Skip to content

v2026.6.10

Choose a tag to compare

View all tags
@github-actions github-actions released this 10 Jun 07:25
· 2 commits to main since this release
v2026.6.10
3c58305
This commit was created on GitHub.com and signed with GitHub’s verified signature.
GPG key ID: B5690EEEBB952194
Verified
Learn about vigilant mode.

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).

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

Assets 2
Loading