v2026.6.12

v2026.6.12 (2026-06-12)

New Features

• Added structural STEP assemblies of the left and right Wuji Hand 2 at hand2/body/step/Wuji-Hand2-Beta1-{left,right}.step (Beta1 revision).
• Added the Wuji Hand 2 adapter mount at hand2/body/step/Wuji-Hand2-Adapter-Mount-Beta1.step, a Beta1 STEP source file for mounting the Wuji Hand 2 on a robotic arm flange.

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Full Changelog: v2026.6.11...v2026.6.12

v2026.6.11

v2026.6.11 (2026-06-10)

New Features

• Added MuJoCo MJCF models for the Wuji Hand 2 at hand2/body/mjcf/{left,right}.xml, using the RK4 integrator with a 0.002 s timestep, the Newton solver, and per-joint armature and actuator force ranges.
• Added Isaac Sim USD assets for the Wuji Hand 2 at hand2/body/usd/{left,right}/, each shipping the wujihand.usd entry point with base/physics/robot/sensor sublayers under configuration/, position-drive joint gains, and the logo texture under textures/.

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Full Changelog: v2026.6.10...v2026.6.11

v2026.6.10

v2026.6.10 (2026-06-10)

New Features

• Added the Wuji Hand soft-pad variant at hand/body-with-soft/, a hand body model with a soft pad fixed to the thumb (finger1_link2_softbody). Ships URDF (urdf/{left,right}.urdf relative + {left,right}-ros.urdf package://), MuJoCo MJCF (mjcf/{left,right}.xml), Isaac Sim USD (usd/{left,right}/), STL meshes (meshes/{left,right}/), and actuator parameters (params.csv).
• Added simplified-collision variants of the soft-pad hand at hand/body-with-soft/: urdf/{left,right}_simplified.urdf, mjcf/{left,right}_simplified.xml, and usd/{left,right}_simplified/. They replace the collision geometry of each finger's link4 and the thumb soft pad with decimated meshes for faster contact simulation. Visual geometry is unchanged.
• Added the Wuji Hand 2 model under hand2/body/: left/right URDF at urdf/{left,right}.urdf (relative) and {left,right}-ros.urdf (package://), plus STL meshes at meshes/{left,right}/. Each hand has 20 revolute joints using anatomical naming: thumb, index_finger, middle_finger, ring_finger, pinky (with cmc/mcp flexion and abduction plus pip/dip or mcp/ip joints).

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Full Changelog: v2026.6.8...v2026.6.10

v2026.6.8

v2026.6.8 (2026-06-10)

New Features

• Added the Wuji Hand RL open-source base at hand/attachment/wuji-hand-rl-open-source-base/, an open-source mounting base for reinforcement-learning setups, shipping the 3D-printable Base.3mf, the Assembly.STEP CAD assembly, an assembled Assembly.pdf drawing, and a BOM.xlsx bill of materials.
• Added the Wuji Glove model under glove/body/: left and right URDF skeletons at glove/body/urdf/{left,right}.urdf, each with 21 revolute joints across the five fingers, an electromagnetic transmitter base on the wrist, and a receiver coil on every fingertip for hand motion tracking.
• Added the glove transmitter and receiver coil meshes at glove/body/mesh/base_link_TX.STL and glove/body/mesh/base_link_RX.STL.
• Added the transmitter top-cover STEP file and assembled PDF drawing at glove/body/step/EMFTXC_topcover.step and glove/body/step/EMFTXC_topcover.pdf.

Caution

• Removed: Removed the standalone glove mounting-interface STEP glove/attachment/glove-attachment.step. Glove assets now live under glove/body/.

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Full Changelog: v2026.05.19...v2026.6.8

v2026.05.19

v2026.05.19 (2026-05-19)

Bug Fixes

• Corrected the left palm inertia of the Wuji Hand so that the center of mass and inertia tensor are a proper XZ-plane mirror of the right palm. Updated hand/body/urdf/left.urdf, hand/body/urdf/left-ros.urdf, hand/body/mjcf/left.xml, and hand/body/usd/left/wujihand.usd.

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Full Changelog: v2026.05.18...v2026.05.19

v2026.05.18

v2026.05.18 (2026-05-18)

New Features

• Added the wuji_description ROS2 package under hand/body/, with launch/display.launch.py, RViz presets, CMakeLists.txt, and package.xml for left and right Wuji Hand visualization.
• Added URDF models for the left and right Wuji Hand at hand/body/urdf/{left,right}.urdf (relative mesh paths) and hand/body/urdf/{left,right}-ros.urdf (package:// paths for ROS2).
• Added MuJoCo MJCF models at hand/body/mjcf/{left,right}.xml and STL visual/collision meshes at hand/body/meshes/{left,right}/.
• Added Isaac Sim USD assets at hand/body/usd/{left,right}/, including fused meshes, PBR materials, physics properties, and collision filter pairs.
• Added simplified structural STEP files of the hand frame at hand/body/step/.
• Added the impact-resistant docking attachment at hand/attachment/impact-resistant-attachment/ with STL, URDF, MJCF, and USD assets, including the ROS URDF that references package://wuji_description/attachment/impact-resistant-attachment/meshes/hand_docking_link.STL.
• Added the Unitree G1 mounting adapter at hand/attachment/unitree-g1-attachment/unitree-g1-docking-adapter.stl.
• Added adapter STEP files, assembled PDF drawings, and installation notes at hand/attachment/step/.
• Added the Wuji Glove mounting interface STEP asset at glove/attachment/glove-attachment.step.
• Added the top-level README.md, LICENSE (MIT), and this CHANGELOG.md.