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.