Changelog

Component Versions

Highlights

Added:

• 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.

Changed:

• The phase-current imbalance check (0x2115) no longer raises an error or stops the joint.
• A corrupted encoder frame now raises a warning immediately. Persistent corruption stops the affected joint.
• Updated fingertip sensor mounting information.
• Updated fingertip sensor resultant-force application-point and orientation information.
• Improved system performance.

Fixed:

• Fixed an issue that could cause the device to stop responding when reading Flash memory.
• Long log lines exported from Flash now retain their readable beginning and end with … to show that they were truncated.
• Fixed joints falsely reporting overcurrent and stopping during thumb-to-finger pinching.

Component Versions

Highlights

Firmware

Added:

• 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:

• 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.
  • Each sensing point reports its normal axis from 0 to 1 and its two tangential axes from -1 to 1, measured against a full-scale reference. Anything beyond full scale is clamped to the limit.
  • The three-axis resultant force and the temperature reading are unchanged.
  • The sensor metadata still describes the scale and the unit that apply to every reading, so applications that decode from the metadata pick up the new range automatically.

Fixed:

• Fixed fingertip force readings not responding below 2 N.
• Fixed fingertips not returning to a clean zero reading after contact is released.
• Improved reading consistency across the sensors on the thumb fingertip.

Wuji SDK

Added:

• 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.

Changed:

• Printing a JointDiagnosticsEntry now shows error_code_current in hexadecimal (0x2103) instead of decimal (8451), matching how error codes are written in the documentation. error_code().get() still returns an integer — format it as f"0x{code:04X}" if you print it directly.
• On device firmware v2.4.0 and later, fingertip per-point force arrives normalized to the sensor's full scale — normal axis 0 to 1, tangential axes -1 to 1, clamped beyond that. Firmware before v2.4.0 keeps reporting each point in newtons. The aggregate force and the temperature reading are in newtons and Celsius on both. Read scale and unit from info.format rather than assuming either convention, and re-fetch the info after a firmware upgrade so your decoder picks up the new scale.
• device.get() / manager.get() now raise WujiException for a nonexistent parameter path. Previously they silently returned None.

Fixed:

• C SDK: Calling an operation that a resource does not permit, such as reading a write-only resource or subscribing to a publish-only topic, now returns WUJI_STATUS_ERR_UNSUPPORTED instead of WUJI_STATUS_ERR_INTERNAL.
• Python and C SDKs: After a device disconnects or is taken over by another host, Python recv() and recv_async() now raise WujiException immediately, and C subscription callbacks terminate without delivering buffered frames. Previously, Python could return buffered frames or None, and C callbacks could deliver buffered frames before terminating.

Wuji Studio

Fixed:

• Fixed device connection issues.
• Fixed an issue where incorrect firmware appeared in the firmware list during updates.

Wuji Retargeting

Changed:

• The live teleoperation examples (examples/python/retargeting/1.teleop_real.py and examples/c/retargeting/1_teleop_real.c) now list the SDK users at startup and let you pick which one to teleoperate under, instead of always switching to the default user. Press Enter to keep the user you are already on, pick the default user to run on the built-in hand URDF, or pick a named user to teleoperate on that user's calibrated hand model — a named user that has not been calibrated yet also runs on the built-in URDF. The previously selected user is still restored on exit.
• Updated the wuji-description hand model submodule to v2026.8.3 and pointed the Wuji Hand 2 example configs (adaptive_analytical_wuji_glove_wuji_hand_2_{left,right}.yaml) at the new hand2/hand2_beta1/body/ asset layout. Retuned mediapipe_rotation for the updated model orientation (left x = 180, right y = 180, both z = -90). No change to IK or simulation behavior.

Wuji Description

Added:

• 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.
  • Tactile-sensor pads: each pad ({p}_{finger}_tip_sensor_frame) is fixed-welded onto the distal segment via {p}_{finger}_tip_sensor_frame_fixed and shown light blue against the silver body. Each pad carries its measured mass — 6.3 g for the thumb pad and 3.0 g for each of the other four fingertip pads — and the distal-segment masses were re-measured to match, dropping to 10.9 g for the thumb distal and 5.0 g for each other-finger distal.
  • Coordinate contract: unchanged from Beta 1 and verified — the same 20 revolute joints with identical integer unit axes, and zero-position fingertip spacing matched left/right within 0.56 mm. The five fingertip query sites ({l,r}_{finger}_tip) carry over from Beta 1 unchanged and remain available as MJCF <site> elements in display group 3.
  • Formats: URDF (plus package://wuji_hand2_beta2_description ROS variants), MuJoCo MJCF, layered Isaac Sim USD, and anatomically named STL meshes (31 per hand), plus a with-mount full-hand STEP CAD assembly per hand (hand2/hand2_beta2/body/step/wuji-hand2-description-{left,right}_beta2_with_mount_step.STEP) for mechanical integration. These STEP files are byte-identical to the Beta 1 assemblies and don't yet include the fingertip tactile-sensor pads, so use them for envelope and mounting-interface work and take the models under body/ as the reference for the pads.
• 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.
• Added palm mounting-interface CAD and dimensioned drawings for the Wuji Hand 2, one pair of files per hand under hand2/hand2_beta1/attachment/ and hand2/hand2_beta2/attachment/.
  • STEP assembly (wuji-hand2-description-{left,right}-mount_beta{1,2}_step.STEP): the palm shell together with its wire harness, not the full hand.
  • A3 drawing (wuji-hand2-description-{left,right}-mount_beta{1,2}.pdf): a single page dimensioning the threaded holes a custom arm-side adapter bolts into — one M3×0.5 fine-pitch 6H hole (thread depth > 5.5 mm, ⌀4 (0/+0.05) counterbore 2.35 ±0.03 deep) and two M4×0.5 fine-pitch 6H holes (thread depth > 4 mm, ⌀7 (0/+0.06) counterbore 1 mm deep), located by the 28.00 (0/−0.05) and 5.15 (+0.15/−0.05) reference dimensions.
  • Scope: use these when machining a custom arm-flange adapter or fixture. The models under body/ stay the reference for simulation.
  • Files: the left and right files are mirror images of each other, and the Beta 1 and Beta 2 files are byte-identical because the palm mounting interface did not change between the two revisions. attachment/ sits outside the ROS2 package root at body/, so colcon doesn't install it.
• Added the with-mount variant of the Wuji Hand 2 for both revisions, which adds the arm-flange mount link ({l,r}_mount, 69 g) as the model root with the wrist shell fixed-welded onto it via {l,r}_wrist_fixed.
  • Which to load: the with-mount model bolts the hand onto an arm, and the no-mount model applies when the wrist is the attachment point. Joint names, axes, limits, and actuators are identical between the variants, so one installed package per revision serves both and either can be loaded at any time.
  • Layout: both variants ship side by side inside each revision's body/ directory, told apart by a _with_mount filename suffix — urdf/{left,right}_with_mount.urdf, urdf/{left,right}_with_mount-ros.urdf, mjcf/{left,right}_with_mount.xml, and usd/{left,right}_with_mount/.
  • Beta 2 (hand2/hand2_beta2/body/): the ROS URDFs resolve via package://wuji_hand2_beta2_description/meshes/..., the same prefix the no-mount models use. The two variants share the 31 hand meshes in meshes/{left,right}/ byte for byte, and the with-mount variant adds only {l,r}_mount.STL, bringing that directory to 32 meshes per hand.
  • Beta 1 (hand2/hand2_beta1/body/): the ROS URDFs resolve via package://wuji_hand2_description/meshes/..., the same prefix the no-mount models use, and the USD entry filename stays wujihand2.usd — only the containing directory differs. In the MJCF the wrist shell ({l,r}_wrist) is its own body under {l,r}_mount rather than fused into it, so the wrist flange frame stays addressable. All 26 hand meshes in meshes/{left,right}/ are shared byte for byte and the with-mount variant adds only {l,r}_mount.STL, bringing each directory to 27. The two variants stay kinematically equivalent: with the fixed mount offset taken out, fingertip poses agree to within 0.006 mm.

Changed:

• Changed the Wuji Hand 2 (Beta 1) right hand to a new mechanical CAD export. Kinematics and dynamics are unchanged, and the left hand is byte-identical to the previous release.
  • Motion and mass: the same 20 revolute joints with identical integer unit axes, zero-position fingertip sites moving at most 0.0022 mm, body origins at most 0.0018 mm, and per-body and total mass identical to the digit (0.6207 kg for the no-mount model).
  • Thumb frames: the no-mount export now models r_thumb_middle in the same frame as the with-mount export — r_thumb_mcp and r_thumb_ip both carry zero roll, where the previous export applied +6.3186° on the first and took it back off on the second. Both variants share r_thumb_middle.STL byte for byte, and meshes/right/ stays symmetric with meshes/left/.
  • Meshes: r_thumb_middle.STL is the only right-hand mesh this export changes. Every other mesh, including all distal and tip meshes, is byte-identical to the previous release, so MJCF collision geometry and rendering are untouched.
• Changed the Wuji Hand 2 (Beta 2) MJCF body tree so that each fingertip tactile-sensor pad is its own body ({p}_{finger}_tip_sensor_frame) instead of being fused into the distal segment.
  • Why: MuJoCo's URDF compiler merges zero-DOF welded links by default, which left the pads with no body of their own — no place to attach a force/torque sensor, no body-level pose query, and a body list that disagreed with the URDF and USD.
  • Masses: each pad now carries its own mass and inertia (thumb 6.3 g, other fingers 3.0 g) and the distal segments carry only theirs (thumb 10.9 g, others 5.0 g). The pads' collision geometry is unchanged and still participates in contact exactly as before.
  • Sites: the empty {p}_{finger}_tip frame links stay merged and remain available as MJCF <site> elements, which is the idiomatic MuJoCo form for a queryable frame.
  • Kinematics and dynamics: unchanged — total mass, fingertip site poses, whole-hand center of mass, composite inertia, and contact counts all match the previous models to within floating-point noise. The same applies to the with-mount variant, where the wrist shell ({l,r}_wrist) is likewise its own body under {l,r}_mount rather than fused into it, so the wrist flange frame is addressable.

Component Versions

Highlights

Firmware

New capabilities:

• 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:

• Fixed some known issues

Wuji SDK

New capabilities:

• The joint_diagnostics stream now carries built-in communication health — each joint reports its bus response rate and timeout count, and every frame includes a summary with end-to-end (Ethernet) stream loss, request retry/timeout counters, and the fingertip tactile online bitmap. The SDK maintains all of it automatically in the background, so no polling is required.

Breaking changes (C SDK):

• The joint diagnostics structs gained new fields, so their C ABI changed. Applications that use WujiJointDiagnosticsEntry or WujiJointDiagnosticsFrame must be recompiled against the new header before linking the new library — linking new against old will read and write past the end of the old structs. Existing fields keep their meaning and order, and no source changes are needed. The added fields carry the per-joint bus communication quality and the frame-level communication summary described above.

Changed:

• 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.

Fixed:

• The SDK no longer binds a fixed local network port when connecting a hand. The local port is now assigned automatically by the operating system, so the SDK will not conflict with ports used by your own applications.
• 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.
• Setting effort_limit to a value the device rejects (e.g. above the current ceiling) now raises a ValueError instead of a generic error. The device keeps its previous limit.

Wuji Studio

Fixed:

• Firmware upgrade: Fixed successful upgrades occasionally being reported as failed.
• Device connection: Connecting a Wuji Hand 2 no longer falsely reports "read-only mode".

Wuji Retargeting

Changed:

• Retuned the mediapipe_rotation bias in the Wuji Glove example configs (adaptive_analytical_wuji_glove_{left,right}.yaml and adaptive_analytical_wuji_glove_wuji_hand_2_{left,right}.yaml) for the new per-serial calibration. The manual wrist_offset_cm / thumb_offset_cm stay disabled because the SDK applies a per-serial calibrated URDF.

Fixed:

• Fixed teleop_real.py crashing at startup with AttributeError on the Wuji Hand 2 (network) backend after the Wuji SDK 2026.7.1 resource-API redesign. Control behavior is unchanged. Requires Wuji SDK ≥ 2026.7.1 and matching firmware.

Component Versions

Highlights

Wuji Description

• 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.
• Added full-hand STEP CAD assemblies (left and right) for mechanical integration and fixture design.
• Added the standalone ROS2 package wuji_hand2_description, so the Wuji Hand 2 (Beta 1) ROS URDFs resolve their meshes independently of the Wuji Hand wuji_description package.
• Changed the Wuji Hand 2 (Beta 1) collision policy: every link now participates in collision with only 10 assembly-overlap pairs excluded (each finger's proximal and proximal_abd against the wrist), inter-finger and fingertip–palm contacts stay live, display layers are group 1 visual (silver), group 2 collision (translucent light purple), and group 3 fingertip sites, and the fingertip soft pads ship with the package but are not yet attached as collision geometry—fingertip contact is carried by the distal-segment geometry, so the contact point sits slightly off the real finger pad.
• Removed the previous Wuji Hand 2 (Beta) model revision rooted at {l,r}_base_link, along with its structural STEP assemblies and arm-flange adapter mount—it is superseded by the recalibrated Wuji Hand 2 (Beta 1) revision.

Component Versions

Highlights

Firmware

New capabilities:

• 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)

Changed:

• An enabled joint that loses communication with the main controller now stops the motor and reports a fault instead of continuing on the last received command, and re-enabling requires an explicit host command
• Improved encoder health monitoring: high-speed operation no longer triggers spurious encoder warnings, and genuine encoder link degradation is detected earlier and more reliably

Fixed:

• Fixed real-time stream timestamps gradually drifting from host time and failing to realign after reconnecting the SDK while the device stays powered on

Wuji SDK

New capabilities:

• 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

Fixed:

• Firmware upgrade failures now report the detailed error (specific reason, error code, and any failed nodes) instead of a generic "Unknown error"

Component Versions

Highlights

Firmware

Breaking changes:

• 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:

• Fixed other known issues and improved overall stability

Wuji SDK

• 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
• Fixed a bug where applications that repeatedly connect and disconnect could see each new connection take longer than the last. Connections now stay consistently fast, no matter how long the application has been running

Wuji Studio

• Devices in the firmware upgrade view are now grouped by their actual product type, so Wuji Hand devices no longer appear under the "Wuji Glove" group. Unrecognized devices are listed under a new "Other Devices" group

Wuji Description

• Fixed the ROS package:// mesh paths for the Wuji Hand 2 (Beta 1) URDF: the wuji_description package now installs the model assets into its share directory, and mesh paths are model-scoped, so the model loads correctly under ROS

Component Versions

Highlights

Firmware

• Fixed device connection failures in some network environments
• Fixed other known issues

Component Versions

Highlights

Firmware

Breaking change:

• Real-time feedback as subscription streams
• Real-time commands use publish
• Configuration resources are cleaner

Fixed:

• Fixed the device reporting its firmware version as 0.1.0 instead of the actual running version

Component Versions

Highlights

Firmware

• Improved overall stability and reliability

Wuji SDK

• Added a 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.

Wuji Retargeting

• Added Wuji Hand 2 (network-connected) teleoperation support, teleop_real.py selects the hand with --hand-model {wuji_hand,wuji_hand_2}, plus auto IP discovery and --kp / --kd / --current-limit for tuning.
• Added config-driven hand model selection — point optimizer.urdf_path / mjcf_path at any hand URDF / MJCF, with optimizer.link_naming mapping link roles (palm, fingertip, etc.) to the URDF's actual link names. Includes Wuji Hand 2 left/right configs.

Wuji Description

• First release of the Wuji Hand 2 URDF model and STL meshes, with 20 joints under anatomical naming (thumb / index_finger etc.).
• Added the Wuji Hand 2 MuJoCo MJCF simulation model with per-joint actuator force ranges.
• Added Wuji Hand 2 Isaac Sim USD assets with position-drive joint gains and textures.
• Added Wuji Hand 2 STEP assemblies (Beta1 left and right) and a robotic-arm flange adapter mount STEP source file.

Component Versions

Highlights

• First release of the Wuji Hand 2 Beta 1 documentation, covering product information, user notices, usage constraints, and SDK reference
• 20-DoF biomimetic five-finger body with MIT force-position hybrid control and user-tunable parameters
• Joint-level Python SDK (built on the shared Wuji SDK) covering device connection, joint control, state subscription, and diagnostics, plus connect by left or right hand directly (connect(handedness=...)) without looking up a serial number first
• Includes a wrist mounting flange and drawings, a Wuji Glove–based teleoperation demo, and a URDF simulation model (skeleton only)