Release v2026.8.14 · wuji-technology/wuji-description

v2026.8.14 (2026-08-14)

Added the Wuji Hand 2 (Beta 2) delivery — Beta 1 plus one tactile-sensor pad link per fingertip, shipped for both hands as a no-mount robot model rooted at {l,r}_wrist.
Added revision-aware model naming for the Wuji Hand 2 (Beta 2): robot/model names are wujihand2-beta2-{side} for the no-mount model and wujihand2-beta2-{side}-mount for the with-mount model, the USD entry point is wujihand2_beta2.usd with wujihand2_beta2_{base,physics,robot,sensor}.usd sublayers, and the USD root prim is wujihand2_beta2_{side} — no more name collisions with Beta 1 assets.
Added the standalone ROS2 package wuji_hand2_beta2_description rooted at hand2/hand2_beta2/body/ (CMakeLists.txt + package.xml), with the Beta 2 {left,right}-ros.urdf resolving meshes via package://wuji_hand2_beta2_description/meshes/.... The distinct package name (compared with Beta 1's wuji_hand2_description) lets both revisions coexist in one workspace, since their mesh sets differ.
Added palm mounting-interface CAD and dimensioned drawings for the Wuji Hand 2, one pair of files per hand under hand2/hand2_beta1/attachment/ and hand2/hand2_beta2/attachment/.
Added the with-mount variant of the Wuji Hand 2 for both revisions, which adds the arm-flange mount link ({l,r}_mount, 69 g) as the model root with the wrist shell fixed-welded onto it via {l,r}_wrist_fixed.

Changed the Wuji Hand 2 (Beta 1) right hand to a new mechanical CAD export. Kinematics and dynamics are unchanged, and the left hand is byte-identical to the previous release.
Changed the Wuji Hand 2 (Beta 2) MJCF body tree so that each fingertip tactile-sensor pad is its own body ({p}_{finger}_tip_sensor_frame) instead of being fused into the distal segment.

Full Changelog: v2026.8.3...v2026.8.14