Changelog

2026.06.15

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.

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.

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Out-of-date firmware now triggers a terminal banner with the latest version and upgrade guide link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