> ## 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 ROS2 version updates and changes

<Update label="2026.06.15">
  ### 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>/`.
</Update>


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