> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Changelog

> Wuji Hand SDK version updates and changes

**2026.06.15**

### Key Updates

* 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.

**2026.05.18**

### Key Updates

* 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.

**2026.04.27**

### Key Updates

* 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* Out-of-date firmware now triggers a terminal banner with the latest version and upgrade guide link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)`)


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