Changelog

Component Versions

Key Updates

General

• Added a prebuilt C SDK (libwuji_sdk_c.so + wuji_sdk.h), currently scoped to Wuji Glove only, covering device connection, cross-device coordinate transforms (tf / tf_static), and stream subscriptions (tactile, tactile zones, EMF poses, hand joint angles, hand skeleton, tactile point cloud), for x86_64-linux-gnu / aarch64-linux-gnu / aarch64-android.
• Added local SDK user profiles via SdkManager.create_user(display_name) and switch_user() — each profile keeps its own calibration data per device, and switching profiles reloads calibration on connected devices immediately.

Wuji Glove

• Added glove.tactile_residual() publishing 768 continuous contact-residual values at the same rate as tactile (positive = pressed, ~0 = no contact, -1.0 = invalid), mirroring TactileFrame shape so existing tactile-grid visualizers work unchanged. Apply your own thresholding instead of the built-in tactile_binary output.
• Hand pose solving now runs in parallel, reducing compute time behind hand_joint_angles and derived hand-tracking data, output values and schemas unchanged.
• Added Python-side IK calibration via glove.calibrate() with per-pose progress callbacks (on_feedback), select hand_profile for Wuji Hand or Wuji Hand 2, or leave it unset to generate URDFs for both profiles from a single capture, switchable later for live hand tracking.
• Added glove.emf_poses_rate_divider() to lower EMF pose output rate (default 1, set N to publish at input_rate/N, e.g. N=4 → 120Hz down to ~30Hz). All EMF-derived streams (emf_poses / hand_joint_angles / tip_poses / hand_skeleton / tactile_point_cloud) drop to the same rate to reduce IK compute, while IMU (imu_*, tf) and raw tactile streams (tactile / tactile_zones / tactile_residual / tactile_binary) keep original rate. Runtime-effective, persists across reconnects.

Wuji Hand

• Added the wuji_sdk.WujiHand class — Wuji Hand 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

• Wuji Glove: Added the binary contact tactile stream glove.tactile_binary(), published at the same rate as tactile() with 768 contact states (1.0 in contact, 0.0 no contact, -1.0 invalid taxel). It mirrors the TactileFrame shape, so existing tactile-grid visualizers work without changes.
• Added handedness-based connection SdkManager.connect(handedness=Handedness.Left | Handedness.Right, ...) to connect to the left or right side of a bimanual device directly.

Component Versions

Key Updates

• Added device.export_flash_logs(out_dir) to dump historical device logs to JSONL files
• Added per-channel recording health via QualityMetrics.channels — frame rate, drop rate, jitter, is_online, and last_downtime_ms for each recorded topic
• Wuji Glove: hand_joint_angles and tip_poses now derive from the URDF kinematic chain. Output schemas are unchanged, but numerical values may differ from previous versions
• Wuji Glove: Removed glove.tactile_raw() — subscribe to glove.tactile() (calibrated tactile frames) instead
• Wuji Glove: Removed glove.factory_reset()
• Fixed devices not reliably publishing offline status when disconnect_all() is called from non-async contexts

Component Versions

Key Updates

• Fixed some known issues

Component Versions

Key Updates

• Wuji SDK and Wuji Studio support sharing the same device
• Improved log availability and reliability during startup and runtime
• Improved upgrade stability and reduced false upgrade failure reports

Component Versions

Key Updates

• Added cross-device merged subscription to receive aggregated data from all connected devices at once
• Added data recording with multi-channel capture, pause/resume, episode switching, and real-time quality monitoring
• Fixed an occasional crash in callback mode
• Fixed an issue where subscribing to multiple data streams simultaneously could result in missing data
• Fixed an issue where some Wuji Glove IMU data streams could not be subscribed

Component Versions

Key Updates

• Added get() / set() APIs for reading and writing device configuration parameters
• Added save_params() to persist parameter changes to device flash
• Added SDK/Device logging support, use set_log_level() to control log level
• Added 6-sensor IMU data: imu_palm(), imu_thumb(), imu_index(), imu_middle(), imu_ring(), imu_pinky()
• Added coordinate transform APIs: tf_static().subscribe() and tf().subscribe()
• Added hand tracking data: tip_poses() (fingertip poses), hand_joint_angles() (21 DoF joint angles), hand_skeleton() (21 hand keypoints)
• Added tactile point cloud data: tactile_point_cloud() for 3D tactile visualization
• Positioning quality metric EmfPose.confidence — indicates EMF pose estimation reliability (0.0 to 1.0)

Component Versions

Key Updates

• Wuji SDK launch: Python development kit for Wuji devices
• Callback subscription support with subscribe_with_callback()
• Async/await support with recv_async()
• IDE auto-completion support
• Data stream subscriptions: tactile matrix, tactile zones, EMF poses

Supported Devices

• Wuji Glove — Smart glove with tactile sensing and motion capture