Changelog

Key Updates

• Added wujihand_dual.launch.py one-command dual-hand bringup that auto-discovers connected hands and publishes each hand's topics under /hand_left / /hand_right.
• Added home.launch.py smooth homing that interpolates joints to zero over a configurable duration, with hand_names to home multiple hands at once.
• Added the wujihand_list tool to print the serial numbers of connected Wuji Hand devices.
• wujihand.launch.py now accepts a hand_side parameter to connect by handedness (left / right) when no serial_number is given.
• Added the name_by_handedness driver parameter to root a hand's topics and services at /hand_<handedness>/.