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.
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 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.
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
2026.06.15
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).
2026.05.18
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.
2026.04.27
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