Changelog

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 {wh110,wh120}, 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)