Changelog

Component Versions

Key Updates

• Standardized hardware naming across the docs and example configs to Wuji Hand 2, Wuji Hand, and Wuji Glove, fixing inconsistent model references. The Wuji Glove example configs are now adaptive_analytical_wuji_glove_wuji_hand_2_{left,right}.yaml

Key Updates

• 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).

Key Updates

• 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.

Key Updates

• 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