Changelog

Component Versions

Highlights

Added:

• Added wuji viz live visualization for viewing Wuji Hand 2 poses and fingertip tactile data.

Changed:

• 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.
• wuji user now provides a clearer, more consistent terminal experience for managing profiles and moving calibration data.
• wuji calib hand-model events under --json and --jsonl now use schema_version: 2 and calibration: "hand_model". wuji user import uses legacy_hand_model_ignored and default_user_hand_model_disabled to identify why components were skipped.
• wuji upgrade --file now validates firmware files locally. Invalid files do not reach the device.
• The one-click install script now installs agent skills to the user-global location for use across projects.

Fixed:

• Firmware downloads on Windows now use the user profile directory instead of the Unix-only HOME variable. Calibration export failure paths use stable / separators across platforms.
• Fixed some known issues.
• wuji doctor no longer fails devices without a diagnostic recipe. A device with no matching diagnostic recipe, such as Wuji Hand 2, is now reported as skipped instead of failed, and the command exits with code 0. Genuine connection or collection failures still report as failed and exit with code 1.
• wuji logs list and wuji logs export now support log directory names containing non-UTF-8 characters.

Component Versions

Highlights

Added:

• 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.
• Hand model calibration recordings in support bundles: wuji logs export now automatically includes hand model calibration runs from ~/.wuji/calibration/recordings/ that intersect the selected local-date range, including the manifest, the full recording, and the completed step recordings.
• Script-friendly JSON fields: Added missing_model_files to wuji user show --json and a detail field on skipped component rows (reason: incomplete_model, not_in_bundle, or not_declared_in_manifest).

Changed:

• Structured JSON errors: Under --json / --jsonl, most command errors now print structured JSON to stderr, keeping stdout clean for scripts.
• Colored error labels: Errors in human mode print a red error: label (rustc style), matching the existing warning: label.

Fixed:

• Unknown resource paths: wuji get with an unknown resource path now errors clearly instead of silently returning success without a value.
• Incomplete tactile models reported: wuji user export, import, import --preview, and show now list an incomplete tactile model (missing contact.safetensors, contact.npz, or contact.json) as skipped, naming the device SN and missing files, instead of dropping it silently. Exporting only a partial model no longer claims there is no calibration data — the error names the device and files and points to wuji calib tactile.
• --json always reports current_user: wuji user create / switch / rename / delete under --json now always report the resulting current_user (rename also reports previous_name), so scripts don't need a follow-up user list.

Component Versions

Highlights

New capabilities:

• 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.
• User profiles: wuji user manages calibration profiles for Wuji Glove, creating, describing, switching, listing, showing, renaming, and deleting profiles, and importing or exporting their IK and tactile calibration data. Results are stored per profile and per hand, so gloves on the same hand share one result under the same profile.
• Logging: wuji logs provides a command group (path, list, export) for log directory discovery, file listing, and support-bundle export. It collects host-side logs (from the SDK, Studio, and similar tools) into a bundle you can send with your device SN to support@wuji.tech.
• Agent skills: new agent skills were added to cover each of the commands above — profile management, calibration, and logs.

Breaking changes:

• Unified device type display names to lowercase snake_case. wuji upgrade --type now requires snake_case values (e.g. wuji_glove instead of "Wuji Glove"). Affects ping's Device Type column, doctor report headers, upgrade --check output, help examples, and all documentation.

Component Versions

Highlights

• Fixed the install script exiting before it installed the agent skills

Component Versions

Highlights

First release of Wuji CLI: the official command-line tool for Wuji devices — connect devices, upgrade firmware in batches, and automate with scripts, all without a GUI, plus one-command diagnostics with wuji doctor.

• 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
• Data subscription: subscribe to a topic's real-time data with wuji sub <topic>, and control the frame count with --count
• Health diagnostics: wuji doctor checks device health, including EMF disconnection detection and tactile dead-pixel / bad-column detection. Wuji Glove only for now, with more diagnostics and device types to come
• Firmware upgrade: upgrade device firmware from the official catalog with wuji upgrade. Check which devices have updates with --check, upgrade one or all devices, install a specific version with --to, flash a local package with --file, and browse available versions with --list. Downloads are sha256-verified and cached, flashing asks for confirmation (skip with --yes), and a per-device report is printed
• Self-update: wuji update downloads, verifies, and installs the latest release in place (--check to check only)
• Shell completions: generate completion scripts for bash, zsh, fish, powershell, and elvish with wuji completions
• Output formatting: most commands support --json / --jsonl output modes and device selection by --sn, --address, or --handedness
• Colored output: consistent semantic colors for statuses, warnings, and values, with NO_COLOR support and a plain-text fallback on non-TTY output