Overview - Docs Center - Wuji Technology

wuji-description is the model description package for Wuji Hand and related hardware, providing URDF, MuJoCo (MJCF), Isaac Sim USD, and STEP/CAD assets for simulation, visualization, and mechanical integration.

Coverage

Module	Assets
Wuji Hand	URDF / MJCF / USD / meshes / simplified STEP for the left and right hands ROS2 package `wuji_description` (launch and RViz presets)
Wuji Hand soft-pad variant	URDF (with ROS variants) / MJCF / USD / meshes for the left and right hands, with a soft pad fixed on the thumb (`finger1_link2_softbody`) Simplified-collision variants (`*_simplified` suffix) for faster contact simulation
Wuji Hand 2 (Beta 1)	URDF (with ROS variants) / MJCF / USD / meshes for the left and right hands 20 revolute joints per hand, using anatomical naming (thumb / index / middle / ring / pinky), rooted at `{l,r}_base_link` Structural STEP assemblies for the left and right hands plus a robot-arm adapter-mount STEP (Beta 1)
Hand attachments	Impact-resistant Adapter (STL / URDF / MJCF / USD) Unitree G1 mounting adapter STL Direct and impact-resistant Adapter STEP, assembly drawings, and installation guide
Wuji Glove	URDF skeletons for the left and right hands (21 revolute joints per hand) Wrist-mounted EMF transmitter base STL and fingertip receiver coil STL Transmitter top-cover STEP and assembly PDF Mounting attachment STEP assemblies: the Wuji Glove mounting interface and a Pico tracker adapter

Related Repositories

wuji-description is referenced as a dependency by the following projects:

Repository	Purpose
mujoco-sim	MuJoCo simulation example
isaaclab-sim	Isaac Lab simulation example
wuji-retargeting	Hand pose retargeting

These repositories reference wuji-description through Git Submodule to keep model files in sync. To update the model, run the following command in each repository:

git submodule update --remote