Changelog

Component Versions

Key Updates

Wuji Hand SDK

• Added Hand(side='left' | 'right') to connect by handedness without a serial number, raising ConnectionError with actionable hints on failure.
• Fixed import wujihandpy raising Annotated typing import failure on Python 3.8.

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.

Wuji Hand ROS2

• Added wujihand_dual.launch.py one-command dual-hand bringup that auto-discovers connected hands and publishes each hand's topics under /hand_left / /hand_right.
• Added home.launch.py smooth homing that interpolates joints to zero over a configurable duration, with hand_names to home multiple hands at once.
• Added the wujihand_list tool to print the serial numbers of connected Wuji Hand devices.
• wujihand.launch.py now accepts a hand_side parameter to connect by handedness (left / right) when no serial_number is given.
• Added the name_by_handedness driver parameter to root a hand's topics and services at /hand_<handedness>/.

Wuji Retargeting

• Added Docker usage notes — no official Dockerfile shipped, mount ~/.wuji into the container when using Wuji Glove or real hardware (simulation and replay don't need it).
• Fixed finger constraints (hyperextension, joint coupling, etc.) being misapplied on custom hand URDFs, with a clear error at load time if expected links are missing. Default-hand behavior unchanged.
• Fixed pip install . silently producing an UNKNOWN package with no dependencies on systems with older setuptools (Ubuntu 22.04 needs pip install -U pip first).

Wuji Description

• Added the Wuji Hand soft-pad variant (a hand body model with a soft pad on the thumb), shipping left/right URDF (with package:// ROS2 variants) / MJCF / USD / STL and actuator parameters.
• Added simplified-collision variants of the soft-pad hand for faster contact simulation, visual geometry unchanged.
• Added the Wuji Hand RL open-source base, a mounting base for reinforcement-learning setups, shipping a 3D-printable model, CAD assembly, and BOM.
• Corrected the left palm inertia of the Wuji Hand so the center of mass and inertia tensor properly mirror the right palm across the XZ plane.

Component Versions

Key Updates

Wuji Hand SDK

• USB transport failures and mid-runtime disconnects now raise ConnectionError (was RuntimeError). Realtime control loops should issue a periodic SDO probe to detect disconnect.
• Added USB disconnect handling and donning/doffing pose examples, with automatic left/right hand detection.
• C++ integration is now via find_package(wujihandcpp CONFIG REQUIRED).
• Zenoh Bridge: dropped the control-ownership handshake. SET/PUT writes no longer require it.

Wuji Description

• Repository renamed from wuji-hand-description to wuji-description, with model assets reorganized under hand/ and glove/.
• Added left and right URDF models (with ROS2 package:// variants), MJCF, and STL visual/collision meshes.
• Added Isaac Sim USD assets with PBR materials, physics properties, and collision filter pairs.
• Added the wuji_description ROS2 package with display.launch.py and RViz presets for left/right hand visualization.
• Added simplified structural STEP files of the hand frame.
• Added direct and impact-resistant docking adapters (STL / URDF / MJCF / USD), including the Unitree G1 mounting adapter.
• Added the Wuji Glove mounting interface STEP.

Wuji Retargeting

• Added a Custom Input Device Integration Guide for plugging in third-party hand inputs.
• Added Wuji Glove as a real-time hand input.
• Added a neutral-pose wrist/thumb offset calibration tool.
• Optimizer enhancements: thumb PIP skipping, anti-hyperextension, DIP/PIP coupling, and more.
• Dependencies: added wuji-sdk>=0.10.0.

Component Versions

Key Updates

Wuji Hand SDK

• Added Zenoh-based remote control bridge (Python + C++): cross-host read/write, actual_position / actual_effort streams, @capability self-describing schema, 1 kHz target_position writes
• Added @control ownership protocol: multi-client mutex, auto-release on crash
• Out-of-date firmware now triggers a terminal banner with the latest version and upgrade guide link
• Initialization failures now identify the specific disconnected joint (e.g. finger(2).joint(1))

Wuji Hand Description

• Added STEP files, drawings, and installation instructions for the direct and impact-resistant adapters
• Added simplified structural STEP files for both hands (with temporary fingertips)
• Fixed thumb mesh on both hands. URDF, MJCF, and USD updated

Wuji Hand Retargeting

• Added VectorOptimizer, a key-vector retargeting optimizer with example configs for AVP and video
• Added ZED camera support as a real-time hand input
• Added interactive parameter tuning visualizer with three-layer skeleton comparison, HUD, and fingertip highlighting. Supports hot-reload and playback

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
• HMI Slip Display Fix: Fixed control slider jumping issue when hardware slip occurs
• 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
• Upgrader Optimization: Architecture upgrade with enhanced UI and workflow indicators
• Bug Fixes: Fixed known issues, improved stability

Component Versions

Key Updates

• Software Name Changes:
  • Qt HMI, WujiHand Qt HMI, WujiHand Qt renamed to Wuji Hand HMI
  • OTA HMI, WujiHand OTA renamed to Wuji Hand Upgrader
• Optimized Wuji Hand HMI demo routine: replaced preset action sequences with real motion trajectories recorded during teleoperation, with multi-speed playback control
• 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
• Upgrade Experience Optimization: Redesigned upgrader user interface, optimized device connection workflow and flashing prompts

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