Changelog

2026.07.14

Component	Version	Update Method
Wuji Description	v2026.7.14	Click to download

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

Component	Version	Update Method
Wuji Description	v2026.6.27	Click to download

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/

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.

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.

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