Version Identification and Differences - Developer Docs

This page applies to both revisions and appears under each. For the Wuji Hand 2.1 (Beta) documentation, see Wuji Hand 2.1.

Identify the Device Version

Check the serial number first. If positions 5–7 are A00, the device is Wuji Hand 2.1 (Beta). If positions 5–7 are A01, the device is Wuji Hand 2.2 (Beta).

Hardware and Software Compatibility Matrix

Component	2.2 (Beta)	2.1 (Beta)
Power and interfaces	11–13 V DC input (12 V nominal). XT30 + RJ45 two-cable layout. See User Notice	12 V DC only, other voltages aren’t compatible. Interfaces are the same as Wuji Hand 2.2 (Beta). See User Notice
Firmware	v2.0.0 and later, currently v2.5.1	Stays on v1.2.4 and receives no further updates
Wuji SDK	Upgradable to the latest version	Upgradable to the latest version, with some capabilities unavailable (see below)
Wuji CLI	Supported, pushes the firmware package that matches the hardware revision	Same as 2.2 (Beta)
Wuji Studio	Archived and no longer maintained. Use the Wuji CLI for firmware upgrades	Same as 2.2 (Beta)
Simulation models	`hand2/hand2_beta2/body/`, ROS 2 package `wuji_hand2_beta2_description`, models named `wujihand2-beta2-{side}`, USD entry `wujihand2_beta2.usd`, plus an added fingertip soft-pad link. The two package names differ, so both revisions coexist in one workspace. Loading works through the same links as Wuji Hand 2.1 (Beta), and the asset list is in the Model Assets	`hand2/hand2_beta1/body/`, ROS 2 package `wuji_hand2_beta1_description`, models named `wujihand2-{side}`. To load them, see Get and Load
Back-of-hand status light	Supported, with L0–L3 levels, requires firmware v2.2.0 or later (see Product Introduction)	Supported, with priority numbering (requires the matching hardware batch)

For Wuji Hand 2.2 (Beta), upgrade the firmware and the Wuji SDK together, following their own release notes for version requirements. The Wuji SDK interfaces work on both 2.2 and 2.1 devices, and the capabilities below depend on hardware, so they stay unavailable or behave differently on a 2.1 device even after a firmware and SDK upgrade.

Back-of-Hand Status Light

Item	2.2 (Beta)	2.1 (Beta)
Light scheme	L0–L3 levels	Priority numbering
Hardware prerequisite	Standard	Requires the matching hardware batch
Without status-light hardware	—	No light output, and the call raises no error

The level-based scheme on Wuji Hand 2.2 (Beta) requires firmware v2.2.0 or later. For what each level means, see Back-of-Hand Status Light in Product Introduction.

Internal Field Differences

The device-internal fields of Hand2CommSummary depend on the firmware version on Wuji Hand 2.1 (Beta). The exact version threshold isn’t published yet and will follow in a later update. For the field definitions, see Data Types in SDK Reference.

Capability Limits After a Wuji Hand 2.1 (Beta) SDK Upgrade

Back-of-hand status light: devices without the status-light hardware produce no light output