.
├── hand/
│   ├── body/                                // ROS2 package: simulation and visualization assets for the hand body
│   │   ├── launch/display.launch.py         // ROS2 launch file (selects left or right hand)
│   │   ├── meshes/{left,right}/             // STL meshes for visual and collision geometry
│   │   ├── mjcf/{left,right}.xml            // MuJoCo XML models
│   │   ├── rviz/{left,right}.rviz           // RViz presets
│   │   ├── step/                            // Simplified structural STEP files of the hand frame
│   │   ├── urdf/{left,right}.urdf           // URDF models (relative mesh paths, for local tools)
│   │   ├── urdf/{left,right}-ros.urdf       // URDF models (package:// paths, for ROS2)
│   │   ├── usd/{left,right}/                // Isaac Sim USD assets
│   │   ├── CMakeLists.txt                   // ROS2 package install rules
│   │   └── package.xml                      // ROS2 package manifest
│   ├── body-with-soft/                      // Hand variant with a soft pad on the thumb
│   │   ├── meshes/{left,right}/             // STL meshes, including soft-pad and simplified collision meshes
│   │   ├── mjcf/{left,right}.xml            // MuJoCo XML models (plus {left,right}_simplified.xml)
│   │   ├── urdf/{left,right}.urdf           // URDF models (plus -ros and _simplified variants)
│   │   ├── usd/{left,right}/                // Isaac Sim USD assets (plus {left,right}_simplified/)
│   │   └── params.csv                       // Actuator parameters
│   └── attachment/
│       ├── impact-resistant-attachment/     // Impact-resistant docking link (STL, URDF, MJCF, USD)
│       ├── step/                            // Adapter STEP files, assembled PDFs, and installation notes
│       ├── unitree-g1-attachment/           // STL adapter for mounting on Unitree G1
│       └── wuji-hand-rl-open-source-base/   // Open-source mounting base for RL setups (3MF, STEP, PDF, BOM)
├── hand2/
│   ├── hand2_1/
│   │   ├── body/                            // ROS2 package wuji_hand2_1_description: Wuji Hand 2.1, rooted at the arm-flange mount, frozen Wuji Hand 2 coordinate contract
│   │   │   ├── meshes/{left,right}/         // Shared hardware and cover meshes, plus visual_nails/ for glove visuals
│   │   │   ├── mjcf/{left,right}.xml        // MuJoCo XML models
│   │   │   ├── mjcf/{left,right}_with_cover.xml // MuJoCo models with covers
│   │   │   ├── mjcf/{left,right}_with_glove.xml // MuJoCo models with black hardware and silver nail caps
│   │   │   ├── step/                            // Historical full-hand STEP assemblies (not installed by colcon)
│   │   │   ├── urdf/{left,right}.urdf       // URDF models (plus -ros.urdf package:// versions)
│   │   │   ├── urdf/{left,right}_with_cover.urdf // URDF models with covers (plus _with_cover-ros.urdf)
│   │   │   ├── urdf/{left,right}_with_glove.urdf // Glove appearance URDFs (plus _with_glove-ros.urdf)
│   │   │   ├── usd/{left,right}/            // Isaac Sim USD assets (layered wujihand2_1.usd)
│   │   │   ├── usd/{left,right}_with_cover/ // Layered wujihand2_1_cover.usd
│   │   │   ├── usd/{left,right}_with_glove/ // Layered wujihand2_1_glove.usd
│   │   │   ├── CMakeLists.txt               // ROS2 package install rules
│   │   │   └── package.xml                  // ROS2 package manifest
│   │   └── attachment/                      // Palm mounting interfaces, left/right adapter mounts, and adapter flange (STEP + PDF)
│   └── hand2_2/
│       ├── body/                            // ROS2 package wuji_hand2_2_description: Wuji Hand 2.2, Hand 2.1 + one tactile sensor pad per fingertip
│       │   ├── meshes/{left,right}/         // Shared hardware and cover meshes, plus visual_nails/ for glove visuals
│       │   ├── mjcf/{left,right}.xml        // MuJoCo XML models
│       │   ├── mjcf/{left,right}_with_cover.xml // MuJoCo models with covers
│       │   ├── mjcf/{left,right}_with_glove.xml // MuJoCo models with black hardware and silver nail caps
│       │   ├── step/                            // Historical full-hand STEP assemblies (not installed by colcon)
│       │   ├── urdf/{left,right}.urdf       // URDF models (plus -ros.urdf package:// versions)
│       │   ├── urdf/{left,right}_with_cover.urdf // URDF models with covers (plus _with_cover-ros.urdf)
│       │   ├── urdf/{left,right}_with_glove.urdf // Glove appearance URDFs (plus _with_glove-ros.urdf)
│       │   ├── usd/{left,right}/            // Isaac Sim USD assets (layered wujihand2_2.usd)
│       │   ├── usd/{left,right}_with_cover/ // Layered wujihand2_2_cover.usd
│       │   ├── usd/{left,right}_with_glove/ // Layered wujihand2_2_glove.usd
│       │   ├── CMakeLists.txt               // ROS2 package install rules
│       │   └── package.xml                  // ROS2 package manifest
│       └── attachment/                      // Palm mounting interfaces, left/right adapter mounts, and adapter flange (STEP + PDF)
├── glove/
│   ├── body/                                // Wuji Glove model (hand motion tracking)
│   │   ├── urdf/{left,right}.urdf           // URDF skeletons (21 revolute DOF per hand)
│   │   ├── mesh/base_link_{TX,RX}.STL       // Transmitter base and fingertip receiver coil
│   │   └── step/EMFTXC_topcover.{step,pdf}  // Transmitter top-cover STEP and assembled drawing
│   └── attachment/                          // Glove mounting attachments (STEP CAD assemblies)
│       ├── Wuji-glove-attachment.STEP       // Wuji Glove mounting interface
│       ├── Pico-tracker-attachment.STEP     // Adapter for mounting a PICO tracker
│       └── Pico-controller-attachment.STEP  // Adapter for mounting a PICO 4 Ultra controller
├── LICENSE
└── README.md