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@github-actions github-actions released this 23 Jul 14:22
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v2026.7.23
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Learn about vigilant mode.

v2026.7.23 (2026-07-23)

New Features

  • Added the Wuji Hand 2 (Beta 1) delivery under hand2/hand2_beta1/body/ — the first revision recalibrated under the new coordinate-system rules. The following coordinate conventions — integer unit joint axes, anatomical link/joint naming (for example r_thumb_cmc_flex), the {l,r}_wrist root link, and the actuator naming scheme ({l,r}_{THJ|FFJ|MFJ|RFJ|LFJ}{0-3}, J0 = flexion … J3 = DIP) — follow this recalibration and are fixed from this revision on. Later revisions stay compatible and only update physical parameters and geometry details. Each hand has 20 actuated revolute joints (5 fingers × 4 joints).
  • Added URDF models at hand2/hand2_beta1/body/urdf/{left,right}.urdf (relative mesh paths) and {left,right}-ros.urdf (package://wuji_hand2_description paths), MuJoCo MJCF models at hand2/hand2_beta1/body/mjcf/{left,right}.xml whose collision geometry is the convex hull of each link mesh, layered Isaac Sim USD assets at hand2/hand2_beta1/body/usd/{left,right}/ (base/physics/robot/sensor sublayers plus the logo texture, with drive gains that hold the pose on bare Play), and anatomically named STL meshes at hand2/hand2_beta1/body/meshes/{left,right}/. The kp/kv drive gains are carried over from the Wuji Hand platform calibration and will be updated once system identification on the Wuji Hand 2 hardware is complete.
  • Added five fingertip query sites per hand ({l,r}_{finger}_tip, display group 3) for grasp-point queries and fingertip trajectory evaluation.
  • Added full-hand STEP CAD assemblies at hand2/hand2_beta1/body/step/WUJI-hand2_beta1_{left,right}_STEP.STEP for mechanical integration and fixture design.
  • Added the standalone ROS2 package wuji_hand2_description rooted at hand2/hand2_beta1/body/ (CMakeLists.txt + package.xml), so the Wuji Hand 2 (Beta 1) ROS URDFs resolve their meshes independently of the Wuji Hand wuji_description package.

Improvements

  • Changed the collision policy of the Wuji Hand 2 (Beta 1): every link participates in collision (uniform contype/conaffinity 1/1) with only 10 assembly-overlap pairs excluded (each finger's proximal / proximal_abd against the wrist). Inter-finger and fingertip–palm contacts stay live. Display layers are group 1 visual (silver), group 2 collision (translucent light purple), and group 3 fingertip sites. The fingertip soft-pad meshes (*_tip.STL) ship with the package but are not attached as collision geometry yet — fingertip contact is carried by the distal-segment geometry, so the contact point sits slightly off the real finger pad.

Caution

  • Removed: Removed the previous Wuji Hand 2 (Beta) revision hand2_beta/body/ (rooted at {l,r}_base_link). It is superseded by the recalibrated hand2/hand2_beta1/body/ revision. This also retires the earlier structural STEP assemblies (Wuji-Hand2-Beta1-{left,right}.step) and the arm-flange adapter mount (Wuji-Hand2-Adapter-Mount-Beta1.step) that shipped under hand2_beta/body/step/.

Full Changelog: v2026.7.14...v2026.7.23

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