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Releases

To update the API:

  • Enter the SG_API folder.
    Bash
    cd to the parent folder of SG_API, containing setup.py
git pull
# activate python environment if any!!!
pip install .

v0.0.26

2026-07-23

  • Fixed .csv and other files not being found correctly for pip install . or uv, by adding a pyproject.toml file.
  • Docs improvements

v0.0.25

2026-07-03 Changed the jitter filter thresholds specifically for the first joint (abduction). These generally move slower.

v0.1.0

BREAKING CHANGES! For users using Robot hand mapper and minor changes for percentage_bents. See notes below. - New robot hand mapper example. - Simplified the robot hand mapper, made it easier to tune the pinches, and improved docs. - Renaming and other improvements for code consistency. - See examples/robot_pinch_mapper_example.py for an updated example.

Changes to make it work again with your implementation, rename in order:

  • SG_robot_hand_mapper -> SG_robot_pinch_mapper
  • RobotHandMapper -> Robot_Pinch_Mapper
  • PinchMapperGUI -> Robot_Pinch_GUI
  • from SG_API.SG_robot_pinch_mapper import PinchConfig -> from SG_API.SG_robot_pinch_mapper import Robot_Pinch_Config

Other changes for PinchConfig (Now Robot_Pinch_Config): - distance_thresholds no longer has enter_distance and exit_distance. Just min and max distance. In practice this removal causes no change, since it was unused/duplicate. - blend_weight is no longer a single float, but now split with thumb and distance

Percentage_bent changes: Still outputs the same format, however we updated minimum/maximum exo angles mapping to 0 - 10000, especially for abduction. While abduction angle 0 is forward for the glove, it doesn't work well for natural straight hand pose. Therefore we added midpoint angles now, to properly get 5000 with fingers straight forward, irrespective of assymetric finger min/max limits. It should not change too much. If you notices it changes your mapping undesirably, and you want to revert to old behavior, use set_perc_bent_vars() with midpoint [0.5, 0, 0, 0, 0], and min/max values of the previous release.

v0.0.25

Better implementation, manual tuning GUI, and docs for the 1DOF RobotHandMapper included.

For Pro users/integration projects, we can also provide a better handmapper, which moves in multiple DOFS per finger while still pinching well. If interested, please contact sales.

v0.0.24

2026-06-26 The jitter filter is improved, and an optional smoothing filter was added to smooth out any remaining sudden jumps on recovery of signal.The jitter filter itself causes no extra delay while detecting correct data. However, this smoothing filter causes some slight delay. See Delay on how to disable or adjust.

v0.0.23

2026-06-25 - Fix for left gloves thumb abduction. - Improved the jitter filter even further.

v0.0.22

2026-06-15

Summary: Improved jitter filter, frames per seconds (FPS) improvements, and a breaking change for simulated gloves.

  • New jitter filter that severely reduces jitter. It has less latency than the previous median 5 filter and better performance. Succesfully filters more values and FPS increased significantly.
  • FPS increase for Windows PC's, more than doubling the fps on some pc's.
  • Breaking change for simulated gloves: Simulation_Mode.PLAYBACK_MODE now exists. This should replace STEADY_MODE in situations where you would update the simulation exo_angles yourself, or play a recording. This is so the new_data function doesn't go off twice per sample, reducing the FPS. Make sure you replace it if you have custom scripts updating sim angles where necessary.
  • Better recording implementation, now also supports recording and playback of csv's, and at higher framerates.
  • By default now creates 0.5 prototype exoskeleton instead of a 0.4 for simulated glove, preventing position based mismatches .

v0.0.21

2026-04-02

  • Improved docs: Getting started, force control, and added spec sheet information.
  • Turned on tracking median filter by default.

v0.0.20

2026-03-12

Fixed serial number >= 60 having connection issues.

v0.0.19

2026-03-06

Small readme alignment update

v0.0.18

2026-03-06

Fixed readme's Gitlab instead of Github link, and mentioned 3.11 python support in it.

v0.0.17

  • Added support for Python 3.11.
  • Added troubleshooting instructions for WSL (Windows Subsystem for Linux) installs.
  • Improved Qt import error troubleshooting logs

v0.0.16

Added Fingertip distances to SG_main. Replaced docs links to actual Release docs.

v0.0.15

Minor changes to the documentation. First version actually sent to customers.

v0.0.14

Minor changes to the documentation.

v0.0.13

Github pages update

v0.0.12

Docs and docs for releases update.

v0.0.11

Addition of Github pages for docs.

v0.0.10

First formal release of the R1 API going to customers with license on Github.

v0.0.9

First formal release of the R1 API going to customers.