Changelog

Component Versions

Key Updates

Wuji SDK

• 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.
• Added Python calibration API glove.calibrate() / calibrate_blocking() with timeout, constraint-skip, and on_feedback callback. See Calibration for details.
• Real-time IK supports hand-profile selection via calibration.hand_profile ("wujihand" / "wujihand2"), calibration without this parameter generates both URDFs for runtime switching without recalibration.
• Added local user isolation API (SdkManager.create_user etc.) so operators sharing the same device don't overwrite each other, with automatic parameter reload on user switch — no reconnect required.
• Added glove.emf_poses_rate_divider() to lower EMF pose output rate (default 1, set N to publish at input_rate/N, e.g. N=4 → 120Hz down to ~30Hz). All EMF-derived streams (emf_poses / hand_joint_angles / tip_poses / hand_skeleton / tactile_point_cloud) drop to the same rate to reduce IK compute, while IMU (imu_*, tf) and raw tactile streams (tactile / tactile_zones / tactile_residual / tactile_binary) keep original rate. Runtime-effective.

Wuji Studio

• 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.
• Calibration now creates a debug recording of the current device at start for later troubleshooting.
• Modify Device IP restricts the new address to private subnets, others are rejected.
• wujistudio.devices.subscribeTopic now requires the robotics.topics.read permission, extensions must declare it under permissions in wujistudio.extension.json.
• Updated the bundled device SDK integration for user-scoped calibration and SDK-managed hand profile selection.
• Fixed 3D panel point-cloud colors appearing scrambled and washed-out or semi-transparent. Point-cloud colors now render correctly and match the selected color map.
• Fixed device logs not resuming after the device passively reconnects (for example, after a firmware-upgrade restart).

Wuji Description

• First release of the Wuji Glove URDF model with 21 joints including a wrist electromagnetic transmitter and fingertip receiver coils for hand motion tracking.
• Added STL meshes for the transmitter and receiver coils, plus the transmitter top-cover STEP and assembled PDF.
• Removed the standalone attachment STEP, all Wuji Glove model assets now live under glove/body/.

Component Versions

Key Updates

Wuji SDK

• 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().
• 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 Studio

• Added Extensions view: browse installed extensions and install or uninstall local extensions in one place.
• Preinstalled first-party extensions for 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.
• Fixed URDF local file loading failing on Windows in the 3D panel.
• Fixed URDF meshes not tracking /joint_states in real time.

Component Versions

Key Updates

• Fixed some known issues.

Component Versions

Key Updates

Firmware

• Fixed periodic tactile data dropouts, improving sampling stability.

Wuji Studio

• 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.

Component Versions

Key Updates

• Fixed some known issues.

Component Versions

Key Updates

• Fixed some known issues.

Component Versions

Key Updates

• Improved log availability and reliability during startup and operation.
• Improved upgrade stability and reduced false upgrade failure reports.

Component Versions

Key Updates

Wuji Studio

• 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.
• Added LAYOUT panel to the visualization interface for one-click default panel restoration.
• Raw Messages panel
  • Topic list now uses a tree structure, supporting hierarchical browsing of Topics and Schema fields.
  • Added IMU data display support.
• Firmware upgrade page shows cumulative update log and displays a warning on downgrade.
• Added color vision accessibility settings, supporting three common color vision types.
• 3D view default configuration adapted to TF tree changes.

Wuji SDK

• Renamed the EmfPose error field to confidence.
• Added IMU orientation data and the ImuData API (palm, thumb, index, middle, ring, pinky).
• Added tf/tf_static coordinate transform APIs with waist as the base frame, supporting user-defined wrist offset.
• Added hand tracking data: tip_poses() (fingertip poses), hand_joint_angles() (21 DoF joint angles), and hand_skeleton() (21 hand keypoints).
• Added tactile point cloud data: tactile_point_cloud() for 3D tactile visualization.
• Added the device logging module.
• Changed the device parameter management API: load_profile()/has_profile() replaced by get()/set()/save_params().

Component Versions

Key Updates

Introducing Wuji Glove

• 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.
• LED indicator: Multi-state, multi-mode feedback for device status.

Wuji Studio launch

• New desktop application for multi-device connection, device management, and data visualization.
• Visualization panels: 3D view, Plot, Raw Message, and Tactile Matrix for intuitive data presentation.
• Device management: Device discovery, connection history, rename, calibrate, export calibration data, and device info.
• Firmware upgrade: Online download and local firmware upload with progress tracking and error diagnostics.
• Automatic left/right hand detection during device naming.
• 3D glove landmark visualization with positioning error mapped to point color.
• Light and dark theme switching.

Wuji SDK launch

• Semantic API for Wuji Glove with callback subscription and async support.