> ## 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 Retargeting version updates and changes

<Update label="2026.08.17">
  ### Component Versions

  | Component | Version | Update Method |
  | - | - | - |
  | Wuji Retargeting | v2026.8.17 | [Click to download](https://github.com/wuji-technology/wuji-retargeting/releases/tag/v2026.8.17) |

  ### Highlights

  Changed:

  * The live teleoperation examples (`examples/python/retargeting/1.teleop_real.py` and `examples/c/retargeting/1_teleop_real.c`) now list the SDK users at startup and let you pick which one to teleoperate under, instead of always switching to the default user. Press Enter to keep the user you are already on, pick the default user to run on the built-in hand URDF, or pick a named user to teleoperate on that user's calibrated hand model — a named user that has not been calibrated yet also runs on the built-in URDF. The previously selected user is still restored on exit.
  * Updated the `wuji-description` hand model submodule to `v2026.8.3` and pointed the Wuji Hand 2 example configs (`adaptive_analytical_wuji_glove_wuji_hand_2_{left,right}.yaml`) at the new `hand2/hand2_beta1/body/` asset layout. Retuned `mediapipe_rotation` for the updated model orientation (left `x = 180`, right `y = 180`, both `z = -90`). No change to IK or simulation behavior.
</Update>

<Update label="2026.08.03">
  ### Component Versions

  | Component | Version | Update Method |
  | - | - | - |
  | Wuji Retargeting | v2026.8.3 | [Click to download](https://github.com/wuji-technology/wuji-retargeting/releases/tag/v2026.8.3) |

  ### Highlights

  * Retuned the `mediapipe_rotation` bias in the Wuji Glove example configs (`adaptive_analytical_wuji_glove_{left,right}.yaml` and `adaptive_analytical_wuji_glove_wuji_hand_2_{left,right}.yaml`) for the new per-serial calibration. The manual `wrist_offset_cm` / `thumb_offset_cm` stay disabled because the SDK applies a per-serial calibrated URDF.
  * Fixed `teleop_real.py` crashing at startup with `AttributeError` on the Wuji Hand 2 (network) backend after the Wuji SDK 2026.7.1 resource-API redesign. Control behavior is unchanged. Requires Wuji SDK ≥ 2026.7.1 and matching firmware.
</Update>

<Update label="2026.07.01">
  ### Component Versions

  | Component | Version | Update Method |
  | - | - | - |
  | Wuji Retargeting | v2026.6.27 | [Click to download](https://github.com/wuji-technology/wuji-retargeting/releases/tag/v2026.6.27) |

  ### Key Updates

  * Standardized hardware naming across the docs and example configs to Wuji Hand 2, Wuji Hand, and Wuji Glove, fixing inconsistent model references. The Wuji Glove example configs are now `adaptive_analytical_wuji_glove_wuji_hand_2_{left,right}.yaml`
</Update>

<Update label="2026.06.15">
  ### Key Updates

  * Added Docker usage notes — no official Dockerfile shipped, mount `~/.wuji` into the container when using Wuji Glove or real hardware (simulation and replay don't need it).
  * Fixed finger constraints (hyperextension, joint coupling, etc.) being misapplied on custom hand URDFs, with a clear error at load time if expected links are missing. Default-hand behavior unchanged.
  * Fixed `pip install .` silently producing an `UNKNOWN` package with no dependencies on systems with older setuptools (Ubuntu 22.04 needs `pip install -U pip` first).
</Update>

<Update label="2026.05.18">
  ### Key Updates

  * Added a Custom Input Device Integration Guide for plugging in third-party hand inputs.
  * Added **Wuji Glove** as a real-time hand input.
  * Added a neutral-pose wrist/thumb offset calibration tool.
  * Optimizer enhancements: thumb PIP skipping, anti-hyperextension, DIP/PIP coupling, and more.
  * Dependencies: added `wuji-sdk>=0.10.0`.
</Update>

<Update label="2026.04.27">
  ### Key Updates

  * Added `VectorOptimizer`, a key-vector retargeting optimizer with example configs for AVP and video
  * Added ZED camera support as a real-time hand input
  * Added interactive parameter tuning visualizer with three-layer skeleton comparison, HUD, and fingertip highlighting. Supports hot-reload and playback
</Update>


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