Documentation Version Identification and Compatibility
Getting Started
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| Wuji Studio | Archived and no longer maintained.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_2/body/, ROS 2 package wuji_hand2_2_description, models named wujihand2_2-{side}, USD entry wujihand2_2.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_1/body/, ROS 2 package wuji_hand2_1_description, models named wujihand2_1-{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