Added the Wuji Hand 2 (Beta 2) delivery — Beta 1 plus one tactile-sensor pad link per fingertip, shipped for both hands as a no-mount robot model rooted at {l,r}_wrist.
Tactile-sensor pads: each pad ({p}_{finger}_tip_sensor_frame) is fixed-welded onto the distal segment via {p}_{finger}_tip_sensor_frame_fixed and shown light blue against the silver body. Each pad carries its measured mass — 6.3 g for the thumb pad and 3.0 g for each of the other four fingertip pads — and the distal-segment masses were re-measured to match, dropping to 10.9 g for the thumb distal and 5.0 g for each other-finger distal.
Coordinate contract: unchanged from Beta 1 and verified — the same 20 revolute joints with identical integer unit axes, and zero-position fingertip spacing matched left/right within 0.56 mm. The five fingertip query sites ({l,r}_{finger}_tip) carry over from Beta 1 unchanged and remain available as MJCF <site> elements in display group 3.
Formats: URDF (plus package://wuji_hand2_beta2_description ROS variants), MuJoCo MJCF, layered Isaac Sim USD, and anatomically named STL meshes (31 per hand), plus a with-mount full-hand STEP CAD assembly per hand (hand2/hand2_beta2/body/step/wuji-hand2-description-{left,right}_beta2_with_mount_step.STEP) for mechanical integration. These STEP files are byte-identical to the Beta 1 assemblies and don't yet include the fingertip tactile-sensor pads, so use them for envelope and mounting-interface work and take the models under body/ as the reference for the pads.
Added revision-aware model naming for the Wuji Hand 2 (Beta 2): robot/model names are wujihand2-beta2-{side} for the no-mount model and wujihand2-beta2-{side}-mount for the with-mount model, the USD entry point is wujihand2_beta2.usd with wujihand2_beta2_{base,physics,robot,sensor}.usd sublayers, and the USD root prim is wujihand2_beta2_{side} — no more name collisions with Beta 1 assets.
Added the standalone ROS2 package wuji_hand2_beta2_description rooted at hand2/hand2_beta2/body/ (CMakeLists.txt + package.xml), with the Beta 2 {left,right}-ros.urdf resolving meshes via package://wuji_hand2_beta2_description/meshes/.... The distinct package name (compared with Beta 1's wuji_hand2_description) lets both revisions coexist in one workspace, since their mesh sets differ.
Added palm mounting-interface CAD and dimensioned drawings for the Wuji Hand 2, one pair of files per hand under hand2/hand2_beta1/attachment/ and hand2/hand2_beta2/attachment/.
STEP assembly (wuji-hand2-description-{left,right}-mount_beta{1,2}_step.STEP): the palm shell together with its wire harness, not the full hand.
A3 drawing (wuji-hand2-description-{left,right}-mount_beta{1,2}.pdf): a single page dimensioning the threaded holes a custom arm-side adapter bolts into — one M3×0.5 fine-pitch 6H hole (thread depth > 5.5 mm, ⌀4 (0/+0.05) counterbore 2.35 ±0.03 deep) and two M4×0.5 fine-pitch 6H holes (thread depth > 4 mm, ⌀7 (0/+0.06) counterbore 1 mm deep), located by the 28.00 (0/−0.05) and 5.15 (+0.15/−0.05) reference dimensions.
Scope: use these when machining a custom arm-flange adapter or fixture. The models under body/ stay the reference for simulation.
Files: the left and right files are mirror images of each other, and the Beta 1 and Beta 2 files are byte-identical because the palm mounting interface did not change between the two revisions. attachment/ sits outside the ROS2 package root at body/, so colcon doesn't install it.
Added the with-mount variant of the Wuji Hand 2 for both revisions, which adds the arm-flange mount link ({l,r}_mount, 69 g) as the model root with the wrist shell fixed-welded onto it via {l,r}_wrist_fixed.
Which to load: the with-mount model bolts the hand onto an arm, and the no-mount model applies when the wrist is the attachment point. Joint names, axes, limits, and actuators are identical between the variants, so one installed package per revision serves both and either can be loaded at any time.
Layout: both variants ship side by side inside each revision's body/ directory, told apart by a _with_mount filename suffix — urdf/{left,right}_with_mount.urdf, urdf/{left,right}_with_mount-ros.urdf, mjcf/{left,right}_with_mount.xml, and usd/{left,right}_with_mount/.
Beta 2 (hand2/hand2_beta2/body/): the ROS URDFs resolve via package://wuji_hand2_beta2_description/meshes/..., the same prefix the no-mount models use. The two variants share the 31 hand meshes in meshes/{left,right}/ byte for byte, and the with-mount variant adds only {l,r}_mount.STL, bringing that directory to 32 meshes per hand.
Beta 1 (hand2/hand2_beta1/body/): the ROS URDFs resolve via package://wuji_hand2_description/meshes/..., the same prefix the no-mount models use, and the USD entry filename stays wujihand2.usd — only the containing directory differs. In the MJCF the wrist shell ({l,r}_wrist) is its own body under {l,r}_mount rather than fused into it, so the wrist flange frame stays addressable. All 26 hand meshes in meshes/{left,right}/ are shared byte for byte and the with-mount variant adds only {l,r}_mount.STL, bringing each directory to 27. The two variants stay kinematically equivalent: with the fixed mount offset taken out, fingertip poses agree to within 0.006 mm.
Changed:
Changed the Wuji Hand 2 (Beta 1) right hand to a new mechanical CAD export. Kinematics and dynamics are unchanged, and the left hand is byte-identical to the previous release.
Motion and mass: the same 20 revolute joints with identical integer unit axes, zero-position fingertip sites moving at most 0.0022 mm, body origins at most 0.0018 mm, and per-body and total mass identical to the digit (0.6207 kg for the no-mount model).
Thumb frames: the no-mount export now models r_thumb_middle in the same frame as the with-mount export — r_thumb_mcp and r_thumb_ip both carry zero roll, where the previous export applied +6.3186° on the first and took it back off on the second. Both variants share r_thumb_middle.STL byte for byte, and meshes/right/ stays symmetric with meshes/left/.
Meshes: r_thumb_middle.STL is the only right-hand mesh this export changes. Every other mesh, including all distal and tip meshes, is byte-identical to the previous release, so MJCF collision geometry and rendering are untouched.
Changed the Wuji Hand 2 (Beta 2) MJCF body tree so that each fingertip tactile-sensor pad is its own body ({p}_{finger}_tip_sensor_frame) instead of being fused into the distal segment.
Why: MuJoCo's URDF compiler merges zero-DOF welded links by default, which left the pads with no body of their own — no place to attach a force/torque sensor, no body-level pose query, and a body list that disagreed with the URDF and USD.
Masses: each pad now carries its own mass and inertia (thumb 6.3 g, other fingers 3.0 g) and the distal segments carry only theirs (thumb 10.9 g, others 5.0 g). The pads' collision geometry is unchanged and still participates in contact exactly as before.
Sites: the empty {p}_{finger}_tip frame links stay merged and remain available as MJCF <site> elements, which is the idiomatic MuJoCo form for a queryable frame.
Kinematics and dynamics: unchanged — total mass, fingertip site poses, whole-hand center of mass, composite inertia, and contact counts all match the previous models to within floating-point noise. The same applies to the with-mount variant, where the wrist shell ({l,r}_wrist) is likewise its own body under {l,r}_mount rather than fused into it, so the wrist flange frame is addressable.
Added glove/attachment/Pico-controller-attachment.STEP, a STEP AP214 CAD assembly for mounting a PICO 4 Ultra controller on the Wuji Glove. It joins the existing Wuji Glove mounting interface and PICO tracker adapter in the same directory.
Added the Wuji Hand 2 (Beta 1) delivery, the first revision recalibrated under the new coordinate-system rules, with the coordinate conventions fixed from this revision on—integer unit joint axes, anatomical link/joint naming (for example r_thumb_cmc_flex), the {l,r}_wrist root link, and the actuator naming scheme ({l,r}_{THJ|FFJ|MFJ|RFJ|LFJ}{0-3}, J0 = flexion … J3 = DIP)—later revisions stay compatible and only update physical parameters and geometry details, and each hand has 20 actuated revolute joints (5 fingers × 4 joints).
Added Wuji Hand 2 (Beta 1) left- and right-hand models: URDF with relative mesh paths plus a ROS variant using package://wuji_hand2_description paths, MuJoCo MJCF with collision geometry as the convex hull of each link mesh, layered Isaac Sim USD assets whose drive gains hold the pose on bare Play, and anatomically named STL meshes—the kp/kv drive gains are carried over from the Wuji Hand platform calibration and will be updated once system identification on Wuji Hand 2 hardware is complete.
Added five fingertip query sites per hand ({l,r}_{finger}_tip, display group 3) for grasp-point queries and fingertip trajectory evaluation.
Added full-hand STEP CAD assemblies (left and right) for mechanical integration and fixture design.
Added the standalone ROS2 package wuji_hand2_description, so the Wuji Hand 2 (Beta 1) ROS URDFs resolve their meshes independently of the Wuji Hand wuji_description package.
Changed the Wuji Hand 2 (Beta 1) collision policy: every link now participates in collision with only 10 assembly-overlap pairs excluded (each finger's proximal and proximal_abd against the wrist), inter-finger and fingertip–palm contacts stay live, display layers are group 1 visual (silver), group 2 collision (translucent light purple), and group 3 fingertip sites, and the fingertip soft pads ship with the package but are not yet attached as collision geometry—fingertip contact is carried by the distal-segment geometry, so the contact point sits slightly off the real finger pad.
Removed the previous Wuji Hand 2 (Beta) model revision rooted at {l,r}_base_link, along with its structural STEP assemblies and arm-flange adapter mount—it is superseded by the recalibrated Wuji Hand 2 (Beta 1) revision.
Added Wuji Glove mounting attachments: Wuji-glove-attachment.STEP (the Wuji Glove mounting interface) and Pico-tracker-attachment.STEP (a Pico tracker adapter), both STEP AP214 assemblies for mechanical integration
Fixed the ROS package:// mesh paths for the Wuji Hand 2 (Beta 1) and soft-pad hand URDFs: the wuji_description package now installs both model asset sets into its share directory, and mesh paths are model-scoped, so the models load correctly under ROS
Added Wuji Hand 2 (Beta 1) model assets, with the directory moved from hand2/body/ to hand2_beta/body/. Each hand has 20 anatomically named revolute joints, shipped in URDF, MuJoCo MJCF, Isaac Sim USD, STL, and STEP formats
Switched Wuji Hand 2 USD configurations to relative paths so they load on any machine
Fixed self-collision in the hand USD models for Isaac Sim
Removed the previous hand2/body/ Wuji Hand 2 directory. Assets now live under hand2_beta/body/
2026.06.15
Key Updates
Added the Wuji Hand soft-pad variant (a hand body model with a soft pad on the thumb), shipping left/right URDF (with package:// ROS2 variants) / MJCF / USD / STL and actuator parameters.
Added simplified-collision variants of the soft-pad hand for faster contact simulation, visual geometry unchanged.
Added the Wuji Hand RL open-source base, a mounting base for reinforcement-learning setups, shipping a 3D-printable model, CAD assembly, and BOM.
Corrected the left palm inertia of the Wuji Hand so the center of mass and inertia tensor properly mirror the right palm across the XZ plane.
2026.05.18
Key Updates
Repository renamed from wuji-hand-description to wuji-description, with model assets reorganized under hand/ and glove/.
Added left and right URDF models (with ROS2 package:// variants), MJCF, and STL visual/collision meshes.
Added Isaac Sim USD assets with PBR materials, physics properties, and collision filter pairs.
Added the wuji_description ROS2 package with display.launch.py and RViz presets for left/right hand visualization.
Added simplified structural STEP files of the hand frame.
Added direct and impact-resistant docking adapters (STL / URDF / MJCF / USD), including the Unitree G1 mounting adapter.
Added the Wuji Glove mounting interface STEP.
2026.04.27
Key Updates
Added STEP files, drawings, and installation instructions for the direct and impact-resistant adapters
Added simplified structural STEP files for both hands (with temporary fingertips)
Fixed thumb mesh on both hands. URDF, MJCF, and USD updated