription or deleting the hand object.
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Wuji SDK v2026.8.3
2026.8.3
5 changes
RealtimeController can now be shared across Python threads — for example a writer thread streaming targets while a reader thread polls actual positions — without any locking. Previously, touching the controller from a second thread raised an error.
C SDK: The Linux x86_64 and aarch64 (gnu) tarballs now ship one library file, libwuji_sdk_c.so. Wuji Hand support no longer needs the libwujihandcpp.so that earlier tarballs bundled beside it, and libstdc++.so.6 and libusb-1.0.so.0 are no longer runtime dependencies. The C API and link line are unchanged, so existing applications keep working without a rebuild. If you deployed libwujihandcpp.so from an earlier tarball, you can delete it — the SDK doesn't load it anymore.
Physically unplugging the tactile glove at runtime is now detected. is_tactile_attached() returns false, the tactile status stream reports NotPresent (state 0) typically within 200 ms, and other tactile reads return a clear "tactile not present" error — previously they all kept reporting a healthy, attached glove indefinitely and only the frame age hinted at the loss. The hand itself is unaffected and keeps working; re-attaching the glove still requires reconnecting the hand. Applies to both the Python SDK and the C SDK (wuji_hand_is_tactile_attached).
+ 2 more
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Wuji SDK v2026.7.14
2026.7.14
8 changes
Wuji Studio v2026.7.14
Wuji Description v2026.7.14
The Wuji SDK real-time controller now exposes get_actual_effort() (per-joint effort in amps, read from the same non-blocking upstream cache as get_actual_position()) in the Python SDK, and the C SDK exposes the matching wuji_hand_realtime_controller_get_actual_effort. This API belongs to wuji-sdk, not wujihandcpp
Added Wuji Hand support to the C SDK. Connect by USB serial number (wuji_hand_connect_sn), then read joint positions, per-joint diagnostics (bus voltage / temperature / error code), firmware soft limits, handedness, and whether a tactile glove is attached. Control with enable / disable / clear_all_faults, set and read the effort limit, stream commands through a joint-command publisher (a list of 20 JointCommand structs — position / velocity / effort per joint, the same shape as Wuji Hand 2, so command code is portable between the two), and run a low-pass-filtered real-time position controller. Subscription streams for joint state and tactile pressure are also available. Supported on Linux x86_64 / aarch64 (gnu) only. On Android these functions are present but return WUJI_STATUS_ERR_UNSUPPORTED. Worked examples are under examples/c/wuji_hand/
The joint-command publisher now takes an array of structs. JointCommandPublisher.send(...) changed from three parallel lists send(positions, velocities, efforts) to a single list of per-joint commands send(joints), where each entry is a JointCommand(position, velocity, effort) — pass exactly 20. The old publish(...) alias was removed. This matches Wuji Hand 2 exactly
+ 5 more
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Wuji SDK v2026.6.16
2026.6.15
2 changes
Added the wuji_sdk.WujiHand class — Wuji Hand 1 is now usable directly through wuji-sdk (alongside the existing wujihandpy), with USB auto-discovery and connection, motor enable/disable, per-joint effort limits, real-time 20-joint position subscription and command publishing with LowPass smoothing, and an optional plug-in tactile glove stream.
The WujiHand API surface mirrors Wuji Hand 2 (scan / connect / joint_state / joint_command), so code patterns largely interoperate between the two generations.
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固件 v1.2.1
2026.2.2
9 changes
Isaac Sim v0.1.0
Isaac Sim Support: First release of Isaac Sim simulation demo, enabling Wuji Hand loading and control in Isaac Sim
Slip Detection Optimization: Adjusted detection threshold and debounce time to resolve false positives under high current, slip downgraded to warning without triggering shutdown
ROS2 Compatibility Improvements: Joint names now include handedness prefix to match URDF, fixed TF tree publishing issues
+ 6 more
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固件 v1.2.0
2026.1.19
3 changes
Effort Feature: Added real-time effort reading and feedback, renamed IQ Limit to Effort Limit, unit changed to Ampere (A)
URDF Unified Management: Integrated into wuji-hand-description package, simplified robot naming and launch scripts
Bug Fixes: Fixed known issues, improved stability
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固件 v1.1.1
2026.1.4
1 change
Fixed known firmware issues, improved version stability and user experience
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固件 v1.1.0
2025.12.22
5 changes
Real-time Control Optimization: Optimized feedback data latency in real-time control mode, improved feedback data sampling synchronization, reducing position sampling time offset between joints
ROS2 Support: Added Wuji Hand ROS2 driver package (v0.1.0), supporting 1000Hz state publishing, multi-hand coordination, automatic left/right hand detection, and RViz2/Foxglove visualization
Enhanced Exception Diagnostics: SDK implements automatic exception detection based on error codes, providing fault remediation suggestions to improve system reliability
+ 2 more
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固件 v1.0.0
2025.12.5
5 changes
Communication Quality Optimization: Fixed issues causing stuttering and packet loss, improved communication stability
Real-time Control Enhancement: Real-time control feedback frequency increased to 1kHz, added real-time position control mode with low-latency position command updates, effectively reducing tracking error
Firmware-side Real-time Filtering: Built-in adjustable low-pass filter for smoothing control commands
+ 2 more
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脊髓板固件 v3.0.0-R
2025.11.7
8 changes
驱动板固件 v6.2.0-G
Full Closed-loop Control Mode: Default control mode upgraded to full closed-loop control, providing higher precision position control capabilities
Upgrade Process Optimization: Improved firmware upgrade interaction flow for enhanced user experience
Real-time Control Interface: SDK now includes real-time control interface, significantly optimizing control performance
+ 5 more
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Developer Tools
3
Wuji SDK
16 releases · 130 changes · latest 2026.8.31
v2026.8.31
Latest
2026.8.31
16 changes
The examples now release the device on normal exit paths via manager.disconnect_all() in a finally block. A connected device stays owned by SdkManager until you call disconnect() or disconnect_all(), or the process exits. Dropping its handle doesn't disconnect it, so long-running programs should disconnect explicitly.
Reading an SDK parameter that the device defines but that has never been written now raises Parameter not set instead of Path not found, which previously made a valid-but-unset parameter look like a nonexistent path. Path not found is now reserved for paths that don't exist. The C SDK returns WUJI_STATUS_ERR_NOT_FOUND for both cases as before. The wuji_last_error() message distinguishes them.
Previewing or importing a user data file now stops up front when the file names a user the SDK can't accept, and existing data stays untouched. The error message names the rejected user. Previously, preview could accept such a file and import could fail with an internal error.
+ 13 more
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v2026.8.17
2026.8.17
11 changes
Added Subscription.set_rate(frequency_hz) to lower a subscribed stream's device push rate at runtime, in samples per second. Upgrade the device to firmware that supports stream rate control before using this method (Wuji Glove v0.11.4 or later, Wuji Hand 2 v2.3.0 or later). Pass 0 to restore the device default. The call returns the rate the device applies, which may be quantized. Supported on emf_poses, tactile, tactile_zones, and imu_raw/* (Wuji Glove) and on joint_states, joint_diagnostics, imu, and fingertip/*/data (Wuji Hand 2). Derived streams—including hand_joint_angles, hand_skeleton, tip_poses, and imu_data/*—follow their source rate and reject set_rate. The setting affects every subscriber of the stream and resets to the device default when the last subscription to the stream is closed or the device reconnects. Examples: examples/python/wuji_glove/6.set_stream_rate.py and examples/c/wuji_glove/1_set_stream_rate.c for the Wuji Glove, and examples/python/wuji_hand_2/4.set_stream_rate.py and examples/c/wuji_hand_2/4_set_stream_rate.c for the Wuji Hand 2.
C SDK: Added wuji_sub_set_rate(sub, frequency_hz, out_actual_hz) on any subscription handle, matching the Python Subscription.set_rate semantics. Streams that do not support rate control return WUJI_STATUS_ERR_UNSUPPORTED (-8) without sending a rate-control request to the device.
device.get() / manager.get() now raise WujiException for a nonexistent parameter path. Previously they silently returned None.
+ 8 more
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v2026.8.3
2026.8.3
17 changes
C SDK: The Linux x86_64 and aarch64 (gnu) tarballs now ship one library file, libwuji_sdk_c.so. Wuji Hand support no longer needs the libwujihandcpp.so that earlier tarballs bundled beside it, and libstdc++.so.6 and libusb-1.0.so.0 are no longer runtime dependencies. The C API and link line are unchanged, so existing applications keep working without a rebuild. If you deployed libwujihandcpp.so from an earlier tarball, you can delete it — the SDK doesn't load it anymore.
Device scanning no longer hangs indefinitely in the rare case where a network peer disappears during discovery. The network discovery step is now time-bounded, so scanning always returns within a few seconds with the devices found so far. Covers both the Python SDK and the C SDK.
Network device discovery now works on Linux hosts with multiple network interfaces or IP addresses when the host's primary IP address is not on the device's subnet — previously scanning on such hosts could permanently find no devices. Covers both the Python SDK and the C SDK.
+ 14 more
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v2026.7.21
2026.7.21
6 changes
First official release of fingertip tactile sensing: subscribe to self-describing per-finger sensor streams (FingertipSensorInfo metadata describes how to decode each FingertipSensorData frame — see the 3.fingertip_typed.py example), recalibrate all five fingertips to a fresh zero baseline with hand.tactile_calibrate() (Python) / wuji_hand_2_tactile_calibrate(dev) (C) while keeping the sensor surfaces unloaded, and query each sensor's model and calibration state with hand.tactile_status(finger) to confirm a recalibration has finished
Firmware upgrade failures now report the detailed error (specific reason, error code, and any failed nodes) instead of a generic "Unknown error"
Added the hand retargeting API (wuji_retarget_session_create / _step / _reset / _free) that maps 21 hand keypoints (MediaPipe order) to 20 joint angles in firmware order, matching the Python RetargetSession, with degenerate or invalid keypoint frames returning the new WUJI_STATUS_ERR_ALGORITHM status and details from wuji_last_error()
+ 3 more
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v2026.7.14
2026.7.14
23 changes
Export, preview, and import your Wuji user data as a portable .zip bundle. SdkManager.export_user_data(user_id, out_path) writes everything a user owns — calibration hand models plus the tactile model and its latest complete calibration run — into one file. preview_user_data(zip_path) validates a bundle and reports its contents without importing it. import_user_data(zip_path) restores a bundle to the user who created it (creating that user if it doesn't exist) and overwrites that user's existing data, without changing the current user
scan() now reports each device's type: DiscoveredDevice.device_type is a DeviceType enum (WujiGlove / WujiHand2 / WujiHand), so you can tell what a device is before connecting. Unknown means the type was not available at scan time
C SDK: scan results now carry the device type. WujiDiscovered.device_id is a WujiDeviceType enum (WUJI_DEVICE_TYPE_WUJI_GLOVE / _WUJI_HAND_2 / _WUJI_HAND / _UNKNOWN) and model carries the readable type string, so you can tell what a device is before connecting
+ 20 more
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v2026.7.2
2026.7.2
2 changes
Fixed reconnecting within the same process: after disconnect(), calling connect() again for the same hand failed and previously required exiting the process to recover. The handle is no longer usable after disconnect(). Create a new connection to reconnect
Fixed the live teleoperation example (examples/python/retargeting/1.teleop_real.py) that failed to run: manager.connect() defaults to enable_bridge=True (Zenoh Bridge enabled), so the glove → retarget → hand loop did not work when the example used the default connection options. The example now connects with ConnectOptions(enable_bridge=False), bypassing the Bridge for a direct connection
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v2026.7.1
2026.7.1
16 changes
Added Wuji Hand 2 support, mirroring the Python resource-style API: joint_states / joint_diagnostics subscription streams, mit_params / effort_limit configuration, control actions (enable / disable / clear_fault / emergency_stop / user origin), and a joint-command publisher. Whole-hand reads cover 20 joints with a per-joint online bitmap so offline joints are distinguishable, and string getters use a two-call size query (pass a NULL buffer to get the required length, then call again to fill it)
New wuji_glove_get_emf_poses_rate_divider / wuji_glove_set_emf_poses_rate_divider lower the Wuji Glove EMF output rate (divider N ≥ 1, output rate = input rate / N, for example N=4 → 30 Hz). Every derived stream (hand_joint_angles / tip_poses / hand_skeleton / tactile_point_cloud) drops to the same rate, reducing IK CPU load. Applied at runtime and preserved across reconnects
New wuji_glove_sync_time triggers a single time-sync round-trip with a Wuji Glove, filling WujiTimeSyncResult with the clock offset, round-trip time, and measurement timestamp in microseconds, matching Python glove.sync_time()
+ 13 more
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v2026.6.18
2026.6.18
1 change
Tactile data layout updates to 744 values in 24×31 (was 768, 24×32), shrinking tactile, tactile_residual, tactile_binary frames and the per-zone layout, with invalid taxels still reported as -1.0
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v2026.6.16
2026.6.15
8 changes
Added a prebuilt C SDK (libwuji_sdk_c.so + wuji_sdk.h), currently scoped to Wuji Glove only, covering device connection, cross-device coordinate transforms (tf / tf_static), and stream subscriptions (tactile, tactile zones, EMF poses, hand joint angles, hand skeleton, tactile point cloud), for x86_64-linux-gnu / aarch64-linux-gnu / aarch64-android.
Added local SDK user profiles via SdkManager.create_user(display_name) and switch_user() — each profile keeps its own calibration data per device, and switching profiles reloads calibration on connected devices immediately.
Added glove.tactile_residual() publishing 768 continuous contact-residual values at the same rate as tactile (positive = pressed, ~0 = no contact, -1.0 = invalid), mirroring TactileFrame shape so existing tactile-grid visualizers work unchanged. Apply your own thresholding instead of the built-in tactile_binary output.
+ 5 more
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v2026.6.2
2026.6.2
2 changes
Wuji Glove: Added the binary contact tactile stream glove.tactile_binary(), published at the same rate as tactile() with 768 contact states (1.0 in contact, 0.0 no contact, -1.0 invalid taxel). It mirrors the TactileFrame shape, so existing tactile-grid visualizers work without changes.
Added handedness-based connection SdkManager.connect(handedness=Handedness.Left | Handedness.Right, ...) to connect to the left or right side of a bimanual device directly.
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v0.10.0
2026.5.18
6 changes
Added device.export_flash_logs(out_dir) to dump historical device logs to JSONL files
Added per-channel recording health via QualityMetrics.channels — frame rate, drop rate, jitter, is_online, and last_downtime_ms for each recorded topic
Wuji Glove: hand_joint_angles and tip_poses now derive from the URDF kinematic chain. Output schemas are unchanged, but numerical values may differ from previous versions
+ 3 more
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v0.9.0
2026.4.7
1 change
Fixed some known issues
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v0.8.0
2026.3.23
3 changes
Wuji SDK and Wuji Studio support sharing the same device
Improved log availability and reliability during startup and runtime
Improved upgrade stability and reduced false upgrade failure reports
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v0.7.0
2026.3.9
5 changes
Added cross-device merged subscription to receive aggregated data from all connected devices at once
Added data recording with multi-channel capture, pause/resume, episode switching, and real-time quality monitoring
Fixed an occasional crash in callback mode
+ 2 more
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v0.6.0
2026.2.14
8 changes
Added get() / set() APIs for reading and writing device configuration parameters
Added save_params() to persist parameter changes to device flash
Added SDK/Device logging support, use set_log_level() to control log level
+ 5 more
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v0.5.0
2026.2.9
5 changes
Wuji SDK launch: Python development kit for Wuji devices
Callback subscription support with subscribe_with_callback()
Async/await support with recv_async()
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Wuji CLI
5 releases · 39 changes · latest 2026.8.31
v2026.8.31
Latest
2026.8.31
11 changes
Added wuji viz live visualization for viewing Wuji Hand 2 poses and fingertip tactile data.
Hand model calibration now uses wuji calib hand-model. The removed wuji calib ik command has no compatibility alias.
wuji calib hand-model now provides clearer guidance, pose feedback, and result presentation.
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v2026.8.17
2026.8.17
10 changes
Host environment diagnostics: wuji doctor now checks host software versions, system info, and network interfaces before scanning for devices, and reports address-conflict issues found during the scan. BREAKING: under --json, the output is now organized by diagnosis layer — env (host environment checks) and device (device discovery listed as a generic entry without sn, plus per-device results) — replacing the old flat system / devices layout. Running with no device attached is now a normal exit (0 unless a host check fails) instead of an error.
Wuji logs dump: new subcommand collecting device-side diagnostic snapshots for Wuji Hand 2 devices — scans all devices by default or targets one via --sn/--address/--handedness. It captures identity, fault/status, bus voltage and temperature, communication diagnostics, and Flash KV history as <sn>_<ts>_device.json + <sn>_<ts>_flash.jsonl. Field failures land in the snapshot's failures list without aborting. The exit code is non-zero if any device failed.
Device snapshots in support bundles: wuji logs export now includes these device diagnostic snapshots and flash logs in the support bundle by default (under devices/), with no extra flag needed.
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v2026.8.3
2026.8.3
7 changes
Wuji Hand 2 support: wuji upgrade supports firmware upgrades on Wuji Hand 2 with tactile sensors.
Tactile calibration: wuji calib tactile collects, trains, verifies, and installs a contact model for Wuji Glove, with a --non-interactive mode for hands-off runs.
Hand model calibration: wuji calib hand-model (shipped as wuji calib ik, since renamed) guides device selection, live pose, and reference images, then saves and hot-reloads the completed model for the active profile. It builds a hand model that matches your physical hand, so pinches, four-finger bends, and other gestures produce expected output on your Wuji Glove.
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v2026.7.15
2026.7.15
1 change
Fixed the install script exiting before it installed the agent skills
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v2026.7.14
2026.7.14
10 changes
Device management: scan and list devices over USB / UDP with wuji devices, and probe device connectivity with wuji ping, covering all discovered devices by default or targeting one by SN, IP, or handedness
Parameter read/write: wuji get and wuji set read and write device parameters with typed JSON output
Resource discovery: list a device's readable/writable parameters and subscribable topics with wuji resources
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Wuji Studio
16 releases · 72 changes · latest 2026.8.17
v2026.8.17
Latest
2026.8.17
2 changes
Fixed device connection issues.
Fixed an issue where incorrect firmware appeared in the firmware list during updates.
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v2026.8.3
2026.8.3
5 changes
In-app updates: Settings > About now shows the current version and installs new releases without leaving Studio. A Version History dialog lets you install a specific version, and update notifications open the in-app update flow directly.
Extensions: Installing an extension from a .wsix file no longer strips executable permissions from the files inside it. Extensions that ship their own helper program failed to start after being installed this way. Installing the same extension from a folder was unaffected.
Firmware upgrade: Fixed successful upgrades occasionally being reported as failed.
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v2026.7.16
2026.7.16
1 change
Fixed some known issues
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v2026.7.15
2026.7.15
1 change
Restored packaged Studio access to online services, so firmware information, update checks, and the extension marketplace work again
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v2026.7.14
2026.7.14
9 changes
Breaking change — Calibration: calibration files created before this release are incompatible with the new format and are not migrated, so calibrate the left and right hands again after upgrading
Calibration results are now saved per Wuji Studio user and hand, and Wuji Gloves for the same hand share that user's result
Hand Profile is renamed to Hand Model Source, and the legacy Wuji Hand 2 and Wuji Hand profiles are deprecated. Existing layouts now show SDK Managed, which uses the matching calibrated model, or the SDK default model when not calibrated, and Custom URDF remains available
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v2026.7.1
2026.7.1
3 changes
Fixed firmware upgrade getting stuck at 95% during the upgrade reconnect
For teleoperation, the default user and default URDF are the recommended setup — the default user keeps the calibration entry, and starting calibration shows a hint to prefer the default first and switch to a calibrated user profile only if it doesn't perform well
Updated the default Hand Skeleton URDF to the latest version, improving the default Hand Skeleton when no user calibration is loaded
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v2026.6.18
2026.6.18
2 changes
Tactile matrix and per-zone matrix panels now display the new 24×31 (744) layout
MCAP playback now rejects legacy 24×32 (768) or corrupted tactile recordings with a warning instead of rendering them at the wrong dimensions
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v2026.6.15
2026.6.15
9 changes
Added the Device Tools Modify Device Port command to change a device's data port (the device reboots to apply).
Added the wujistudio.recording extension API so authorized extensions can start, inspect, and stop Studio-managed recordings (with optional source/topic selection).
3D panel Hand Skeleton supports hand profile switching (wujihand / wujihand2 / Custom URDF), with Custom URDF letting SDK-side IK use a local URDF file.
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v2026.6.2
2026.6.2
7 changes
Added tactile contact calibration that trains a dedicated contact-detection model per user and glove, so the tactile heatmap tells contact from no-contact accurately, with adjustable contact sensitivity.
Added local MCAP replay so you can open and play back recorded .mcap files directly in Studio.
Matrix panel Flip Horizontal / Flip Vertical now mirror cell data only. Row and column header indices stay in natural order (0..n-1) for easier hardware-to-software coordinate alignment.
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v2026.5.18
2026.5.18
5 changes
Added Extensions view: browse installed extensions and install or uninstall local extensions in one place
Preinstalled first-party extensions: calibration, teleoperation, and device tools, ready to use out of the box
Fixed layout presets, saved layouts, and user preferences being blank after a fresh install on Linux
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v0.10.0
2026.4.27
1 change
Auto-checks for Studio and device firmware updates, surfacing new versions in a toast and the notification center, with one-click navigation to the download page or upgrade view
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v0.9.0
2026.4.7
1 change
Fixed some known issues
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v0.8.0
2026.3.23
4 changes
Wuji SDK and Wuji Studio can now share the same device
Fixed a crash when enabling Statistics in the 3D panel on macOS and Linux
Fixed the firmware upgrade step indicator remaining clickable after completion
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v0.7.0
2026.3.9
7 changes
Added data recording with one-click start/stop, real-time quality monitoring, and episode management
Added layout presets with save, switch, rename, import/export, built-in defaults, and keyboard shortcuts
Device rename now updates all data stream paths
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v0.6.0
2026.2.14
8 changes
Added hand skeleton and fingertip pose visualization with confidence coloring
Added tactile point cloud pressure coloring in 3D panel
Topic list now uses tree structure with hierarchical browsing
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v0.5.0
2026.2.9
7 changes
Wuji Studio launch: Desktop application for device management, data visualization, and firmware upgrade
Visualization panels: 3D View, Plot, Tactile Matrix, and Raw Messages
Multi-device connection with device discovery and connection history
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Algorithms & Simulation
1
Wuji Description
8 releases · 35 changes · latest 2026.8.17
v2026.8.14
Latest
2026.8.17
7 changes
Added the Wuji Hand 2 (Beta 2) delivery — Beta 1 plus one tactile-sensor pad link per fingertip, shipped for both hands as a no-mount robot model rooted at {l,r}_wrist.
Added revision-aware model naming for the Wuji Hand 2 (Beta 2): robot/model names are wujihand2-beta2-{side} for the no-mount model and wujihand2-beta2-{side}-mount for the with-mount model, the USD entry point is wujihand2_beta2.usd with wujihand2_beta2_{base,physics,robot,sensor}.usd sublayers, and the USD root prim is wujihand2_beta2_{side} — no more name collisions with Beta 1 assets.
Added the standalone ROS2 package wuji_hand2_beta2_description rooted at hand2/hand2_beta2/body/ (CMakeLists.txt + package.xml), with the Beta 2 {left,right}-ros.urdf resolving meshes via package://wuji_hand2_beta2_description/meshes/.... The distinct package name (compared with Beta 1's wuji_hand2_description) lets both revisions coexist in one workspace, since their mesh sets differ.
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v2026.8.3
2026.8.3
1 change
Added glove/attachment/Pico-controller-attachment.STEP, a STEP AP214 CAD assembly for mounting a PICO 4 Ultra controller on the Wuji Glove. It joins the existing Wuji Glove mounting interface and PICO tracker adapter in the same directory.
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v2026.7.23
2026.7.23
7 changes
Added the Wuji Hand 2 (Beta 1) delivery, the first revision recalibrated under the new coordinate-system rules, with the coordinate conventions fixed from this revision on—integer unit joint axes, anatomical link/joint naming (for example r_thumb_cmc_flex), the {l,r}_wrist root link, and the actuator naming scheme ({l,r}_{THJ|FFJ|MFJ|RFJ|LFJ}{0-3}, J0 = flexion … J3 = DIP)—later revisions stay compatible and only update physical parameters and geometry details, and each hand has 20 actuated revolute joints (5 fingers × 4 joints).
Added Wuji Hand 2 (Beta 1) left- and right-hand models: URDF with relative mesh paths plus a ROS variant using package://wuji_hand2_description paths, MuJoCo MJCF with collision geometry as the convex hull of each link mesh, layered Isaac Sim USD assets whose drive gains hold the pose on bare Play, and anatomically named STL meshes—the kp/kv drive gains are carried over from the Wuji Hand platform calibration and will be updated once system identification on Wuji Hand 2 hardware is complete.
Added five fingertip query sites per hand ({l,r}_{finger}_tip, display group 3) for grasp-point queries and fingertip trajectory evaluation.
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v2026.7.14
2026.7.14
2 changes
Added Wuji Glove mounting attachments: Wuji-glove-attachment.STEP (the Wuji Glove mounting interface) and Pico-tracker-attachment.STEP (a Pico tracker adapter), both STEP AP214 assemblies for mechanical integration
Fixed the ROS package:// mesh paths for the Wuji Hand 2 (Beta 1) and soft-pad hand URDFs: the wuji_description package now installs both model asset sets into its share directory, and mesh paths are model-scoped, so the models load correctly under ROS
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v2026.6.27
2026.7.1
4 changes
Added Wuji Hand 2 (Beta 1) model assets, with the directory moved from hand2/body/ to hand2_beta/body/. Each hand has 20 anatomically named revolute joints, shipped in URDF, MuJoCo MJCF, Isaac Sim USD, STL, and STEP formats
Switched Wuji Hand 2 USD configurations to relative paths so they load on any machine
Fixed self-collision in the hand USD models for Isaac Sim
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2026.6.15
4 changes
Added the Wuji Hand soft-pad variant (a hand body model with a soft pad on the thumb), shipping left/right URDF (with package:// ROS2 variants) / MJCF / USD / STL and actuator parameters.
Added simplified-collision variants of the soft-pad hand for faster contact simulation, visual geometry unchanged.
Added the Wuji Hand RL open-source base, a mounting base for reinforcement-learning setups, shipping a 3D-printable model, CAD assembly, and BOM.
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2026.5.18
7 changes
Repository renamed from wuji-hand-description to wuji-description, with model assets reorganized under hand/ and glove/.
Added left and right URDF models (with ROS2 package:// variants), MJCF, and STL visual/collision meshes.
Added Isaac Sim USD assets with PBR materials, physics properties, and collision filter pairs.
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2026.4.27
3 changes
Added STEP files, drawings, and installation instructions for the direct and impact-resistant adapters
Added simplified structural STEP files for both hands (with temporary fingertips)
Fixed thumb mesh on both hands. URDF, MJCF, and USD updated
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