| 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 2) | - URDF (with ROS variants) / MJCF / USD / meshes for the left and right hands, shipped as the standalone ROS2 package
wuji_hand2_beta2_description that coexists with the Beta 1 package in one workspace - Keeps every Beta 1 coordinate and naming convention, and adds one tactile pad link per fingertip (
{l,r}_{finger}_tip_sensor_frame, where {finger} is thumb, index_finger, middle_finger, ring_finger, or pinky — a standalone MJCF body ready for force / torque sensors) - Revision-aware naming — robot names
wujihand2-beta2-{side} and USD entry wujihand2_beta2.usd — so Beta 2 assets never collide with Beta 1 - With-mount variant (
_with_mount filename suffix, rooted at {l,r}_mount) - Full-hand STEP assemblies (with mount) for the left and right hands, plus palm mounting-interface STEP + A3 drawings
|
| 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}_wrist, with actuators named {l,r}_{THJ|FFJ|MFJ|RFJ|LFJ}{0-3} - Five fingertip query sites per hand for grasp-point queries and fingertip trajectory evaluation
- Coordinate and naming conventions are fixed from the Beta 1 revision on — later revisions stay compatible and only update physical parameters and geometry details
- With-mount variant (
_with_mount filename suffix, rooted at {l,r}_mount) - Full-hand STEP assemblies (with mount) for the left and right hands, plus palm mounting-interface STEP + A3 drawings
|
| 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, a PICO tracker adapter, and a PICO 4 Ultra controller adapter
|