Changelog

Component Versions

Highlights

Wuji SDK

Changed:

• 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.

Fixed:

• 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).
• C SDK: Wuji Hand tactile-glove calls no longer crash the process when the glove is missing or faulty — they return an error status instead (details via wuji_last_error()).
• Connecting to a hand that isn't ready no longer crashes your application — it now fails with a catchable error that names any joint that didn't respond. Covers both the Python SDK and the C SDK.

Component Versions

Key Updates

Wuji SDK

New capabilities:

• 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 (first-generation dexterous 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/

Breaking changes (Python):

• 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
• The joint-command publisher is now opened via hand.joint_command().publish(). The resource accessor was renamed from .publisher() to .publish(), and the shortcut method hand.joint_command_publisher() was removed. The returned JointCommandPublisher (send(...) / close()) is unchanged
• Tactile-glove classes now carry a TactileGlove prefix so they cannot be confused with the Wuji Glove's generic tactile streams: TactileStatus → TactileGloveStatus, TactileDiagnostics → TactileGloveDiagnostics, TactileDeviceInfo → TactileGloveDeviceInfo, and the sub-module handle WujiTactile → WujiTactileGlove. Accessors and wire formats are unchanged — update type references and isinstance checks to the new class names
• The joint-state stream is now hand.joint_states() (was hand.joint_state()), and the frame class is HandJointStates (was HandJointState), matching Wuji Hand 2 and the ROS /joint_states convention

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:

• Fixed the ROS package:// mesh paths for the soft-pad hand 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

Key Updates

Wuji SDK

• 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.

Component Versions

Key Updates

• 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
• URDF Mesh Path Fix: Corrected mesh reference paths in URDF files
• SDK Multi-threading Support: Added disable_thread_safe_check() API for multi-threaded operations

Component Versions

Key Updates

• 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

Component Versions

Key Updates

• Fixed known firmware issues, improved version stability and user experience

Component Versions

Key Updates

• 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
• Documentation & Compatibility: SDK refactored code examples, added bilingual README (English and Chinese), fixed C++11 compatibility issues
• Serial Number Management: Added device serial number (SN) reading functionality for easier device identification and tracking (only supported on devices shipped after this release)

Component Versions

Key Updates

• 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
• Torque Slope Limiting: Added torque slope limiting to prevent over-current protection issues
• System Firmware Version Info: Added support for querying complete system firmware version information

Component Versions

Key Updates

• 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
• Communication Framework Optimization: Enhanced dexterous hand communication framework for improved stability
• User Interface Improvements: Optimized host computer software interaction experience for more intuitive operation